Flexible joints control: A minimum-time feed-forward technique

The paper proposes a linear programming approach to the feed-forward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang–bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Theoretical analysis is presented and proof of convergence is given. Experimental results illustrate the proposed open-loop technique. Comparisons are made with inversion-based techniques.     

Optimal positioning of irregular shapes in stamping die strip

The nesting of two-dimensional shapes is a common problem, where raw material has to be economically cut. As for the single-pass single-row strip layout, several algorithms, based on established methods, have been proposed. Moreover, it should be noticed that the optimum layout should also consider a few constraints, like grain orientation for subsequent forming operation, correct bridge width, and the commercial roll of metal width in order to make solutions applicable in real industrial environments. Most of the procedures until now shown in literature are quite complex and often ignore these real constraints. They usually make use of sliding techniques and are not able to effectively work with relatively multiple-connected figures. In particular, most of the different proposed procedures are based on the No Fit Polygon (NFP) computation of non-convex polygons, which often generates holes. This work is a proposal for a more efficient method, which can be used in heuristic procedures. In order to overcome some faults of most of the former methods presented in literature, in this paper a new geometric entity called ??No Fit Path?? (NFPh) of non-convex polygons is applied. It allows researchers to find solutions of nesting problems even when there are NFP faults due to degenerate solutions. Moreover, the No Fit Path allows researchers to easily read, modify, or share their results, overcoming all those problems arising from the usual large amount of information and from the different origins and formats of the obtained data. Given two non-convex polygons, the algorithm is able to calculate their NFPh very quickly and without any approximation by a polygon clipping method. In this paper a totally automated procedure has been developed. This procedure firstly obtains the ??No Fit Path?? (NFPh); secondly, between all the existing positions on the NFPh, the algorithm searches the optimal one, minimizing the global waste. The proposed approach also allows designers to set an optimal orientation of the shapes on the roll of metal, taking account of the grain orientation in order to obtain the best mechanical characteristics for the cut pieces.     

Profiling selected phytochemicals and nutrients in different tissues of the multipurpose tree Moringa oleifera L., grown in Ghana

The purpose of this new study was to determine the types and levels of major phytochemicals (non-nutrients) and nutrients in the different tissues from vegetative and flowering Moringa oleifera L. an important multipurpose crop. Rhamnose and acetyl-rhamnose-substituted glucosinolates were found in all of the M. oleifera tissues with different profiles depending on the tissue. In addition the tissues of M. oleifera had a relatively complex flavonoid profile consisting of glucosides, rutinosides, malonylglucosides and traces of acetylglucosides of kaempferol, quercetin and isorhamnetin. Fatty acid profiling of the different tissues showed that leaves were rich in palmitic (16:0) and linolenic (18:3) acid whereas seeds were predominated by oleic acid (18:1). Roots were rich in palmitic and oleic acid, whereas stems and twigs predominately contained palmitic acid. Potassium, magnesium and calcium were the predominant minerals in all of the tissues. Low levels of selenium were detected only in whole seeds.     

Using a MODFLOW grid, generated with GMS, to solve a transport problem with TOUGH2 in complex geological environments: The intertidal deposits of the Venetian Lagoon

The tides of the Venetian Lagoon generally vary between −0.5 and +0.7 m asl. Occasionally, they may reach a maximum of 1.5 m (acqua alta) and a minimum of −0.8 m asl (acqua bassa). Intertidal areas, called “barene,” exist all along the coast of the Lagoon. These areas are characterized by canals that concentrate the flow of water (and the deposition of sands) during the rising and waning of the tides, and that inundate and drain the vegetated areas found between canals (where organic-rich clays are deposited). Therefore, since the area is subject to subsidence, in time, sand dykes (the original canals) become juxtaposed to clayey dykes (the original vegetated areas). In addition, the sands form a continuous hydrogeologic network within the clays, very similar to that of a vascular system that effectively drains the whole “barena” deposits. In order to be effective, measures for monitoring, confining, or remediating the transport of pollutants through this kind of environment must explicitly take into account the geologic complexity. The same complexity must be included in the numerical models that support remediation efforts. At the moment, there appears to be no off-the-shelf graphical interface that is able to manage such complexity for TOUGH2. To attempt to solve this problem we have used a calibrated USGS-MODFLOW model, of the barena of “Passo a Campalto” in the Venetian Lagoon, developed with the GMS graphical interface. The model is made of 42 layers, which, apart from the first layer, are 0.5 m thick; the first layer has the thickness distribution of a dump found on top of the barena deposit at Passo a Campalto. Each layer consists of 100×60 square cells, for a total of 252,000 cells, only about half of which are active. Using a FORTRAN routine, we translate this grid, with all the hydrogeologic boundary conditions, into a TOUGH2 input file, and we provide the additional necessary information for running a TOUGH2 simulation. The results are promising, in that we were able to produce TOUGH2 grids with very complex geology and to run the models with success. For visualization, the results can be imported back into GMS as 3D scatter point sets, or they can be plotted with any adequate plotting software such as MatLab. Developing conceptual and numerical models with an elaborate graphical interface such as GMS effectively allows setting up complex problems while concentrating on their physics.     

