A piezoelectric model based multi-objective optimization of robot gripper design

The field of robotics is evolving at a very high pace and with its increasing applicability in varied fields, the need to incorporate optimization analysis in robot system design is becoming more prominent. The present work deals with the optimization of the design of a 7-link gripper. As actuators play a crucial role in functioning of the gripper, the actuation system (piezoelectric (PZ), in this case) is also taken into consideration while performing the optimization study. A minimalistic model of PZ actuator, consisting different series and parallel assembly arrangements for both mechanical and electrical parts of the PZ actuators, is proposed. To include the effects of connector spring, the relationship of force with actuator displacement is replaced by the relation between force and the displacement of point of actuation at the physical system. The design optimization problem of the gripper is a non-linear, multi modal optimization problem, which was originally formulated by Osyczka (2002). In the original work, however, the actuator was a ‘constant output-force actuator model’ providing a constant output without describing the internal structure. Thus, the actuator model was not integrated in the optimization study. Four different cases of the PZ modelling have been solved using multi-objective evolutionary algorithm (MOEA). Relationship between force and actuator displacement is obtained using each set of non-dominated solutions. These relationships can provide a better insight to the end user to select the appropriate voltage and gripper design for specific application.     

Evaluation of AMSR-E soil moisture results using the in-situ data over the Little River Experimental Watershed, Georgia

An operational global soil moisture data product is currently generated from the observations of the Advanced Microwave Scanning Radiometer (AMSR-E) aboard NASA's Aqua satellite using the retrieval procedure described in Njoku and Chan [Njoku, E.G. and Chan, S.K., 2006. Vegetation and surface roughness effects on AMSR-E land observations, remote sensing environment, 100(2), 190-199]. We have generated another soil moisture dataset from the same AMSR-E observed brightness temperature data using the Land Surface Microwave Emission Model (LSMEM) adopting a different estimation method. This paper focuses on a comparison study of soil moisture estimates from the above two methods. The soil moisture data from current AMSR-E product and LSMEM are compared with the in-situ measured soil moisture datasets over the Little River Experimental Watershed (LREW), Georgia, USA for the year 2003. The comparison study was carried out separately for the AMSR-E daytime and night time overpasses. The LSMEM method performed better than the current operational AMSR-E retrieval algorithm in this study. The differences between the AMSR-E and LSMEM results are mostly due to differences in various simplifications and assumptions made for variables in the radiative transfer equations and the soil and vegetation based physical models and the accuracy of the input surface temperature datasets for the LSMEM forward model approach. This study confirms that remote sensing data have the potential to provide useful hydrologic information, but the accuracy of the geophysical parameters could vary depending on the estimation methods. It cannot be concluded from this study whether the soil moisture estimation by the LSMEM approach will perform better in other geographic, climatic or topographic conditions. Nevertheless, this study sheds light on the effects of different approaches for the estimation of geophysical parameters, which may be useful for current and future satellite missions.     

Stiction – definition, modelling, detection and quantification

Stiction or high static friction is a common problem in spring-diaphragm type control valves, which are widely used in the process industry. Recently, there have been many attempts to understand, define, model and detect stiction in control valves. There are several methods for detecting stiction, but quantification of the actual amount of stiction still remains a challenge. This paper discusses briefly the definition and modelling of stiction. Then it demonstrates a new method to detect and quantify the actual amount of valve stiction using routine operating data. The proposed method is completely data-driven. No additional excitation or experimentation of the plant is required.     

Load and directional effects on microhardness and estimation of toughness and brittleness for flux-grown LaBO3 crystals

Results of microhardness measurements on (100) and (110) planes of flux-grown LaBO₃ crystals, in the applied load range of 10–100g, are presented. The microhardness was found to decrease with increasing load in a non-linear manner. By applying Hays and Kendall's law, the materials resistance pressure and other constants of the equation could be calculated. Hardness anisotropy, showing periodic variation of H _v with the maxima and minima repeating at every 15° change in orientation of the indentor, is described and discussed. H _max/H_min are estimated as 1.14 and 1.06 for (100) and (110) planes, respectively. The fracture toughness values, K _c, determined from measurements of crack lengths, are estimated to be 1.6, 1.7 MN m^–3/2 (for (100) planes) and 1.2, 1.5 MN m^–3/2 (for (110) planes) at 90 and 100g loads, respectively. The brittleness index, B _i, is estimated as 4.6, 4.0 m^–1/2 (for (100) planes) 6.0, 4.6 m^–1/2 (for (110) planes) at 90 and 100g, loads respectively.     

Prudence in vacillatory language identification

This paper settles a question about prudent vacillatory identification of languages. Consider a scenario in which an algorithmic deviceM is presented with all and only the elements of a languageL, andM conjectures a sequence, possibly infinite, of grammars. Three different criteria for success ofM onL have been extensively investigated in formal language learning theory. IfM converges to a single correct grammar forL, then the criterion of success is Gold's seminal notion ofTxtEx-identification. IfM converges to a finite number of correct grammars forL, then the criterion of success is calledTxtFex-identification. Further, ifM, after a finite number of incorrect guesses, outputs only correct grammars forL (possibly infinitely many distinct grammars), then the criterion of success is known asTxtBc-identification. A learning machine is said to beprudent according to a particular criterion of success just in case the only grammars it ever conjectures are for languages that it can learn according to that criterion. This notion was introduced by Osherson, Stob, and Weinstein with a view to investigating certain proposals for characterizing natural languages in linguistic theory. Fulk showed that prudence does not restrictTxtEx-identification, and later Kurtz and Royer showed that prudence does not restrictTxtBc-identification. This paper shows that prudence does not restrictTxtFex-identification.     

