Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

Mobile manipulators derive significant novel capabilities for enhanced interactions with the world by merging mobility with manipulation. However, a careful resolution of the redundancy and active control of the reconfigurability, created by the surplus articulated DOFs and actuation, are the keys to unlocking this potential. Nonholonomic wheeled mobile manipulators, formed by mounting manipulator arms on disc-wheeled mobile bases, are a small but important subclass of mobile manipulators. The primary control challenges arise due to the dynamic-level coupling of the nonholonomy of the wheeled mobile bases with the inherent kinematic and actuation redundancy within the articulated chain. The solution approach in this paper builds upon a dynamically consistent and decoupled partitioning of the articulated system dynamics between the external (task) space and internal (null) space. The independent controllers, developed within each decoupled space, facilitate active internal reconfiguration, in addition to resolving redundancy at the dynamic level. Specifically, two variants of null-space controllers are implemented to improve disturbance rejection and active reconfiguration during performance of end-effector tasks by a primary end-effector impedance mode controller. These algorithms are evaluated within an implementation framework that emphasizes both virtual prototyping and hardware-in-the-loop testing with representative case studies.     

Use of initial rise method to analyze a general-order kinetic thermoluminescence glow curve

The application of the initial rise method, in the case of the general-order kinetics of thermoluminescence, has so far been limited to finding the thermal activation energy. However, the order of kinetics and pre-exponential factors could not be evaluated using this method so one has to resort to other methods of glow curve analysis. In the present paper, a novel method is suggested to calculate the kinetic order and the pre-exponential factor from the Arrhenius plots of the initial rise part of the thermoluminescence glow curve. The method uses the intercept values on the thermoluminescence intensity axis of the Arrhenius plots at two or more known doses to evaluate the value of kinetic order.     

Book review: The World of Psychology, 3rd Canadian Edition.

Review of book, Samuel E. Wood, Ellen R. Green Wood, Eileen Wood, and Serge Desmarais, The World of Psychology, 3rd Canadian Edition. Toronto, Ontario: Pearson Education Canada Inc., 2002, 592 pp., ISBN 0-205-36456-X. Reviewed by Gira Bhatt. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Are some Gestalt principles deployed more readily than others during early development? The case of lightness versus form similarity.

Four experiments investigated how readily infants achieve perceptual organization by lightness and form similarity. Infants were (a) familiarized with elements that could be organized into rows or columns on the basis of lightness or form similarity and tested with vertical versus horizontal bars depicting the familiar versus novel organization or (b) familiarized with bars and tested with elements. For lightness similarity, generalization occurred in both tasks; however, for form similarity, generalization occurred only in the elements → bars task. The findings indicate that lightness similarity is more readily deployed than form similarity and are discussed in the context of (a) whether the difference reflects speed of application or experience-based learning, (b) evidence from visual agnosic patients and the time course of application of the principles in healthy adults, and (c) development of dorsal and ventral visual processing streams. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Studies on automatic hot gas reader used in the countrywide personnel monitoring programme

In India, approximately 58,000 radiation workers are monitored using locally made CaSO4:Dy teflon embedded thermoluminescence dosemeter (TLD) badge system. The automatic hot gas readers developed locally are also used in TL measurements. The hot gas reader system has many advantages over the manual readers used previously and has completely replaced the manual reader system in all TLD personnel monitoring units in India. In the present study, the new reader system is studied and a theoretical attempt has been made to interpret the experimentally obtained results. The glow curves are generated theoretically and are also plotted experimentally. It has been found that the heat capacity of the heating gas, which is responsible for the transfer of heat, has a role in deciding the position of peak and is verified experimentally using different gas flow rates of nitrogen and argon as heating gases in the reader. The theoretical study may also be helpful in fitting the experimentally obtained glow curves and, therefore, the elimination of unwanted non-radiation-induced contributions, such as dark current, electronic spikes, light leakage and triboluminescence that generally distort the glow curve shape, can be achieved.     

Fatigue behavior of SiC reinforced Ti(6AI-4V) at 650 °C

Axial, low cycle fatigue properties of 25 and 44 fiber vol pct SiC/Ti(6Al-4V) composites, measured at 650 °C, were compared with the fatigue properties of unreinforced Ti(6Al-4V) at the same temperature. A prior study of the fatigue behavior of this composite system at room temperature indicated that the SiC fiber reinforcement did not provide the anticipated improvement of fatigue resistance of this alloy. At 650 °C, the composite fatigue properties degraded somewhat from those at room temperature. However, these properties degraded more for the unreinforced matrix at 650 °C with the result that the composite fatigue strength was two to three times the fatigue strength of the matrix alloy. The reasons for this reversal are discussed in terms of crack initiation at broken fibers and residual matrix stresses.