Fault identification for robot manipulators

Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a nonlinear observer is used to identify a class of actuator faults once the fault has been detected by some other method. Advantages of the proposed fault-identification method are that it is based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), it does not require acceleration measurements, and it is independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault. Experimental results are provided to illustrate the performance of the identification method.     

Homography-based visual servo tracking control of a wheeled mobile robot

A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from a stationary reference image with the corresponding target points in the live image and the prerecorded sequence of images, projective geometric relationships are exploited to construct Euclidean homographies. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system. Experimental results are provided to demonstrate the control design.     

Screening and chemoprophylaxis for tuberculosis infection in college populations

Lyme borreliosis is the most frequent tick-borne disease in the Northern hemisphere. Here we describe the first isolation of Borrelia burgdorferi sensu lato in Bulgaria: the midguts of 47 Ixodes ricinus obtained by flagging from the Central park in Sofia, Bulgaria were cultivated for borreliae in BSK medium. The eight isolates obtained from the ticks and one skin isolate from a Bulgarian patient with erythema migrans were subjected to phenotypic [outer surface protein A (OspA) serotyping] and genotypic analysis (pulsed-field gel electrophoresis typing followed by large restriction fragment pattern analysis after MluI digestion, polymerase chain reaction with 16S rRNA-directed oligonucleotide probes, and restriction fragment length polymorphism analysis of rrf-rrl intergenic spacer amplicons). The skin isolate was B. burgdorferi sensu stricto, as were four of the tick isolates; the other four tick isolates were B. garinii representing three different OspA serotypes (types 3, 5 and 7). These findings confirm the wide geographic distribution of the different B. garinii-associated OspA serotypes in Europe (shown here for the first time for the Southeastern part of Europe) and of B. burgdorferi sensu stricto in the Western hemisphere. These findings have implications for development of diagnostic tests and a borrelia vaccine in Southeastern Europe.     

Free convection within a vertical,rectangular cavity subjected to large temperature differences

Two-dimensional temperature distributions and vortex patterns in air at atmospheric pressure contained within vertical plane walled cavities have been predicted using a finite-difference approach without encountering any instability of the solution procedure. Appropriate allowances have been made in this procedure for the temperature dependence of the air properties. The predictions are in good agreement with experimental observations.     

Using Distributed Computers to Deterministically Approximate Higher Dimensional Convection Diffusion Equations

A new approach to solving D> 3 spatial dimensional convection-diffusion equation on clusters of workstations is derived by exploiting the stability and scalability of the combination of a generalized D dimensional high-order compact (HOC) implicit finite difference scheme and parallelized GMRES(m). We then consider its application to multifactor Option pricing using the Black–Scholes equation and further show that an isotropic fourth order compact difference scheme is numerically stable and determine conditions under which its coefficient matrix is positive definite. The performance of GMRES(m) on distributed computers is limited by the inter-processor communication required by the matrix-vector multiplication. It is shown that the compact scheme requires approximately half the number of communications as a non-compact difference scheme of the same order of truncation error. As the dimensionality is increased, the ratio of computation that can be overlapped with communication also increases. CPU times and parallel efficiency graphs for single time step approximation of up to a 7D HOC scheme on 16 processors confirm the numerical stability constraint and demonstrate improved parallel scalability over non-compact difference schemes.     

The characterization and functional reliability of 45 Mbit/s optical transmitters containing MBE-grown lasers

We have characterized the performance and studied the functional reliability of 45 Mbit/s lightwave transmitters containing proton-bombarded stripe lasers grown in a research environment by molecular beam epitaxy (MBE). We observe that these transmitters have superior performance compared to transmitters containing lasers of similar geometry grown in production facilities by liquid phase epitaxy (LPE), and subsequently processed using the same technology. The reliability data of over 10 000 h indicate that the functional lifetime of the MBE lasers will be limited ultimately by extinction ratio degradation in our circuit strategy. The origin of the degradation is the increase of the spontaneous light at the bias current.