Modified transpose Jacobian control of robotic systems

The simplicity of Transpose Jacobian (TJ) control is a significant characteristic of this algorithm for controlling robotic manipulators. Nevertheless, a poor performance may result in tracking of fast trajectories, since it is not dynamics-based. Use of high gains can deteriorate performance seriously in the presence of feedback measurement noise. Another drawback is that there is no prescribed method of selecting its control gains. In this paper, based on feedback linearization approach a Modified TJ (MTJ) algorithm is presented which employs stored data of the control command in the previous time step, as a learning tool to yield improved performance. The gains of this new algorithm can be selected systematically, and do not need to be large, hence the noise rejection characteristics of the algorithm are improved. Based on Lyapunov's theorems, it is shown that both the standard and the MTJ algorithms are asymptotically stable. Analysis of the required computational effort reveals the efficiency of the proposed MTJ law compared to the Model-based algorithms. Simulation results are presented which compare tracking performance of the MTJ algorithm to that of the TJ and Model-Based algorithms in various tasks. Results of these simulations show that performance of the new MTJ algorithm is comparable to that of Computed Torque algorithms, without requiring a priori knowledge of plant dynamics, and with reduced computational burden. Therefore, the proposed algorithm is well suited to most industrial applications where simple efficient algorithms are more appropriate than complicated theoretical ones with massive computational burden.     

A method to eliminate the effect of radiation on thermocouple performance

In-core temperature measurements are pivotal in maintaining nuclear reactors in a safe state of operation. Thermocouples serve as the liaison in ensuring this safe state. The realization of the thermocouple's full potential is hindered by the fact that thermocouples cannot be situated in areas with high radiation fields. Radiation has the potential of generating voltages in the thermocouple wires, hence producing an error in the temperature transmitter output. In this paper, a mathematical model is developed to quantify the effect that radiation from the Canada Deuterium Uranium (CANDU) Nuclear Power Plants (NPPs) has on the thermocouple temperature reading. Subsequently, a method to offset the effect of radiation on the thermocouple is proposed. Simulation is performed to verify the effectiveness of the proposed system.     

Modeling the Effect of Subjective Factors on Productivity of Trenchless Technology Application to Buried Infrastructure Systems

Trenchless technology (TT) includes a large family of methods utilized for installing and rehabilitating underground utility systems with minimal surface disruption and destruction resulting from conventional excavation. Productivity of TT techniques is affected by a number of subjective factors that need to be evaluated. A productivity index (PI) model is developed in order to represent this subjective effect in refining productivity assessment. The analytic hierarchy process and fuzzy logic are used to develop the proposed PI model that relies on the actual performance of 12 subfactors under three main categories: management, environmental, and physical conditions. The developed PI model resulted in PI equal to 0.7323 and 0.7251 for microtunneling and horizontal directional drilling (HDD) projects, respectively. Multiattribute decision support system software is developed to determine the PI for a specific TT technique using Visual Basic. The PI model is tested, which shows reasonable results. This research is relevant to both industry practitioners and researchers. It provides practitioners with a model that justifies their productivity calculation by quantifying subjective factors effect, which will affect their schedule and cost estimation for trenchless projects. In addition, it provides researchers with the development methodology for the PI model.     

An analysis of peristaltic transport for flow of a Jeffrey fluid

Summary The peristaltic mechanism of a Jeffrey fluid in a circular tube is investigated. The rheological effects and compressibility of the fluid are taken into account. The modeled equations are solved using perturbation technique when the ratio of the wave amplitude to the radius of the pore is small. In the second order approximation, a net flow due to a travelling wave is obtained and effects of Reynolds number, relaxation and retardation times, compressibility of the fluid and tube radius are studied. It is noticed that for the Jeffrey fluid the back flow only occurs for large values of the relaxation time and small values of the retardation time (less than 10 in the present analysis). Another interesting observation is that oscillatory behavior of the net flow rate in the Jeffrey fluid is less than that of a Maxwell fluid. Several results of other fluid models can be deduced as the limiting cases of our situation.     

