A neural network compensator for uncertainties of roboticsmanipulators

A neural network controller for trajectory control of robotic manipulators that is used not to internalize the inverse dynamic model of the controlled object but to compensate only the uncertainties of the robotic manipulator is presented. Its performance is compared with that of the conventional adaptive scheme. The results show the ability of the neural network controller to adapt to unstructured effects. A learning method for the neural network compensator with true teaching signals is shown. The tracking error of the robotic manipulator was greatly reduced when this controller was used     

Metal fusion by laser radiation action in an oxidizing medium

Results are presented from a calculation of fusion of a massive zirconium plate under the action of laser radiation with consideration of simultaneous surface oxidation.Translated from Inzhenerno-Fizicheskii Zhurnal, Vol. 61, No. 1, pp. 11–14, July, 1991.     

Morphology of thin anatase coatings prepared from alkoxide solutions containing organic polymer,affecting the photocatalytic decomposition of aqueous acetic acid

Porous anatase coatings were prepared from alkoxide solutions containing organic polymer by a dip-coating technique. The morphology of the coatings, such as pore size, pore distribution and thickness, was controlled. The effects of the morphology of the porous anatase coatings on the photocatalytic activity for the photocatalytic decomposition of aqueous acetic acid were examined.     

Experimental Investigation of the Density of Molten Lead–Bismuth Eutectic

The density of molten Pb–Bi eutectic is measured by the pycnometer method in a temperature range of 410–726 K. The confidence of error of measurement, made up by the systematic and random components, does not exceed 0.1%. The experimental results are compared with the experimental data on the density of a liquid lead–bismuth alloy of eutectic composition available in the literature.     

Hydrogen absorption by Pd-coated ZrNi prepared by using Barrel-Sputtering System

To improve the durability of hydrogen storage materials against surface poisoning by impurity gases, effectiveness of Pd-coating layer prepared by using a Barrel-Sputtering System was examined for ZrNi powder. The effectiveness of Pd-coating was evaluated by activation temperature, at which Pd/ZrNi poisoned by air could be activated to absorb hydrogen. Characterization of Pd-coated ZrNi (denoted as Pd/ZrNi) by scanning electron microscopy, electron probe microanalysis and X-ray diffraction showed that a uniform Pd-coating layer was formed with the barrel-sputtering system. It was found that the poisoned Pd/ZrNi sample could be activated even at 423 K to absorb hydrogen at room temperature. This exhibits remarkable contrast to bare ZrNi, which could be only activated appreciably above 1073 K. It is concluded that the Pd-coating by barrel sputtering is quite effective to avoid the effect of surface poisoning of powdery hydrogen storage materials. However, the activation at excessively high temperature resulted in the loss of high activity to absorb hydrogen. It was concluded that this phenomenon was associated with reactions between Pd and ZrNi to form PdZr and other byproducts.     

Circular core polarization-maintaining optical fibers withelliptical stress-induced cladding

The reproducible technology for producing high-birefringence fibers with stress-induced elliptical cladding and circular core is described. The authors have obtained fibers that have a birefringence of about (1-3) 10^-4, a mode coupling parameter of about (2-7) 10 ^-5 m^-1, and loss of less than 0.5 dB/km at 1.6 μm. The authors have found effects restricting the capability of test fibers to maintain the state of linear polarization     

Low cycle fatigue and creep behavior of recrystallized Molybdenum near room termperature

The deformation behavior of pure recrystallized molybdenum under cyclic and static loads was investigated in the temperature range between 30°C and 10O°C, for stress amplitudes between 100 MPa and 250 MPa and for static loads up to 200 MPa. The results show that in spite of the low test temperatures and stress levels the Mo material exhibits considerable plastic strains which depend sensitively on frequenez and small changes in temperature.The activation energy deduced for the static and dynamic deformation is less than 0.98 eV which indicates thermally activated processes, to be explained by a dislocation kink model as described in the literature. The low-temperature fatigue behavior appears strongly influenced by creep-fatigue interaction phenomena.     

Configurable nonlinear filter generator

A configurable nonlinear filter generator is proposed. The nonlinear function employed is key controllable. By changing the key, a different sequence will be obtained. Simulated results show that an optimal linear complexity profile of the sequence can be generated     

Is construction procurement a key to sustainable development?

Has specialization of professional roles obstructed the holistic approach and sustainable development? A preliminary survey in Botswana involving construction professionals found that existing procurement systems have not integrated the efforts of the different project participants and also fail to fulfil the expectations of the users. A holistic approach involving the re-integration of construction disciplines by applying new procurement methods is proposed. An integrated, holistic way of working could provide a number of synergies through the consideration of the building project as an entire system. The implications include better decision making upstream, more efficient use of resources and the mitigation of negative environmental effects downstream.

La specialisation professionnelle est-elle un obstacle a l'approche globale et au developpement durable? Une etude preliminaire menee au Botswana et portant sur les metiers de la construction a revele que les systemes d'approvisionnement actuels n'integrent pas les efforts des differents participants a un projet et ne repondent pas aux attentes des utilisateurs. Cet article propose une approche globale dont le succes repose sur la reintegration de ces metiers et sur de nouvelles methodes d'approvisionnement. Une methode de travail integree et holistique, ou un projet de construction serait considere comme un systeme complet, pourrait faire naitre un certain nombre de synergies. Cette hypothese exige un meilleur processus decisionnel en amont une utilisation plus efficace des ressources et l'attenuation des effets negatifs sur l'environnement en aval.