General Solution for the Dynamic Modeling of Parallel Robots

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Categories (2), (3).     

Finite sample properties of estimators of spatial autoregressive models with autoregressive disturbances

The article investigates the finite sample properties of estimators for spatial autoregressive models where the disturbance terms may follow a spatial autoregressive process. In particular we investigate the finite sample behavior of the feasible generalized spatial two-stage least squares (FGS2SLS) estimator introduced by Kelejian and Prucha (1998), the maximum likelihood (ML) estimator, as well as that of several other estimators. We find that the FGS2SLS estimator is virtually as efficient as the ML estimator. This is important because the ML estimator is computationally burdensome, and may even be forbidding in large samples, while the FGS2SLS estimator remains computationally feasible in large samples. Received: 20 January 2001 / Accepted: 31 August 2001     

Influence of halide ions and alloy microstructure on the passive and localized corrosion behavior of alloy 22

Alloy 22 (N06022) is the current candidate alloy used to fabricate the external wall of the high-level nuclear waste containers for the Yucca Mountain repository. It was of interest to study and compare the general and localized corrosion susceptibility of Alloy 22 in fluoride and chloride solutions at 90 °C. Standard electrochemical tests such as cyclic potentiodynamic polarization, amperometry, and electrochemical impedance spectroscopy were used. Studied variables included the solution pH and the alloy microstructure (thermal aging). Results show that Alloy 22 is highly resistant to general corrosion in all the solutions tested. Thermal aging is not detrimental and even seems to be slightly beneficial for general corrosion at the higher solution pHs. Pitting corrosion was never observed. Crevice corrosion was found only for high chloride-containing solutions after anodic polarization. The presence of fluoride ions together with chloride ions seems to increase the susceptibility of Alloy 22 to crevice corrosion compared to pure chloride solutions. This article is based on a presentation made in the symposium “Effect of Processing on Materials Properties for Nuclear Waste Disposition,” November 10–11, 2003, at the TMS Fall meeting in Chicago, Illinois, under the joint auspices of the TMS Corrosion and Environmental Effects and Nuclear Materials Committees.     

Research on Marine Boiler＇s Pressurized Combustion and Heat Transfer

The effect of pressure on combustion and heat transfer is analyzed. The research is based on the basic combustion and heat transfer theorem. A correction for the heat calculation method for pressurized furnace is made on the basis of the normal pressure case. The correction takes the effect of pressurizing into account. The results show that the correction is reasonable and the method is applicable to combustion and heat transfer of the marine supercharged boiler.     

Softwarekartographie

Zusammenfassung  Anwendungslandschaften in Unternehmen sind langlebige hoch-komplexe Strukturen bestehend aus hunderten bis tausenden von miteinander vernetzten betrieblichen Informationssystemen, die von Personen mit sehr unterschiedlichen Interessen und Erfahrungshintergrund konzipiert, erstellt, modifiziert, betrieben, genutzt und finanziert werden. Die Softwarekartographie zielt darauf ab, die Kommunikation zwischen diesen Personen durch zielgruppenspezifische verst?ndliche graphische Visualisierungen zu unterstützen, die Gesch?fts- und Informatik-Aspekte gleicherma?en berücksichtigen, und die speziell für langfristige und strategische Management-Betrachtungen geeignet sind. In diesem Beitrag fassen wir zun?chst die in der betrieblichen Praxis wohlbekannten Probleme beim Management von Anwendungslandschaften zusammen und diagnostizieren erhebliche Kommunikationsdefizite. Da Anwendungslandschaften als Systeme von Systemen mit Menschen als integrale Systembestandteile zu verstehen sind, werden Karten als attraktiver L?sungsansatz identifiziert und die wesentlichen Konzepte der Softwarekartographie anhand von Beispielen vorgestellt. Dabei werden Querbezüge zu anderen Fachgebieten der Informatik und Wirtschaftsinformatik hergestellt, und die bisherige Nutzung der Forschungsergebnisse in der Praxis gezeigt.     

Recrystallization of phenylbutazone using supercritical fluid antisolvent process

Phenylbutazone was recrystallized from its solutions by using a supercritical fluid antisolvent process. It was dissolved in acetone and supercritical carbon dioxide was injected into the solution, thereby inducing supersaturation and particle formation. Variation in the physical properties of the recrystallized phenylbutazone was investigated as a function of the crystallizing temperature and the carbon dioxide injection rate. The recrystallized particles showed cleaner surfaces and more ordered morphology compared to the particles obtained by other methods such as solvent evaporation. X-ray diffraction patterns indicated that the crystallinity of the particles had been modified upon the recrystallization. Differential scanning calorimetry measurement revealed that the crystallizing temperature influenced the thermal stability of the resulting crystals. Larger crystals were produced when the carbon dioxide injection rate was reduced.     

