Synthesis of copoly(ethylene terephthalate /imide)s and crystallization kinetics

Copoly(ehtylene terephthalate/imide)s (PETI) were prepared by melt polycodensation of bis(2-hydroxyethyl)terephthalate (BHET) and imide containing comonomer, 4,4′-bis[(4-carbo-2-hydroxyethoxy)phthalimido]diphenylmethane (BHEI) with Sb₂O₃ as catalyst at 280°C under vacuum (～ 1 mm Hg). The change of T_m with an increase of the BHEI repeat unit in the PETI copolymer was analyzed by the Flory equation. On isothermal crystallization, a longer induction time and a lower activation energy than for the PET homopolymer were observed with an increasing amount of BHEI repeat unit. The Avrami exponent, n, increased from 1.5 to 2.3 as the content of BHEI or crystallization temperature was increased. The Avrami rate constant K decreased with the increase of the BHEL unit. On nonisothermal crystallization, the Ozawa equation and Lawton plot were used to investigate the effect of BHEI units on the crystallization kinetics of PETI copolymers. From the change of the cooling crystallization function and the result of the Lawton plot, it was found that the BHEI unit effectively decreases the rate of crystallization.     

Infrared reflectance and transmission spectra of semiconducting non-stoichiometric CdGe x As2

The infrared reflectance and transmission spectra of amorphous CdGe _x As₂ were investigated to study the amorphous structure with varying Ge content. The mid-infrared optical absorption edges of amorphous CdGe _x As₂ with 0<x<1.2, were observed in the range 1.6–1.7 m, indicating a structural similarity in short-range order throughout. Comparing the reflectance and transmission spectra of amorphous and devitrified crystalline phases established that the structures of amorphous CdGe _x As₂ transformed from the CdAs₂ basic structure to the chalcopyrite (CdGeAs₂) structure, as one progressed fromx=0 tox=1.2. The infrared spectra were interpreted interactively with radial distribution function, magnetic susceptibility, density measurements, and crystallization studies. The crystallization behaviour of amorphous CdGe _x As₂ that was heat treated at different temperatures was investigated using far-infrared transmission spectra.     

Fabrication of fine-grain piezoelectric ceramics using reactive calcination

Fine-grain piezoelectric ceramics with the formula Pb(Zr_0.53Ti_0.47)O₃(PZT) were prepared by a reactive calcination process. Using conventional materials and processing techniques, highly reactive powders of PZT were achieved by calcining to or near the point of maximum volume expansion, whereby associated morphological changes resulted in highly reactive powder. Upon milling, powders <0.3 m were readily obtained allowing densification at temperatures <1000°C. The B-site precursor method, whereby the ZrO₂ and TiO₂ oxides were pre-reacted prior to reaction with PbO, further enhanced reactivity by eliminating intermediate reactions and subsequent phase(s) which can hinder densification and overall homogeneity. Highly dense piezoceramics with grain sizes 1 to 2 m exhibiting dielectric and piezoelectric characteristics comparable to conventionally prepared large grain size materials were obtained.     

The influence of training level on manual flight in connection to performance,scan pattern,and task load

This work focuses on the analysis of pilots’ performance during manual flight operations in different stages of training and their influence on gaze strategy. The secure and safe operation of air traffic is highly dependent on the individual performances of the pilots. Before becoming a pilot, he/she has to acquire a broad set of skills by training to pass all the necessary qualification and licensing standards. A basic skill for every pilot is manual control operations, which is a closed-loop control process with several cross-coupled variables. Even with increased automation in the cockpit, the manual control operations are essential for every pilot as a last resort in the event of automation failure. A key element in the analysis of manual flight operations is the development over time in relation to performance and visual perception. An experiment with 28 participants (including 11 certified pilots) was conducted in a Boeing 737 simulator. For defined flight phases, the dynamic time warping method was applied to evaluate the performance for selected criteria, and eye-tracking methodology was utilized to analyze the gaze-pattern development. The manipulation of workload and individual experience influences the performance and the gaze pattern at the same time. Findings suggest that the increase of workload has an increased influence on pilots depending on the flight phase. Gaze patterns from experienced pilots provide insights into the training requirements of both novices and experts. The connection between workload, performance and gaze pattern is complex and needs to be analyzed under as many differing conditions. The results imply the necessity to evaluate manual flight operations with respect to more flight phases and a detailed selection of performance indications.