Preprogramming Floating Time of Liquid Marble

Non-sticking droplets wrapped with fine hydrophobic particles, namely liquid marbles, can be transported both on solid and water pool without an undesired spill of the inner encapsulated liquid. While the stimuli-responsive release of the inner liquid in the target area is proposed, the time-programmed release is not yet achieved. Herein, the hydrophobicity of nanoclay is modulated via a catalyst-free 1,4-conjugate addition reaction to form liquid marbles. This nanoclay liquid marble is robust and stable in air but collapses on the liquid pool with a specific lifetime. The lifetime of the liquid marble can be modulated over seconds to hours scale depending on the selection of chemically modulated wettability of the nanoclay. The critical mechanism of lifetime modulation is responsible for controlling the coalescence kinetics between the water pool and inner liquid by nanoclays’ high diffusion length and chemically varied water spreading potential. The NC liquid marble's programmable lifetime to ‘time-bomb’ type drug release and cascade chemical reaction is applied—without requiring any external intervention.     

Outage Performance of Uplink (UL) NOMA Network

Wireless Personal Communications - This paper proposes and analyses the power allocation coefficient normalization for successive interference cancellation in power-domain non-orthogonal multiple...     

CanarDeep: a hybrid deep neural model with mixed fusion for rumour detection in social data streams

Neural Computing and Applications - The unrelenting trend of doctored narratives, content spamming, fake news and rumour dissemination on social media can lead to grave consequences that range from...     

Effect of the polyelectrolyte coating on the photothermal efficiency of gold nanorods and the photothermal induced cancer cell damage

Coating gold nanorods (GNRs) with polyelectrolytes is an effective approach to make them biocompatible for potential use in photothermal treatment (PTT) of cancer. The authors report the effect of coating of the GNRs with polystyrene sulphonate (PSS‐GNRs) and PSS plus poly di‐allyl di‐methyl ammonium chloride (PDDAC‐GNRs) on its photothermal conversion efficiency (PTE), cellular uptake and subsequently the photothermal induced cytotoxicity in human oral cancer cells (NT8e). Coating of GNRs with PSS led to decrease in PTE by ∼30% and further coating it with PDDAC led to its increase to similar level, with respect to as‐ prepared GNRs. The cellular uptake of PDDAC‐GNRs in cancer cells was double than that for PSS‐GNRs. PTT of cancer cells after treatment with 60 pM of either PDDAC‐GNRs or PSS‐GNRs resulted in cytotoxicty of ∼90%. At higher concentration of 120 pM, while PSS‐GNRs showed no further change, for PDDAC‐GNR the photothermal induced cytotoxicity decreased to ∼50%. The broadening of longitudinal surface plasmon peak of PDDAC‐GNRs and appearance of dark clusters in cells under bright‐field microscope suggested intracellular clustering of PDDAC‐GNRs. In conclusion, despite high PTE and cellular uptake of PDDAC‐GNRs, its intracellular clustering (due to acidic pH) adversely affect the PTT of cancer cells.Inspec keywords: polymer electrolytes, gold, nanorods, cancer, nanomedicine, cellular biophysics, toxicology, radiation therapy, polymer filmsOther keywords: polyelectrolyte coating, photothermal efficiency, gold nanorods, photothermal induced cancer cell damage, cancer photothermal treatment, polystyrene sulphonate, poly di‐allyl di‐methyl ammonium chloride, photothermal conversion efficiency, cellular uptake, photothermal‐induced cytotoxicity, human oral cancer cells, dark clusters, bright‐field microscope, PDDAC‐GNR intracellular clustering, acidic pH, intracellular compartment, Au     

Mechanical and Thermophysical Properties of Cerium Monopnictides

The ultrasonic attenuation due to phonon–phonon interaction, thermoelastic relaxation and dislocation damping mechanisms has been investigated in cerium monopnictides CeX (X: N, P, As, Sb and Bi) for longitudinal and shear waves along \({\langle }100{\rangle }\), \({\langle }110{\rangle }\) and \({\langle }111{\rangle }\) directions. The second- and third-order elastic constants of CeX have also been computed in the temperature range 0 K to 500 K using Coulomb and Born–Mayer potential upto second nearest neighbours. The computed values of these elastic constants have been applied to find out Young’s moduli, bulk moduli, Breazeale’s non-linearity parameters, Zener anisotropy, ultrasonic velocity, ultrasonic Grüneisen parameter, thermal relaxation time, acoustic coupling constants and ultrasonic attenuation. The fracture/toughness ratio is less than 1.75, which shows that the chosen materials are brittle in nature as found for other monopnictides. The drag coefficient acting on the motion of screw and edge dislocations due to shear and compressional phonon viscosities of the lattice have also been evaluated for both the longitudinal and shear waves. The thermoelastic loss and dislocation damping loss are negligible in comparison to loss due to Akhieser damping (phonon–phonon interaction). The obtained results for CeX are in qualitative agreement with other semi-metallic monopnictides.