Effect of pressure on the structural and elastic properties of ZnS and MgS alloys in the B3 and B1 phases

From the first-principles calculations, we have investigated the elastic stiffness coefficients C₁₁, C₁₂, C₄₄ and the bulk modulus B of the II-VI semiconductors ZnS and MgS under hydrostatic pressure. The calculations are based on the density functional theory within the generalized gradient approximation (GGA) for exchange-correlation interaction. For the structural properties we have shown that ZnS adopt the rocksalt (NaCl or B1) structure over 11.87 GPa pressure, the same character is adopted by MgS over 0.8 GPa. The elastic coefficients have the same behavior for the different structures of alloys; they increase with increasing pressure values. Our results for the structural parameters and equilibrium phase elastic constants are in good agreement with the available theoretical and experimental data.     

Impedance studies on plasticized PMMA-LiX [X: CF3SO3, N(CF3SO2)2−] polymer electrolytes

Plasticized polymer electrolytes composed of poly(methylmethacrylate) (PMMA) as the host, propylene carbonate (PC) or ethylene carbonate (EC) as a plasticizer and LiX (X: CF₃SO₃⁻ or N(CF₃SO₂)₂⁻) as a salt were prepared by the solution cast technique. Impedance spectroscopy was performed in the temperature range between 303 and 383 K. In this paper, we report the electrical properties of polymer electrolytes with different lithium salts and plasticizers. The polymer electrolytes investigated exhibited high ionic conductivity at room temperature in the range of 10^− 6 to 10^− 4 S cm^− 1. The temperature dependence studies showed that the samples were ionic conductors and seemed to obey the Vogel-Tamman-Fulcher (VTF) rule. FTIR spectroscopy studies confirmed the polymer-salt interaction.     

Genetic Algorithm for the Multiple-Query Optimization Problem

Producing answers to a set of queries with common tasks efficiently is known as the multiple-query optimization (MQO) problem. Each query can have several alternative evaluation plans, each with a different set of tasks. Therefore, the goal of MQO is to choose the right set of plans for queries which minimizes the total execution time by performing common tasks only once. Since MQO is an NP-hard problem, several, mostly heuristics based, solutions have been proposed for solving it. To the best of our knowledge, this correspondence is the first attempt to solve MQO using an evolutionary technique, genetic algorithms     

Observation of coupling between zero- and two-dimensional semiconductor systems based on anomalous diamagnetic effects

We report the direct observation of coupling between a single self-assembled InAs quantum dot and a wetting layer, based on strong diamagnetic shifts of many-body exciton states using magneto-photoluminescence spectroscopy. An extremely large positive diamagnetic coefficient is observed when an electron in the wetting layer combines with a hole in the quantum dot; the coefficient is nearly one order of magnitude larger than that of the exciton states confined in the quantum dots. Recombination of electrons with holes in a quantum dot of the coupled system leads to an unusual negative diamagnetic effect, which is five times stronger than that in a pure quantum dot system. This effect can be attributed to the expansion of the wavefunction of remaining electrons in the wetting layer or the spread of electrons in the excited states of the quantum dot to the wetting layer after recombination. In this case, the wavefunction extent of the final states in the quantum dot plane is much larger than that of the initial states because of the absence of holes in the quantum dot to attract electrons. The properties of emitted photons that depend on the large electron wavefunction extents in the wetting layer indicate that the coupling occurs between systems of different dimensionality, which is also verified from the results obtained by applying a magnetic field in different configurations. This study paves a new way to observe hybrid states with zero- and two-dimensional structures, which could be useful for investigating the Kondo physics and implementing spin-based solid-state quantum information processing.

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Study on novel poly (vinyl pyrrolidone) doped MWCNTs/polyrhodanine nanocomposites: Synthesis,characterization, and thermal performance

In this paper, poly (vinyl pyrrolidone) (PVP) doped multiwall carbon nanotubes (MWCNTs/polyrhodanine), were synthesized through one-step chemical oxidative polymerization of rhodanine monomers on the surface-modified carbon nanotubes. Characterization of MWCNTs/polyrhodanine was conducted by using scanning electron microscopy (SEM), transmission electron microscopy (TEM), Fourier transforms infrared spectroscopy (FT-IR), X-ray diffraction (XRD), and EDX spectrum analyses in which the results confirmed the successful formation of MWCNTs/polyrhodanine. In addition, to investigate the thermal properties of samples, thermogravimetric analysis (TGA) was employed, and results exhibited significant improvement in the nanocomposite thermal stability due to the addition of MWCNTs with reinforcement effect in polymer matrix.