On the learning control of a robot manipulator

This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.     

A Recursive Frequency Estimator Using Linear Prediction and a Kalman-Filter-Based Iterative Algorithm

This paper proposes a new Kalman-filter-based recursive frequency estimator for discrete-time multicomponent sinusoidal signals whose frequencies may be time-varying. The frequency estimator is based on the linear prediction approach and it employs the Kalman filter to track the linear prediction coefficients (LPCs) recursively. Frequencies of the sinusoids can then be computed using the estimated LPCs. Due to the coloredness of the linear prediction error, an iterative algorithm is employed to estimate the covariance matrix of the prediction error and the LPCs alternately in the Kalman filter in order to improve the tracking performance. Simulation results show that the proposed Kalman-filter-based iterative frequency estimator can achieve better tracking results than the conventional recursive least-squares-based estimators.     

Effects of compressive and tensile stress on the growth mode of epitaxial oxide films

Oxide films were deposited on different substrates by laser molecular beam epitaxy. Reflection high-energy electron diffraction was performed to in situ investigate the change of growth mode and the lattice relaxation during the growth. An asymmetrical phenomenon was found in the two kinds of strain states, compressive stress and tensile stress of heterostructures with different lattice mismatch. In the case of BaTiO₃/SrTiO₃ (2.2%), 2D layer-by-layer growth mode without lattice relaxation can be maintained for a longer period for BTO films on STO with compressive stress, comparing to STO films on BTO with tensile stress. When MgO films were deposited on SrTiO₃ with a large mismatch of 7.8%, compressive stress leads to rapid lattice relaxation with a very thin wet layer, and 3D strained island were observed. As a comparison, SrTiO₃ films on MgO with tensile stress were configured. No RHEED patterns can be observed duo to a large tensile stress.     

Predeployed secure key distribution mechanisms in sensor networks: current state-of-the-art and a new approach using time information

In this article we survey a number of predeployed secure key distribution (PSKD) schemes proposed in the technical literature. We also propose a new time-based PSKD (TPSKD), which operates under the assumption of loose time synchronization, and discuss the performance of the scheme. Since the TPSKD scheme uses time information, which would typically already be available in sensor nodes, the cost of the scheme?s implementation is low.     

Effect of hot pressing on processing and properties of BBN ceramics

BBN (BaBi₂Nb₂O₉) is very interesting and promising lead free material with relaxor properties in capacitors, sensors and actuators.     

SU-8 3D microoptic components fabricated by inclined UV lithography in water

Out-of-plane microlenses and microoptical fiber holder are two of the most important components for building an integrated microoptic system with a precise alignment accuracy. In this paper, a simple and convenient method to fabricate these components from SU-8 by using inclined UV lithography in water is proposed. It consists of two perpendicular exposures in SU-8 at ±45°. DI water possesses a low absorption coefficient and a moderate and stable value of refractive index in near UV. Using water, the exposure angle in SU-8 can be increased to 50° from 35° in air necessary to pattern the desired 45° slope of the sidewalls. The principle of the proposed technique and the detailed fabrication process of the microoptic components will be presented. The integratability of the fabricated components was demonstrated by the fabrication of the microoptical fiber holder with a pre-aligned out-of-plane microlens.     

Nonuniformity of phase structure in immiscible polymer blends

This article is focused on the phase structure development in immiscible polymer blends during melt mixing. Nonuniformity of the phase structure, i.e., the coexistence of areas containing particles with markedly different size distribution, was detected in quenched and compression molded samples of a number of various blends prepared by long and intensive mixing in the chamber of a Plasticorder. The same effect was found also for polystyrene/polyamide blends prepared in a twin‐screw extruder. It was shown that neglecting nonuniformity of the phase structure can lead to considerable error in evaluation of the effect of system parameters on the blend morphology. The reasons for the effect were discussed and it was found that inhomogeneous flow field in mixers is a plausible explanation of the nonuniform phase structure. POLYM. ENG. SCI., 2008. © 2008 Society of Plastics Engineers     

Method to Characterize the Air Flow and Water Removal Characteristics During Vacuum Dewatering. Part II—Analysis and Characterization

This is part II of a study reported earlier on a method to characterize the air flow and water removal characteristics during vacuum dewatering. This article presents experimental data and analysis of results from the use of a cyclically actuated vacuum dewatering device for removing moisture from wetted porous materials such as paper with the intermittent application of vacuum and accompanying air flow though the material. Results presented include sheet moisture content as a function of residence time and hence water removal rate under a variety of process conditions. Also, experimental results on air flow through the wet porous structure and hence the role and importance of air flow during vacuum dewatering are presented. Vacuum dewatering process conditions include exit solids content between 11 and 20% solid under applied vacuum conditions of 13.5 to 67.7 kPa (4 to 20 in. Hg). Regression analysis indicated that the exit sheet moisture content exhibited a nonlinear relationship with residence time with exit solids reaching a plateau after a certain residence time. Final moisture content correlated linearly with the average overall flow rate of air through the paper sample and the basis weight of the material.