Neural network impedance force control of robot manipulator

The performance of an impedance controller for robot force tracking is affected by the uncertainties in both the robot dynamic model and environment stiffness. The purpose of this paper is to improve the controller robustness by applying the neural network (NN) technique to compensate for the uncertainties in the robot model. NN control techniques are applied to two impedance control methods: torque-based and position-based impedance control, which are distinguished by the way of the impedance functions being implemented. A novel error signal is proposed for the NN training. In addition, a trajectory modification algorithm is developed to determine the reference trajectory when the environment stiffness is unknown. The robustness analysis of this algorithm to force sensor noise and inaccurate environment position measurement is also presented. The performances of the two NN impedance control schemes are compared by computer simulations. Simulation results based on a three-degrees-of-freedom robot show that highly robust position/force tracking can be achieved in the presence of large uncertainties and force sensor noise     

Adaptive wavelet packet based image coding with optimalentropy-constrained lattice vector quantizer (ECLVQ)

In this work, wavelet basis and source coding are jointly optimized, while specifying the source coding strategy as entropy-constrained lattice vector quantizer (ECLVQ). The presented approach differs from previous works in which the choice of wavelet basis is quasioptimal, but the quantizer set is optimally chosen     

Measurements and correlation of effect of cosolvents on the solubilities of complex molecules in supercritical carbon dioxide

A new transparent microscale circulation-type high pressure equilibrium cell with on-line sampling was devised. With this apparatus, experimental solubility of molecularly complex species such as steroids (cholesterol, stigmasterol and ergosterol) and fatty acids (palmitic acid and stearic acid) in supercritical carbon dioxide(sc-C0₂) were measured. Also, to find an appropriate substance for enhancing both the polarity and the solubility power of the SC-CO₂ solvent, we arbitrarily selected three polar substances such as acetone, methanol and water and the effect of these cosolvents on the solubility of solutes in SC-CO₂ are examined. The supercritical phase equilibrium data of solute-cosolvent-sc-CO₂ systems were quantitatively correlated using a new equation of state based on the lattice fluid theory incorporated with the concept of multibody interaction. We found that the addition of tracer amount of acetone or methanol to SC-CO₂ enhances the solubility of all solutes about thirty to sixty times when compared with the case of pure sc-CO₂ However, for the case of cosolvent water, no further enhancement of the solubility of solutes was realized. Also, the versatile fittability of the equation of state proposed in this work was demonstrated with the newly measured ternary supercritical equilibrium data.     

Oxidative regeneration of sulfided sorbent by H2S without emission of SO2

Much SO₂, another perilous air pollutant, was emitted during the oxidative regeneration of sulfided sorbent by H₂S. In order to prevent emission of SO₂, we carried out oxidative regeneration with the physical mixture of CaO and sulfided sorbent and investigated the effect of regeneration temperature and oxygen concentration on the reactivity of CaO with S0₂. The effluent gases were analyzed by G.C. and the properties of sorbent were characterized by XRD. SEM, TG/DTA and EPMA. Deterioration of reactivity of CaO with S0₂ resulted in increment of emission of SO₁₂ due to the structural changes of CaO above 750°C and that at 850°C was more severe. Furthermore EPMA and XRD analysis revealed that product layer diffusion through the solid product, CaSO₄, was the rate limiting step for CaO sulfidation. The reaction of CaO w:.th SO₂ was first order approximately and that was accelerated by high O₂ concentration.     

Selection of network and learning parameters for an adaptive neural robotic control scheme

This paper presents the results of a study in the design of a neural network based adaptive robotic control scheme. The neural network used here is a two hidden layer feedforward network and the learning scheme is the well-known backpropagation algorithm. The neural network essentially provides the inverse of the plant and acts in conjunction with a standard PD controller in the feedback loop. The objective of the controller is to accurately control the end position of a single link manipulator in the presence of large payload variations, variations in the link length and also variations in the damping constant. Based on results of this study, guidelines are presented in selecting the number of neurons in the hidden layers and also the parameters for the learning scheme used for training the network. Results also indicate that increasing the number of neurons in the hidden layer will improve the convergence speed of learning scheme up to a certain limit beyond which the addition of neurons will cause oscillations and instability. Guidelines for selecting the proper learning rate, momentum and fast backpropagation constant that ensure stability and convergence are presented. Also, a relationship between the r.m.s. error and the number of iterations used in training the neural network is established.     

