Irradiation of large area Mylar membrane and characterization of nuclear track filter

Ion irradiation of Si⁸⁺ ion beam of 100 MeV was scattered by a gold foil on a Mylar membrane of 25 Μm thickness in the form of film roll (width, 12.5 cm and length, 400 cm) at the Nuclear Science Centre, New Delhi. The characterization of etched nuclear tracks was carried out by gas permeation measurements. The samples cut from the film roll of required size for permeability measurements were etched in a controlled manner in a constant temperature bath of 6N NaOH solution. The opening of the conical etched tracks was characterized by hydrogen gas permeation.     

Threshold‐Based Camera Motion Characterization of MPEG Video

We propose an efficient scheme for camera motion characterization in MPEG‐compressed video. The proposed scheme detects six types of basic camera motions through threshold‐based qualitative interpretation, in which fixed thresholds are applied to motion model parameters estimated from MPEG motion vectors (MVs). The efficiency and robustness of the scheme are validated by the experiment with real compressed video sequences.     

The visual control of reaching and grasping: Binocular disparity and motion parallax.

The primary visual sources of depth and size information are binocular cues and motion parallax. Here, the authors determine the efficacy of these cues to control prehension by presenting them in isolation from other visual cues. When only binocular cues were available, reaches showed normal scaling of the transport and grasp components with object distance and size. However, when only motion parallax was available, only the transpont component scaled reliably. No additional increase in scaling was found when both cues were available simultaneously. Therefore, although equivalent information is available from binocular and motion parallax information, the latter may be of relatively limited use for the control of the grasp. Binocular disparity appears selectively important for the control of the grasp. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

高水头船闸输水廊道反弧门水弹性振动试验研究

本文简要介绍水弹性振动模型试验的相似准则，用近似满足水弹性相似准则的有机玻璃模型对－高水头船闸反弧形阀门进行流激振动试验研究．试验表明阀门的振动是随机振动，不仅有质量振动而且有结构振动，有若干阶模态被激发参与振动。在开门和关门过程中，阀门面板脉动压力和阀门振动是不大的，与葛洲坝船闸类似阀门间歇开启的振动水平相当。由于常压模型不能正确模拟空化现象，对于廊道内可能产生的空泡溃灭所引起的阀门振动尚需通过减压模型进行研究。     

用发展的Sachs法研究模拟轧辊中的残余应力

对不同辊型，尺寸，材料与加工处理方法的模拟冷轧辊进行了内剥层试验研究，求出了原辊和打中心孔或扩孔后辊内残余应力分布曲线，提出了虚拟打孔法和虚拟剥层法，解决了实心辊中心和空心辊内表层的残余应力的精确测量问题，丰富了Ｓａｃｈｓ内剥层法的内容，机械法打中心孔，热处理前打中心孔，空心辊表淬前改变温度场的方法可降低残余应力值，后者降低残余应力的效果尤为显著。     

How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Extraction of Singular Points from Dense Motion Fields: An Analytic Approach

In this paper we propose a new method to extract the vortices, sources, and sinks from the dense motion field preliminary estimated between two images of a fluid video. This problem is essential in meteorology for instance to identify and track depressions or convective clouds in satellite images. The knowledge of such points allows in addition a compact representation of the flow which is very useful in both experimental and theoretical fluid mechanics. The method we propose here is based on an analytic representation of the flow. This approach has the advantage of being robust, simple, fast and requires few parameters.     

A visual tool for computer supported learning: The robot motion planning example

We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational geometry, robotics and networking. In the robot motion planning example, CALVT enables users to setup the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions, and setting other path or environment parameters from a user-friendly interface. The path planning system involves several phases. Each of these modules is complex and therefore we provide the possibility of visualizing graphically the output of each phase. Based on our experience, this tool has been an effective one in classroom teaching. It not only cuts down, significantly, on the instructor’s time and effort but also motivates senior/graduate students to pursue work in this specific area of research.     

Mechanics of Autonomous Gas-Dynamic Torpedo Motion in Loose Medium

A new technology is considered for realizing the motion of solid body in the loose material due to alternating pulse ejections of compressed gas in the regime of traveling wave near the outer surface of the body. The dimensionless parameters are determined for scale modeling. The relation between the action factors and the value of motion is established empirically.     

大型结构物自动称重过程的计算机控制技术

大型结构物的称重通过多个千斤顶同步顶升实现。大型结构物往往存在柔度大、重量分布不均、支点跨距大的特点。在称重过程中需要进行计算机同步控制,实现结构物的平稳顶升和下降。大型结构物自动称重以工控机为核心,基于现场总线技术,对压力传感器、位移传感器、状态设置开关、油泵换向阀和油管超高压电磁阀等设备进行网络监控,对多个支点同步协调控制和结构物的精确称重,该系统已在多个油气田工程的建造中得到实际应用。