Analyzing unidentified locked-joint failures in kinematically redundant manipulators

Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure-tolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by point-to-point motion. Based on the analysis, a procedure for workspace evaluation is developed that allows for the identification of regions in the manipulator's workspace in which tasks may be completed even with such failures. © 2005 Wiley Periodicals, Inc.     

Agile manufacturing of a micro-embossed case by a two-step electromagnetic forming process

A very agile method, that relies solely on simple single-sided tooling, to form open-box-like enclosures with surface detail such as highly embossed surface features is demonstrated and analyzed. For example, this method may be used to fabricate personal electronics cases. The technique uses electromagnetic forces in a two-step process. In the first step a newly developed uniform pressure electromagnetic actuator is used to make a micro-embossed pre-form that can contain very fine surface detail in the part by micro-embossing features in the forming die. This blank is then trimmed. In the second major step electromagnetic flanging is used to give greater depth and steeper walls to the case. Both electromagnetic operations use one-sided tooling and very light equipment. In principle the tooling needed for this type of process can be put to use within days or hours of finalizing the component design and precise tooling tolerances or precise alignment are not required. This work shows the essential feasibility of this approach to manufacturing either small or large lots of components.     

CAVITATION MODELING WITH A CFD APPROACH

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Stiffness-tolerant methods for transient analysis of stiff Markov chains

Three methods for numerical transient analysis of Markov chains, the modified Jensen's method (Jensen's method with steady-state detection of the underlying DTMC and computation of Poisson probabilities using the method of Fox and Glynn [1]), a third-order L-stable implicit Runge-Kutta method, and a second-order L-stable method, TR-BDF2, are compared. These methods are evaluated on the basis of their performance (accuracy of the solution and computational cost) on stiff Markov chains. Steady-state detection in Jensen's method results in large savings of computation time for Markov chains when mission time extends beyond the steady-state point. For stiff models, computation of Poisson probabilities using traditional methods runs into underflow problems. Fox and Glynn's method for computing Poisson probabilities avoids underflow problems for all practical problems and yields highly accurate solutions. We conclude that for mildly stiff Markov chains, the modified Jensen's method is the method of choice. For stiff Markov chains, we recommend the use of the L-stable ODE methods. If low accuracy (upto eight decimal places) is acceptable, then TR-BDF2 method should be used. If higher accuracy is desired, then we recommend third-order implicit Runge-Kutta method.     

Microstructural evolution of bulk nanocrystalline Ni during creep

Experiments were conducted on electrodeposited (ED) nanocrystalline (nc) Ni with an average initial grain size of about 20 nm at 393 K to study the shape of the creep curves. In addition, microstructure was examined by means of transmission electron microscopy (TEM). The results show that the creep curves are characterized by the presence of a well-defined steady-state stage. An examination of the microstructure indicates that while grain growth occurs during deformation, the grain size attains a constant value once steady state creep is approached. A comparison between grain size measurements obtained by the TEM technique and those obtained via the X-ray diffraction method shows that the use of the latter method may lead to an underestimation of the value of the average grain size.     

3G与超3G:利用多核处理器优势实现卓越3G、WiMAX及LTE性能

如今,多内核处理器正日益成为解决蜂窝基站功率与性能难题的常用有效工具. 虽然无线领域中最受青睐的应用仍然是语音,但是数据正紧随其后,迅速成为热门的3G应用,而且随着运营商对诸如移动WiMAX(IEEE 802.16e)和长期演进(LTE)等4G技术的部署,数据的这种发展势头还将持续下去.在电子邮件、Web浏览、音乐下载以及机器对机器(M2M)的应用中,所有数据流量都会增加每个收发器基站(BTS)或节点B(Node B)的工作量,在城市地区尤为如此.     

DIChirp: direct injection bandwidth estimation

Ideally, network bandwidth estimation algorithms should be independent of the end system performance. If end system capabilities are involved, then the measurement will be of the system throughput and will not indicate a correct assessment of network bandwidth. Packet dispersion‐based active bandwidth estimation schemes including Pathload, TOPP and pathChirp use delay correlation where the network‐induced delay on packets transmitted at certain rates is translated into bandwidth estimation. Since packet dispersion‐based active measurement schemes use delay correlation, bandwidth estimations are distorted by the host protocol stack‐induced delay variations. Studies revealed that the host protocol stack‐induced delay variations due to context switching are stovepiped in the network‐induced delay variations and impact the measurement process. This study explores the delay variations introduced by the host protocol stack in packet dispersion‐based techniques. The impact of host protocol delay variations and context switching on bandwidth estimation is analyzed and a new active bandwidth estimation tool minimizing the impact of context switching is proposed. Direct Injection Chirp (DIChirp) bypasses the TCP/IP protocol stack and directly interfaces with the network hardware. It uses the kernel for scheduling the outgoing packets, thus achieving more accurate estimation of bandwidth. Experiments revealed that the host protocol and context switching‐induced delay variations can be as high as 800µs and could result in bandwidth estimation errors near 20%. Experiments also revealed that the DIChirp is superior to the pathChirp implementation in performance estimation since the datapath utilized by DIChirp is less prone to delay variations induced by context switching. Copyright © 2007 John Wiley & Sons, Ltd.     

Heat transfer intensification in horizontal shell and tube latent heat storage unit

Employment of latent heat storage unit (LHSU) utilizing phase change material (PCM) in a substantial scale is constrained by the poor thermal conductivity of PCMs. Future utilization of LHSU will therefore to a great extent rely on the heat transfer intensification techniques. Present research is on enhancement techniques in which heat transfer mechanism is altered without altering the mass of PCM and heat transfer surface area. The intensification mechanisms considered in the present research include imparting eccentricity to heat transfer fluid (HTF) pipe, imparting rotation to the LHSU and providing multi HTF tube. Numerical investigations are reported here towards comparative evaluation of the thermal characteristics associated with such intensification mechanisms for horizontal LHSU. In the present study stearic acid (melting point 55.7–56.6?°C) is used as PCM and water is used as HTF. Results infer that all the three mechanisms offer quicker melting rate. For the geometric configuration of LHSU considered in the present research, a reduction in melting time of 47.75% is evaluated for rotating LHSU. The rate of energy storage is higher for both eccentric and rotating LHSU. Solidification process is however not accelerated by such techniques. On the contrary, eccentric and multi HTF tube LHSU takes more time for solidification.     

Thermal performance enhancement of melting and solidification process of phase‐change material in triplex tube heat exchanger using longitudinal fins

Efficient application of intermittent renewable energy sources, like solar, waste heat recovery, and so forth, depends on a large extent on the thermal energy storage methods. Latent heat energy storage with the use of phase‐change material (PCM) is the most promising one because it stores large energy in the form of latent heat at a constant temperature. The current study investigates melting and solidification of PCM in the triplex tube heat exchanger (TTHX) numerically. The two‐dimensional numerical model has been developed using Ansys Fluent 16.2, which considers the effects of conduction as well as natural convection. To overcome the limitation imposed by the poor thermal conductivity of PCM, use of fins is the better solution. In the current study, longitudinal fins are used for better performance of TTHX, which increases heat‐transfer area between PCM and heat‐transfer fluid. The effects of location of fins, that is, internal, external, and combined internal‐external fins, are observed. All three configurations improve melting as well as solidification process. During the melting process, internal and combined internal‐external fins are equally efficient, in which maximum 59% to 60% reduction in melting time is achieved. For solidification, internal‐external fins combination gives maximum 58% reduction in solidification time.