An adaptive tracking problem for a family of retarded time-delay plants

Most of the existing switching control techniques are developed specifically for finite-dimensional linear time-invariant (LTI) systems. In many practical applications, however, it is essential to take time delay into consideration in the modelling as the control system can be highly sensitive to delay. In this paper, a multi-model switching control algorithm is proposed for retarded time-delay systems. It is assumed that the plant is represented by a family of known multi-input multi-output, observable, LTI models with multiple delays in the states, and that corresponding to each model in the known family, there exists a high-performance finite-dimensional LTI controller. In addition, it is supposed that a bound on the magnitude of the external inputs and disturbances is available. It is then shown that the proposed switching controller can stabilize the uncertain system, and that under some mild conditions, output tracking can be achieved in the given problem setting. Copyright © 2007 John Wiley & Sons, Ltd.     

Photochemical reduction of molecular weight and number of double bonds in natural rubber film

Natural rubber (NR) can be degraded depending on various factors such as heat, mechanical force, chemical reaction, and light. Light is a very interesting factor because it can cause the NR to degrade under low temperature and pressure. The photo-degradation of NR films was carried out to investigate the effects of the light and the temperature on the reduction of the weight-average molecular weight (Mw) and the double bonds in the NR films. The NR films, with and without catalysts, titanium dioxide (TiO₂), and potassium persulfate (K₂S₂O₈), were exposed to light from a mercury light bulb at 7,000 and 36,000 lux, and at the temperature of 25 °C and 80 °C for 192 hrs. After exposure, the Mw of the NR films was analyzed by gel permeation chromatography (GPC). Changes in the Mw were used to construct a kinetic model for the process, (1/Mw)=(1/Mw₀)+(kt/2M₀) where k is the rate constant, and M₀ is the Mw of the monomer unit. The linear relationship between 1/Mw and time suggested pseudo first-order processes with random scission. The Mw distribution information from the GPC was used to calculate the number of double bonds in the NR films. The trend of the double bonds reduction curves was quite similar to the result obtained from the calculation from the FTIR spectra. This indicated that this calculation method might possibly be another alternative way to obtain the number of double bonds in the NR.     

Self-adjusting the intensity of assortative mating in genetic algorithms

Mate selection plays a crucial role in both natural and artificial systems. While traditional Evolutionary Algorithms (EA) usually engage in random mating strategies, that is, mating chance is independent of genotypic or phenotypic distance between individuals, in natural systems non-random mating is common, which means that somehow this mechanism has been favored during the evolutionary process. In non-random mating, the individuals mate according to their parenthood or likeness. Previous studies indicate that negative assortative mating (AM)—also known as dissortative mating—, which is a specific type of non-random mating, may improve EAs performance by maintaining the genetic diversity of the population at a higher level during the search process. In this paper we present the Variable Dissortative Mating Genetic Algorithm (VDMGA). The algorithm holds a mechanism that varies the GA’s mating restrictions during the run by means of simple rule based on the number of chromosomes created in each generation and indirectly influenced by the genetic diversity of the population. We compare VDMGA not only with traditional Genetic Algorithms (GA) but also with two preceding non-random mating EAs: the CHC algorithm and the negative Assortative Mating Genetic Algorithm (nAMGA). We intend to study the effects of the different methods in the performance of GAs and verify the reliability of the proposed algorithm when facing an heterogeneous set of landscapes. In addition, we include the positive Assortative Mating Genetic Algorithm (pAMGA) in the experiments in order test both negative and positive AM mechanisms, and try to understand if and when negative AM (or DM) speeds up the search process or enables the GAs to escape local optima traps. For these purposes, an extensive set of optimization test problems was chosen to cover a variety of search landscapes with different characteristics. Our results confirm that negative AM is effective in leading EAs out of local optima traps, and show that the proposed VDMGA is at least as efficient as nAMGA when applied to the range of our problems, being more efficient in very hard functions were traditional GAs usually fail to escape local optima. Also, scalability tests have been made that show VDMGA ability to decrease optimal population size, thus reducing the amount of evaluations needed to attain global optima. We like to stress that only two parameters need to be hand-tuned in VDMGA, thus reducing the tuning effort present in traditional GAs and nAMGA.