Trajectory control of a PUMA robot arm by inversion and servocompensation

Based on invertibility and functional reproducibility, an approach to the control of the PUMA arm with six rotational degrees of freedom is presented. The control system has two important features: (i) the ability for fast, precise trajectory tracking; and (ii) robustness to uncertainty in the system, such as variable payload, inertia, etc. The control law derived using invertibility gives decoupled, independently controlled responses in each joint angle using torquers. For robustness, a first-order servocompensator is designed for each decoupled inner loop driven by the joint angle error. For smooth joint angle responses, a command generator is constructed that produces the reference trajectories to be tracked. Simulation results are presented to show that rapid, accurate trajectory following is achieved in the closed-loop system in spite of large payload uncertainty.     

The estimation of atmospheric corrections to one-channel (11 μ m) data from the AVHRR; simulation using AVHRR/ 2

It has been established that the sea-surface brightness temperatures Tb₄ in the 11 μ m channel and T_b4in the 12 μ m channel of the Advanced Very High Resolution Radiometer (AVHRR/ 2) are linearly related to a good degree of accuracy, i.e. T_b5= α+ β T_b4 Using AVHRR/ 2 data for various dates and from different parts of the world's oceans, the parameters a and 0 have been determined. The above relation may then be used for simulating T_b5 for those cases for which only Tb4 is available (e.g. for the AVHRR on TIROS-N, NOAA-6, NOAA-8, etc.). The brightness temperature TM and pseudo-brightness temperature T_b5 then enable one to use the split-window technique for estimating atmospherically-corrected sea-surface temperatures (SSTs) from the 11μ m channel data alone. Such an atmospheric correction technique should be a possibility because the 11μ m channel of the AVHRR on the various satellites in question are almost identical

This technique has been used with two split-window algorithms for correcting the data from the 11μ m channel of the AVHRR instrument on the TIROS-N satellite obtained off south-western Portugal. One of the algorithms gives ‘ skin’ temperatures and the other algorithm gives bulk temperatures. The resulting SSTs for twelve dates from 15 June 1979 to 14 June 1980 have been compared with sea-surface (skin) temperatures which were obtained with airborne radiometer data obtained on the same dates.     

TEXTURAL CHANGES IN VEGETABLES DURING THERMAL PROCESSING. II. EFFECTS of ACIDIFICATION and SELECTED PRETREATMENTS ON TEXTURE of TURNIPS

The effect of different preprocessing treatments on the softening of vegetable tissues during acidification of turnips at different temperatures was studied. Texture was characterized by the maximum load force in a puncture test. the different preprocessing treatments considered were blanching alone and coupled with vacuum infusion, freezing/thawing and calcium chloride addition. Samples were acidified at different constant temperatures: 20, 50, 70 and 90C. Results were obtained by comparing the softening occurring for all samples and for non-preprocessed turnips. It was found that for low temperature processing the final result was mainly due to the effect of the preprocessing itself on the turnip texture while for high temperature processing the effect of the preprocessing on the tissues sensitivity to the processing was more important. Blanching alone caused greater softening when processing at 70C but lead to a firmer product when coupled with calcium chloride addition or vacuum infusion for processing at 70 and 90C.     

Competitive Adsorption Between Sodium Caseinate and Oil-Soluble and Water-Soluble Surfactants in Oil-in-Water Emulsions

Competitive adsorption between sodium caseinate and either a water-soluble surfactant, Tween 60 (polyoxyethylene sorbitan monostearate—PSM) or an oil-soluble surfactant, Span 60 (sorbitan monostearate—SM) was studied in oil-in-water emulsions. Surfactants were present during homogenization. Surface concentration of protein in freshly prepared emulsions decreased as concentration of PSM or SM increased. However, only partial displacement of protein was observed with either surfactant. The reduction in protein surface concentration was greater in the presence of PSM. Interfacial protein composition was independent of surfactant type. In the absence of surfactant, preferential adsorption of β-casein occured in emulsions containing ≤1.0 wt % protein. On addition of surfactant preference for β-casein at the interface was reduced.     

SPEED AT BREAKDOWN TORQUE OF A SINGLE-PHASE INDUCTION MOTOR

ABSTRACT

The purpose of this paper is to present an “exact” analytical expression to calculate speed at breakdown torque and the breakdown torque of single-phase induction motors. From the theoretical expression for torque developed by a single-phase motor, a sixth order polynomial in speed at breakdown torque is obtained, and solved, using a well known method. A real root for per unit speed, i.e. the ratio of speed to the synchronous speed, that lies between 0 and 1 is selected and the actual breakdown torque is determined by substituting it in the torque equation. The breakdown torque, also termed as maximum torque, so obtained has been found to yield better correlation between the predicted and the tested results than the only existing empirical relation. Steps to calculate speed at maximum torque are also suggested. For an arbitrarily selected single-phase induction motor, a curve of speed at breakdown torque as a function of r₂/X is also included for the purposes of illustration and understanding.     

OPTIMUM DESIGN OF SMALL DISTRIBUTION TRANSFORMER USING ALUMINIUM CONDUCTORS

ABSTRACT

Design Optimization of distribution transformer of small KVA rating using aluminium conductors is considered as a nonlinear multivariable constrained programming problem. For this purpose a set of five independent design variables is identified and suitable constraints are imposed to meet the thermal and other performance requirements of the transformer. The various objective functions are formed in terms of cost of active material, capitalized cost of losses as the operating cost and the overall cost as the sum of these two. This is done to select most effective and appropriate optimized design for these types of transformers. The optimization is achieved through Rosenbrock's method of direct search in conjunction with the sequential unconstrained minimization Technique (SUMT). The optimized design results for a 25 KVA distribution transformer using aluminium conductors are presented along with the design results using copper as the winding material for different objective functions.     

OBSERVATIONS ON THE DESIGN OF DISTRIBUTED ARMATURE WINDING BY POLY PHASE SYMMETRISATION

ABSTRACT

The generalised process of designing distributed poly-phase armature windings by the technique of symmetrization offers special advantages in developing dedicated machines for operation with non-sinusoidal supplies.

Principles of symmetrization have been reviewed with special reference to 3-phase windings and important rules governing the applications of the process have been enumerated, both with reference to single-speed balanced and unbalanced windings as well as multi-speed windings.

Although such special windings in general, have wider harmonic spectra compared to standard designs, a judicious selection of symmetrised windings can, in fact prove beneficial in specific cases. The paper attempts to lay down the procedure for systematic design of 3-phase symmetrised windings.