MULTI-PROJECT SCHEDULING WITH EXPLICIT LATENESS COSTS

We propose a heuristic procedure for planning and scheduling multiple projects subject to limited resource availabilities. We depart from previous research in that explicit lateness costs for each project are considered. Our procedure involves aggregate analysis using linear programming to determine target resource loading profiles for each project that optimize trade-offs of lateness costs among projects, followed by detailed multi-project scheduling consistent with the target profiles. Target profiles and detailed schedules are iteratively modified through N iterations, where N is the number of projects. The procedure can be used to jointly schedule previously committed and newly proposed projects, as well as to assign due dates to proposed projects. We compare the performance of our procedure to that of the traditional minimum slack heuristic, as well to a simple extension of the minimum slack rule that accounts for lateness costs. On a set of 60 multi-project test problems adapted from the Patterson set of single-project problems, results are very favorable for our proposed algorithm.     

A new hybrid active power filter (APF) topology

In this paper, a new hybrid active power filter topology is presented. A higher-voltage, low-switching frequency insulated gate bipolar transistor (IGBT) inverter and a lower-voltage high-switching frequency metal oxide semiconductor field effect transistor (MOSFET) inverter are used in combination to achieve harmonic current compensation. The function of the IGBT inverter is to support utility fundamental voltage and to compensate for the fundamental reactive power. The MOSFET inverter fulfills the function of harmonic current compensation. To further reduce cost and to simplify control, the IGBT and MOSFET inverters share the same DC-link via a split capacitor bank. With this approach harmonics can be cancelled over a wide frequency range. Compared to the conventional APF topology, the proposed approach employs lower dc-link voltage and generates less noise. Simulation and experimental results show that the proposed active power filter topology is capable of compensating for the load harmonics     

A novel cyclic process using CaSO<Subscript>4</Subscript>/CaS pellets for converting sulfur dioxide to elemental sulfur without generating secondary pollutants: Part I. Feasibility and kinetics of the reduction of sulfur dioxide with calcium-sulfide pellets

Certain new sulfide-smelting processes and coal-gasification processes generate high-strength sulfur dioxide streams, for which a new process for converting sulfur dioxide to elemental sulfur needs to be developed because no process exists that is generally and economically applicable to the treatment of such streams. A thermodynamic and experimental investigation to develop a new process for converting sulfur dioxide to elemental sulfur by a cyclic process involving calcium sulfide and calcium sulfate without generating secondary pollutants was carried out. In this process, the starting raw material, calcium sulfate, is reduced by a suitable reducing agent, such as hydrogen, to produce calcium sulfide, which is used to reduce sulfur dioxide to elemental sulfur vapor and calcium sulfate. The latter is, in turn, reduced to regenerate calcium sulfide. In this Part I, detailed experimental results are presented on the kinetics of the reaction between sulfur dioxide and calcium-sulfide pellets, which produces elemental sulfur and calcium sulfate. The experiments were carried out at temperatures between 1023 and 1088 K and sulfur-dioxide partial pressures between 9 and 60 kPa by the use of a thermogravimetric analysis (TGA) technique. The rate of this reaction was demonstrated by the conversion of 40 pct calcium-sulfide pellets obtained from the hydrogen reduction of fresh calcium sulfate in 10 minutes at 1073 K under a sulfur-dioxide partial pressure of 43 kPa. The reactivity decreased somewhat during the first three cycles but remained largely unchanged thereafter up to the tenth cycle. This characteristic of the pellets is important because the solids must be reusable for repeated cycles to avoid generating secondary pollutants. A pore-blocking model was found to fit the reaction rate. The reaction is first order with respect to sulfur-dioxide partial pressure and has an activation energy of 101 to 134 kJ/mol (24 to 32 kcal/mol) for calcium-sulfide pellets reacted and regenerated several different times. Sulfur dioxide-containing streams from certain sources, such as the regenerator off-gas from an integrated-gasification, combined-cycle, desulfurization unit and new sulfide-smelting plants, contain much higher partial pressures of SO₂. In these cases, the rate of the first reaction is expected to be proportionally higher than in the test conditions reported in this article. The reduction kinetics of calcium-sulfate pellets with hydrogen gas is reported in the accompanying Part II.