Soft computing-based approaches to predict energy consumption and stability margin of six-legged robots moving on gradient terrains

Soft computing-based approaches have been developed to predict specific energy consumption and stability margin of a six-legged robot ascending and descending some gradient terrains. Three different neuro-fuzzy and one neural network-based approaches have been developed. The performances of these approaches are compared among themselves, through computer simulations. Genetic algorithm-tuned multiple adaptive neuro-fuzzy inference system is found to perform better than other three approaches for predicting both the outputs. This could be due to a more exhaustive search carried out by the genetic algorithm in comparison with back-propagation algorithm and the use of two separate adaptive neuro-fuzzy inference systems for two different outputs. A designer may use the developed soft computing-based approaches in order to predict specific energy consumption and stability margin of the robot for a set of input parameters, beforehand.     

A parallel hp‐FEM infrastructure for three‐dimensional structural acoustics

This paper describes a parallel three‐dimensional numerical infrastructure for the solution of a wide range of time‐harmonic problems in structural acoustics and vibration. High accuracy and rate of error‐convergence, in the mid‐frequency regime,is achieved by the use of hp‐finite and infinite element approximations. The infrastructure supports parallel computation in both single and multi‐frequency settings. Multi‐frequency solves utilize concurrent factoring of the frequency‐dependent linear algebraic systems and are naturally scalable. Scalability of large‐scale single‐frequency problems is realized by using FETI‐DP—an iterative domain‐decomposition scheme. Numerical examples are presented to cover applications in vibratory response of fluid‐filled elastic structures as well as radiation and scattering from elastic structures submerged in an infinite acoustic medium. We demonstrate both the numerical accuracy as well as parallel scalability of the infrastructure in terms of problem parameters that include wavenumber and number of frequencies, polynomial degree of finite/infinite element approximations as well as the number of processors. Scalability and accuracy is evaluated for both single and multiple frequency sweeps on four high‐performance parallel computing platforms: SGI Altix, SGI Origin, IBM p690 SP and Linux‐cluster. Results show good performance on shared as well as distributed‐memory architecture. Copyright © 2006 John Wiley & Sons, Ltd.     

Influence of Cl-, Br-, NO 3 - and SO 4 2- ions on the corrosion behaviour of 6061 Al alloy

The effects of anions like Cl^-, Br^-, NO ₃ ^- and SO ₄ ^2- on the anodic dissolution of the monolithic Al 6061 alloy have been investigated at neutral pH through immersion testing and electrochemical techniques like potentiodynamic polarization and a.c. impedance spectroscopy. Scanning electron microscopy was employed to characterize the corroded surface and to observe the extent of pitting in different media. From the evaluated corrosion parameters it was found that the dissolution of the matrix was extensively reduced in presence of aqueous solutions containing Br^-, NO ₃ ^- and SO ₄ ^2- ions while Cl^- ions aggravated corrosion by penetrating into the barrier oxide film on the surface of the material. Pronounced effect of pitting was observed in presence of Cl^- and the level of pitting in NO ₃ ^- and Br^- were mild. In presence of SO ₄ ^2- ions passivity was extended over a wide potential range and breakdown of passivity occurs when the material was polarized beyond pitting potential. The departure of capacitive behaviour towards resistive behaviour was clearly observed through impedance measurements when investigations were conducted in Cl^- media and in presence of the other electrolytes. Corrosion rates were, however, controlled during prolonged exposure in the electrolytic media, specially in case of chloride media, due to the predominance of film repair kinetics.     

Benchmarking nanotechnology for high-performance and low-power logic transistor applications

Recently there has been tremendous progress made in the research of novel nanotechnology for future nanoelectronic applications. In particular, several emerging nanoelectronic devices such as carbon-nanotube field-effect transistors (FETs), Si nanowire FETs, and planar III-V compound semiconductor (e.g., InSb, InAs) FETs, all hold promise as potential device candidates to be integrated onto the silicon platform for enhancing circuit functionality and also for extending Moore's Law. For high-performance and low-power logic transistor applications, it is important that these research devices are frequently benchmarked against the existing Si logic transistor data in order to gauge the progress of research. In this paper, we use four key device metrics to compare these emerging nanoelectronic devices to the state-of-the-art planar and nonplanar Si logic transistors. These four metrics include: 1) CV/I or intrinsic gate delay versus physical gate length L/sub g/; 2) energy-delay product versus L/sub g/; 3) subthreshold slope versus L/sub g/; and 4) CV/I versus on-to-off-state current ratio I/sub ON//I/sub OFF/. The results of this benchmarking exercise indicate that while these novel nanoelectronic devices show promise and opportunities for future logic applications, there still remain shortcomings in the device characteristics and electrostatics that need to be overcome. We believe that benchmarking is a key element in accelerating the progress of nanotechnology research for logic transistor applications.     

