Neural network payload estimation for adaptive robot control

A concept is proposed for utilizing artificial neural networks to enhance the high-speed tracking accuracy of robotic manipulators. Tracking accuracy is a function of the controller's ability to compensate for disturbances produced by dynamical interactions between the links. A model-based control algorithm uses a nominal model of those dynamical interactions to reduce the disturbances. The problem is how to provide accurate dynamics information to the controller in the presence of payload uncertainty and modeling error. Neural network payload estimation uses a series of artificial neural networks to recognize the payload variation associated with a degradation in tracking performance. The network outputs are combined with a knowledge of nominal dynamics to produce a computationally efficient direct form of adaptive control. The concept is validated through experimentation and analysis on the first three links of a PUMA-560 manipulator. A multilayer perceptron architecture with two hidden layers is used. Integration of the principles of neural network pattern recognition and model-based control produces a tracking algorithm with enhanced robustness to incomplete dynamic information. Tracking efficacy and applicability to robust control algorithms are discussed.     

Simulation and optimization of tool-life in manufacturing centers

This paper presents the development of an optimization and a computer-simulation model to evaluate the process plans of a manufacturing center by analyzing the effect of tool failure on system performance. The GPSS/PC simulation program that is used in this study has been built with variables, functions and matrices so that many experiments could be conducted with the model. Sensitivity analysis is presented and the developed model has proven to be useful in determining optimum sequencing of parts for various operating policies.     

Processing of engineering ceramics with high power CO2 lasers

The hardness and brittleness of high performance engineering ceramics such as zirconia, aluminia, silicon carbide and silicon nitride makes traditional processing very expensive and time consuming. Efforts have been made to cut thick commercial ceramics with a continuous wave CO₂ laser. The results obtained so far are very promising and materials up to 10 mm in thickness have been cut successfully.     

Neutron and capture γ-ray accumulation factors in engineering calculations of reactor shielding

Translated from Atomnaya Énergiya, Vol. 66, No. 5, pp. 321–324, May, 1989.     

Cost effectiveness of ash interception in the combustion of fuel oil

Chemical and Petroleum Engineering -     

An algorithm for solving multi-point boundary value problems

We describe a method for computing solutions of multi-point boundary value problems, where the polychotomic structure of the underlying solution space is specifically exploited. After the system is integrated in a multiple shooting way, the resulting linear system is solved by a special decoupling algorithm that takes into account the fact that the dichotomy on each interval is potentially different (in contrast to the two point case). A number of examples sustains the theory.     

Space asymptotic method for the study of neutron propagation

Space asymptotic theory is shown to be a suitable model for the study of pulsed experiments in neutron multiplying systems. After a short revisitation of the basic aspects of space asymptotic theory applied on the Laplace transformed one-group transport equation, the full solution is derived. It is shown how results are exact in representing localized pulse propagation in the first portion of the transient, until the boundary is reached by the neutron signal, since it propagates with a finite velocity. Approximate models are then derived starting from the exact formulation and the B_N method is used to account for anisotropy effects. Numerical results are presented for one-dimensional systems, discussing the physical phenomena and noting the distortions introduced by approximate models, which may then turn out to be inadequate for the simulation of realistic pulsed experiments situations.     

Rapid and comprehensive indicator for evaluation of performance of treatment processes and of river waters.

Naturally occurring UV active compounds, commonly present in almost all source waters, can be rapidly monitored by their ultraviolet absorbance at 260 nm (E260). Herein, the extent of correlation between the E260 and the removal efficiency of the hazardous contaminants, endocrine disrupters and dioxins, were investigated using various treatment and river source waters. The detection of various types of hazardous contaminants using sophisticated analytical methods, such as high resolution gas chromatography (HRGC)/high resolution mass spectrometry (HRMS) and high performance liquid chromatography (HPLC)/inductively coupled plasma (ICP)/mass spectrometry (MS), as well as various short-term bioassays, can require hours or even days for results to be obtained. The removal of the E260 correlated well with those of individual contaminants, such as endocrine disruptor chemicals and dioxins, with the various treatment processes employed. In the plots of the endocrine disrupters against the DOC/E260, a correlation was found with the endocrine activity of the Korean/Japanese river waters employed in this study.     

Understanding community receptivity to water re-use: Ku-ring-gai Council case study.

This social research project investigated community receptivity to using rainwater and greywater as alternative domestic water sources. It was focused in the Ku-ring-gai local government area in northern Sydney, and involved a household questionnaire followed by community leader interviews and resident focus groups. Trends, such as a prolonged drought and increasing population, compound the current crisis and concern facing Sydney's available water supply. Substitution of domestic potable water has been promoted as part of the solution. The research results revealed that community receptivity was highest for external uses, such as watering gardens and flushing toilets, and progressively decreased with increasing personal contact. Receptivity to greywater reuse fell more rapidly with the community believing there was a higher health risk associated with its use. Gender and cultural background were revealed as significant variables and give insight into the design of strategies to target these demographic groups. This evidence provides a reliable stocktake of current receptivity revealing that the community has good awareness and positive association with water reuse for many household activities. This now needs to be harnessed through programs targeted at developing skills, resources and motivation for new water reuse practices and technologies across diverse social groupings.     

Modeling Power Supply Noise in Delay Testing

Excessive power supply noise during test can cause overkill. This article discusses two models for supply noise in delay testing and their application to test compaction. The proposed noise models avoid complicated power network analysis, making them much faster than existing power noise analysis tools. can cause performance degradation and