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.     

Urban growth trend analysis using GIS techniques—a case study of the Bombay metropolitan region

Abstract

Towns and cities in India are facing complex problems regarding the provision and maintenance of services and infrastructure in the face of the rapid growth of pupulation, caused both by natural increase and migration. In order to meet such challenges a planner needs to have fairly accurate and up-to-date information, especially about physical structures and related land parameters. A study of their trends generally helps in the understanding of the emerging growth pattern and in formulating policies to guide or redirect it. Recent advances in the field of remote sensing technology and computer based Geographical Information Systems (GIS) provide very useful tools in undertaking such analysis. The results from a study about growth trends of the urban areas in the Bombay Metropolitan Region using multi-date remote sensing data and ARC/INFO GIS package are described here. The period under consideration is from 1968 to 1989. It should be noted that the major growth in the region is confined to Greater Bombay between 1968 to 1975. After the year 1975, a distinct outward growth along the rail corridors is visible. Growth after 1975 is mainly in the Kalyan, Bhiwandi, New Bombay and Panvel areas and in the area around Manori creek (Charkop area). The growth rate is found to be higher after the year 1975 compared to the prior growth rate. The spatial growth trends are examined in relation to the population and the population density has been computed for different periods. Based upon these densities, the extent of land required for urban development for the year 2001 has been calculated. Suitability of land for urbanisation has been carried out based upon physical characteristics of the land and environmental parameters. The priority areas of urban development to meet the additional requirement in 2001 have been identified on the basis of this suitability analysis. A map on a 1:250000 scale has been prepared to show the areas for urbanisation which will meet the demands for the year 2001. This study demonstrates the potential offered by the integration of the tools of remote sensing and GIS for urban and regional planning.     

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.     

A new semi-empirical sea spectrum for estimating the scattering coefficient

A large data base comprising SEASAT A satellite scatterometer measurements and quasi-concurrent high quality sea wind data, as represented by Britt and Schroeder (1984) in the form of a multivariate regression, has been used to tune the overall magnitude of the assumed sea spectrum by inverting the two scale scattering theory. Scattering coefficient values computed for the derived spectrum have been compared with those computed for the spectrum suggested by earlier authors, and an improvement is found in the surface wind-scattering coefficient relationship as verified by comparison with the independent AAFE RADSCAT data set.     

Synergism between NOAA-AVHRR and Meteosat data for studying vegetation development in semi-arid West Africa

Abstract

Rainfall estimates, based on cold cloud duration estimated from Meteosat data, are compared with vegetation development depicted by data of the normalized difference vegetation index (NDVI) from the National Oceanic and Atmospheric Administration's (NOAA) advanced very high resolution radiometer (AVHRR) for part of the Sahel. Decadal data from the 1985 and 1986 growing seasons are examined to determine the synergism of the datasets for rangeland monitoring. There is a general correspondence between the two datasets with a marked lag between rainfall and NDVI of between 10 and 20 days. This time lag is particularly noticeable at the beginning of the rainy season and in the more northern areas where rainfall is the limiting factor for growth. Principal component analysis was used to examine deviations from the general relationship between rainfall and the NDVI. Areas of low NDVI values for a given input of rainfall were identified: at a regional scale, they give an indication of areas of low production potential and possible degradation of ecosystems. This study demonstrates in a preliminary way the synergism of such datasets derived from satellite--borne sensors with coarse spatial resolution, which may provide new information for the improved management of the Sahelian grasslands.     

Lowest-order correction to GVI data for solar zenith angle effect

Abstract

The aims of this presentation were (i) to simulate the solar zenith angle effect on the Global Vegetation Index (GVI), (ii) to derive an expression for removing such an effect from the GVI data by the above simulation procedure and (iii) to apply this relation to the GVI data obtained from the NOAA-AVHRR imagery.     

Gold nanoparticle-coated biomaterial as SERS micro-probes

We report for the first time, on the utility of plant-based biomaterial as enhanced-Raman scattering probes. The bio-substrate used in this study are commonly found in plant extracts, and are cost-effective, mechanically robust, flexible and easily transportable. The probe was fabricated by coating the plant extract with gold nanoparticles and characterized. By employing a ‘single-touch contact’ method, we reveal the ability of these probes to detect routinely used Raman markers such as 2-napthalenethiol and rhodamine B, at nano-molar concentrations, in dry and liquid forms, respectively. Reproducibility of the signals with variation <5%, and the ability to detect biomolecules are demonstrated herein. We envision these bio-probes as potential candidates for enhanced Raman sensing in chemical, environmental, and archaeological applications. By further engineering the shape, morphology, and surface chemistry of these micro-probes, we foresee their utility as miniaturized, natural SERS substrates.     

Effects of Microwave Heating and Gamma Irradiation on Phytate and Phospholipid Contents of Soybean (Glycine max. L.)

The effect of microwave heating and gamma irradiation treatments on phosphorus compounds of soybean seeds were studied. Inorganic phosphorus was significantly (P < 0.05) increased while, phytate and phospholipids were significantly decreased when soybean seeds were microwave-heated for 9 min or more. Furthermore, gamma-irradiation treatments of 20 KGy or more significantly increased inorganic phosphorus and decreased phytate and phospholipids of the beans. Two dimensional thin-layer chromatography was employed to study the phospholipid pattern. Gamma-irradiation at doses from 40 to 100 KGy produced lysophosphatidylcholine and phosphatidic acid. The data of this study showed that, the increase of inorganic phosphorus was mainly due to the decomposition of phytic acids and phosphates of inositol.     

Carboxymethyl cellulose (CMC) as an additive for oil reduction in deep-fat fried paneer

The effect of different levels of CMC on the uptake of vegetable oil during the deep-fat frying of paneer was studied by: (i) direct addition of CMC to the milk and (ii) dipping the paneer cubes into solutions of CMC for different time intervals. The fried paneers were evaluated for chemical composition, hardness and sensory characteristics. Method (i) proved to be beneficial in all respects as compared to (ii), as the absorption of water from the suspensions of CMC destroyed the texture of the paneer.