Dual-Current Pump Module for Transient Improvement of Step-Down DC–DC Converters

This paper presents a novel dual-current pump module (DCPM) to improve the transient response of dc-dc converters. The DCPM operates only during transient to provide two additional current injections for step-up load and current drains for step-down load. Due to the two current pump paths, the current stress on the switches of the DCPM is also reduced. The measurement results show that the DCPM can enhance the dynamic recovery time of the buck dc-dc converter by more than an order.     

Use of axiomatic design principles for analysing the complexity of human–machine systems

Coupling between user goals and user actions has an adverse effect on usability, because it increases the gulf of execution. Based on the principles of axiomatic design, a methodology was developed for identifying and suggesting avenues for eliminating such couplings. A model of a human–machine system is constructed using the following design domains: goal; functional; physical; and action. The mappings between these domains are represented using design equations, which provide a qualitative metric for characterizing the degree of coupling. The use of this methodology is illustrated using several examples, which show that coupling may exist between the goal and functional domains, the functional and physical domains or the physical and action domains. Different loci of coupling have different implications for design improvement. By providing a general and rational criterion, this formalized and analytical methodology has the potential to be a useful tool for design engineers during the early stages of design.     

Integration of a-Si:H solar cell with novel twist nematic liquid crystal cell for adjustable brightness and enhanced power characteristics

This study improves the output power and brightness characteristics of a translucent hydrogenated amorphous silicon (a-Si:H) solar cell by integrating the solar cell with a novel twist nematic (TN) liquid crystal (LC) cell incorporating a sub-wavelength metal grating polarization beam splitter (PBS). Although conventional TN-LC cells are widely used to adjust the brightness in many display applications, the sheet polarizers used in such cells decay when exposed to ultraviolet (UV) rays and have a low light efficiency. Accordingly, in this study, a sub-wavelength metal grating PBS is used to replace not only the sheet polarizers in the conventional TN-LC cell but also the upper and lower alignment layers and transparent electrodes. Therefore, a translucent a-Si:H solar cell integrating with the novel TN-LC cell with the sub-wavelength metal grating PBS could improve power efficiency and durability in UV ray environment. The experimental results show that the transmittance gap between the “on” and “off” states of the enhanced translucent a-Si:H solar cell/novel TN-LC cell is of the order of 26.6% (i.e. 4.3-30.9%) for incident light with a wavelength of 800 nm, 6.3% (i.e. 10.8-17.1%) for an incident wavelength of 400 nm and 2.7% (i.e. 0-2.7%) for an incident wavelength of 510 nm. Moreover, it is shown that the novel TN-LC cell increases the maximum electrical power developed by the translucent a-Si:H solar cell and improves its power conversion efficiency by 0.209% in the “off” state and 0.417% in the “on” state. As a result, the proposed device represents an ideal solution for building-integrated photovoltaic (BIPV) systems, automobile industry applications and many other adjustable brightness photovoltaic applications.     

Effects of solvent and alkaline earth metals on the heat-induced precipitation process of sodium caseinate

The precipitation temperatures of sodium caseinate in H₂O and D₂O in the presence of Mg²⁺, Ca²⁺, Sr²⁺ and Ba²⁺ were investigated through fluorescence, turbidity and conductivity experiments.     

Nonlinear gain coefficients in semiconductor quantum-well lasers:effects of carrier diffusion, capture, and escape

Effective nonlinear gain coefficients due to the effects of carrier diffusion, capture, and escape are derived from the carrier transport equations. The quantum capture and escape processes between the confined states and the unconfined states are calculated from first principles by evaluating the carrier-polar longitudinal optical phonon interactions. The dc and ac capture times and escape times are derived from evaluating the net capture current of carriers. The differences in capture and escape times between dc and ac operating conditions are numerically investigated. We find that both dc and ac escape times are strongly dependent on the quantum well structure. This differs from the dc and ac capture times that are not sensitive to the quantum well structure. We also find that the dc escape time predicted by the classical thermionic emission theory will no longer be valid for narrow or shallow quantum wells. We show that both dc and ac capture and escape time ratios will increase as the carrier temperature and the carrier density in the quantum well increase. Therefore, we suggest that the possible cause of the resonant frequency degradation and dramatic increase in the damping rate results from the increase of the ac capture to escape time ratio by the effects of carrier heating. Two theoretical models (2N and 3N models) were used to study the effects of carrier diffusion-capture-escape on the modulation response of quantum-well lasers and a distributed model of carrier transport in quantum-well lasers is proposed. Their implications in designing high-speed quantum-well lasers are discussed