     

Power Smoothing of a Variable-speed Wind Turbine Generator

This paper presents a power-smoothing scheme of a variable-speed wind turbine generator (VSWTG) that employs separate control gains for the over-frequency section (OFS) and under-frequency section (UFS). In the proposed scheme, an additional proportional control loop based on the system frequency deviation operating in conjunction with maximum power point tracking operation is used. In the OFS, to improve the energy-storing capability, the scheme suggests the gain of the frequency deviation control loop, which is set to be monotonously decreasing with the rotor speed while being significantly larger than that in the UFS. In the UFS, to improve the energy-releasing capability while preventing over-deceleration, the gain of the frequency deviation control loop is set to be a linear function of the rotor speed. The simulation results under continuously varying wind speeds with different wind patterns and wind speeds clearly demonstrate that the proposed scheme significantly mitigates the output power fluctuations of a VSWTG. The proposed scheme keeps the frequency within a narrow range, thereby reducing the required primary frequency control reserve for regulating the frequency under normal operations.

     

Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed to generate appropriate torques at robot joints. The FSMC(IMU) controller parameters are adjusted through a fuzzy rule that determines the state of the system. The error in trajectory tracking is reduced through this. The gain value K can be finely adjusted by fuzzy control by observing the degree of vibration after entering the sliding mode surface. The larger the observed vibration value, the faster the fuzzy controller follows the given input trajectory by selecting a smaller gain value K and reducing jitter due to the sliding mode control’s discontinuous switch characteristics. When the degree of error is small, it achieves faster and more accurate control performance than when the observer is not used. The stability of the FSMC(IMU) system is verified via disturbance experiments. The experimental data are compared with the conventional sliding mode controller and proportional-derivative control. The experimental results demonstrate that the proposed FSMC(IMU) controller is stable, fast, and highly accurate in controlling service robots.

     

Inclusion of third-person perspective in CAVE-like immersive 3D virtual reality role-playing games for social reciprocity training of children with an autism spectrum disorder

Universal Access in the Information Society - The present study aimed to improve the ability of children with autism to recognize emotions correctly. We used our third-person perspective...     

Visiting pebbles on rectangular grids: coordinating multiple robots in mobile fulfilment systems

Intelligent Service Robotics - Multi-robot path finding and coordination is one of the key performance-affecting subsystems of the overall robotic order fulfilment process for use in warehouse...     

Companion robots for older adults: Rodgers’ evolutionary concept analysis approach

Intelligent Service Robotics - This study aims to analyze the concept of companion robots for older adults from the perspective of nursing. This study employed a concept analysis. The literature...     

Winglet geometry effects on tip leakage loss over the plane tip in a turbine cascade

The effects of winglet offset distance, winglet coverage, and winglet cross section on the over-tip leakage loss for the plane tip have been investigated experimentally in a turbine blade cascade for a tip gap height-to-span ratio of h/s = 1.36 %. The results show that the over-tip leakage loss for the full coverage winglet increases steeply with increasing the winglet offset distance. This loss generation is attributed to flow disturbances over the forward-facing and backward-facing steps within the tip gap. The winglet flush mounted to the tip surface provides the best result. With the leading edge winglet portion or without it, the both-side winglet always provides better aerodynamic performance than the corresponding pressure-side winglet or suction-side winglet. Longer coverage of the both-side winglet leads to lower loss. Therefore, the full coverage winglet performs best in the loss reduction for the plane tip. In general, thinner winglet leads to better aerodynamic result, and the winglet cross section having a slant bottom surface with the smallest thickness at its outer end is recommended.