Synthesis and Optical Studies of Superconducting MgB2 Thin Films

Synthesis and optical transmission of MgB₂ thin films on optically transparent glass are reported. In the 400–1000 nm regime as deposited films show high metallic reflectivity and very little transmission. After deposition, the films were annealed ex situ and rendered superconducting with T _c of 38 K, approaching that of the bulk material. The reaction conditions where quite soft ∼10 min at 550°C. The optical absorption coefficient, α and photon energy, E followed a Tauc-type behavior, = _T (E - E_g )(\alpha E)^{1/2} = \beta _T (E - E_{\rm g} ). The band gap (E _g) was observed to peak at 2.5 eV; but, the slope parameter β _T behaved monotonically with reaction temperature. Our results indicate that an intermediate semiconducting phase is produced before the formation of the superconducting phase; also optical measurements provide valuable information in monitoring the synthesis of MgB₂ from its metallic constituents. In addition these films have interesting optical properties that may be integrated into optoelectronics.     

Rheological characteristics of oligomeric semiproducts gained via chemical degradation of polyurethane foam using crude glycerin in the presence of different catalysts

Polyurethane (PU) recycling is a topic of growing interest due to the increasing amount of polyurethane waste. The main purpose of polyurethane chemical recycling is to recover the starting polyol. In this study, a method of polyurethane thermochemical recycling, glycerolysis by means of crude glycerin, is proposed. This work presents a comparative study of commercial catalysts used in order to accelerate the decomposition process, namely triethylamine (TEA), potassium acetate (KAc), 1,4‐diazabicyclo[2.2.2]octane (DABCO), sodium hydroxide (NaOH), dibutyltin dilaurate (DbDl), and stannous octoate (StOc).The effect of used catalyst on the chemical structure and rheological properties was studied. The type of catalyst does not have significant influence on the chemical structure, but causes different course of reaction: split‐ and single‐phase in applied conditions. Glycerolysates were measured by Brookfield Rheometer. It was found that repolyols can be described by the Herschel–Bulkely mathematical model in the best accuracy. The investigation showed that the rheological behavior of glycerolysates depended on the catalyst used in glycerolysis process. POLYM. ENG. SCI., 57:891–900, 2017. © 2016 Society of Plastics Engineers     

Development of Multi Micro Manipulation System Using IPMC Micro Grippers

This paper presents a new design of multi micro manipulation system using ionic polymer metal composite (IPMC) micro grippers for robotic micro assembly where IPMC is used as a light weight actuator for developing the micro grippers. It has the potential of large displacement, low mass force generation and misalignment compensation ability during micro manipulation. These capabilities are utilized for handling of miniature parts like pegs. The analysis of IPMC micro gripper and manipulator are carried out for developing a multi micro manipulation system that can handle pegs in micro assembly operation for shifting one to another hole position in a large work space (100 mm × 100 mm). By developing a prototype, it is demonstrated that IPMC based micro grippers are capable of handling the peg-in-hole assembly tasks in a multi micro manipulation system.     

Higher-order squeezing of the electromagnetic field in spontaneous and stimulated Raman processes

The occurrence of fourth and fifth-order squeezing in the fundamental mode of the electromagnetic field in spontaneous and stimulated Raman processes under the short-time approximation is investigated on the basis of a fully quantum-mechanical approach. In an idealized model, the Raman process is looked upon as a two-photon on a one phonon interaction process. The coupled Heisenberg equations of motion involving real and imaginary parts of the quadrature operators are established. The dependence of fourth- and fifth-order squeezing in terms of the signal-to-noise ratio on the number of photons is investigated. We have also established the amplitude squeezing effects in the Stokes and vibrational modes, which is found to be dependent on higher-order difference squeezing showing a difference squeezing that can be converted to normal squeezing.