Minimum effort factor approach for sensor-based control of a four-joint 6-dof redundant manipulator

A sensor-driven control model and a minimum effort control algorithm in terms of time and energy expended during the execution of a movement strategy are described and validated for a multijointed cooperating robotic manipulator. Considering smooth, human-like (anthropomorphic) movements, using joint motion profiles achievable in real time as well as sensory information from all joints, and evaluating the total work expended by each manipulator joint during the execution of a movement strategy, a minimum effort motion trajectory is synthesized to precisely and efficiently position the robotic arm end-effector. This sensor-based approach significantly reduces the computational requirements for such cooperative motion. The minimum effort control algorithm generates several human-like arm movement strategies and selects the best strategy on the basis of expendable effort. The algorithm has an inherent basis to deal with obstacles in an efficient way. Detailed examples are described from the simulation studies. © 1994 John Wiley & Sons, Inc.     

Case report: possible Lyme endocarditis

A 56-year-old male presented with clinical and serological data suggestive of Lyme disease. The patient was found to have an aortic valvular vegetation by transesophageal echocardiography. This report represents the first case of Lyme disease with possible valvular involvement.     

Effect of diethyl ether blended with neem oil methyl esters in CI engine

Vegetable oils are now considered to be a potential alternative that can be used in place of partial or total substitution of diesel fuels. In this study, we used diethyl ether as an oxygenated additive to investigate the possible use of higher percentages of biodiesel in an unmodified diesel engine. Neem oil was selected for biodiesel production. The tests were performed at a steady-state condition in a single-cylinder constant speed DI diesel engine. The combustion process involved in diesel engine would be improved and the particulate matter would be reduced if these biodiesels are blended. An experimental investigation is carried out to establish the emission characteristics of a direct injection diesel engine using diethyl ether as additive in Neat Neem oil Biodiesel. Emissions of hydro carbon oxides of nitrogen and carbon monoxide significantly reduced by adding diethyl ether into neem oil biodiesel at 10% and 20% on volume basis.     

Performance evaluation of CBN,coated carbide,cryogenically treated uncoated/coated carbide inserts in finish-turning of hardened steel

In the present work, the performance of cubic boron nitride (CBN) inserts was compared with coated carbide and cryogenically treated coated/uncoated carbide inserts in terms of flank wear, surface roughness, white layer formation, and microhardness variation under dry cutting conditions for finish turning of hardened AISI H11 steel (48–49 HRC). The flank wear of CBN tools was observed to be lower than that of other inserts, but the accumulated machining time for all the four edges of carbide inserts were nearer to or better than the PCBN inserts. Results showed that tool life of carbide inserts decreased at higher cutting speeds. The surface roughness achieved under all cutting conditions for coated-carbide-treated/untreated inserts was comparable with that achieved with CBN inserts and was below 1.6 μm. The white layer formation and microhardness variation is less while turning with cryogenically treated carbide inserts than the CBN and untreated carbide. At low to medium cutting speed and feed, the performance of carbide inserts was comparable with CBN both in terms of tool life and surface integrity.     

Hybrid Paper–Plastic Microchip for Flexible and High‐Performance Point‐of‐Care Diagnostics

A low‐cost and easy‐to‐fabricate microchip remains a key challenge for the development of true point‐of‐care (POC) diagnostics. Cellulose paper and plastic are thin, light, flexible, and abundant raw materials, which make them excellent substrates for mass production of POC devices. Herein, a hybrid paper–plastic microchip (PPMC) is developed, which can be used for both single and multiplexed detection of different targets, providing flexibility in the design and fabrication of the microchip. The developed PPMC with printed electronics is evaluated for sensitive and reliable detection of a broad range of targets, such as liver and colon cancer protein biomarkers, intact Zika virus, and human papillomavirus nucleic acid amplicons. The presented approach allows a highly specific detection of the tested targets with detection limits as low as 10² ng mL^?1 for protein biomarkers, 10³ particle per milliliter for virus particles, and 10² copies per microliter for a target nucleic acid. This approach can potentially be considered for the development of inexpensive and stable POC microchip diagnostics and is suitable for the detection of a wide range of microbial infections and cancer biomarkers.     

Sizing Cracks in Power Plant Components Using Array Based Ultrasonic Techniques

New techniques developed using the array transducer, to image and size the bottom-surface and near-through-wall crack-like defects in thick carbon steel components are discussed. Three studies are reported here including (a) Optimal beam steering angle for focused and unfocused inspection using phased array method for bottom-surface crack sizing. (b) A front wall correction algorithm for sizing of near-through-wall crack-like defects. (c) A small aperture technique for sizing of near-through-wall crack-like defects. A Finite Difference Time Domain (FDTD) based simulation was used to study and verify the experimental observations. The application of time domain scheme relative arrival time technique (RATT), to measure the size of the near-through wall crack-like defects for the leak before break (LBB) criterion, was also investigated and found to be insufficient. A conventional SAFT algorithm was used for improving the sizing using the small aperture technique.     

Performance analysis of a solar photovoltaic operated domestic refrigerator

This paper describes the fabrication, experimentation and simulation stages of converting a 165 l domestic electric refrigerator to a solar powered one. A conventional domestic refrigerator was chosen for this purpose and was redesigned by adding battery bank, inverter and transformer, and powered by solar photovoltaic (SPV) panels. Various performance tests were carried out to study the performance of the system. The coefficient of performance (COP) was observed to decrease with time from morning to afternoon and a maximum COP of 2.102 was observed at 7 AM. Simulations regarding economic feasibility of the system for the climatic conditions of Jaipur city (India) were also carried out using RETScreen 4. It was observed that the system can only be economically viable with carbon trading option taken into account, and an initial subsidy or a reduction in the component costs – mainly SPV panels and battery bank.     

Link Estimation and Routing in Sensor Network Backbones: Beacon-Based or Data-Driven?

In the context of IEEE 802.11b network testbeds, we examine the differences between unicast and broadcast link properties, and we show the inherent difficulties in precisely estimating unicast link properties via those of broadcast beacons even if we make the length and transmission rate of beacons be the same as those of data packets. To circumvent the difficulties in link estimation, we propose to estimate unicast link properties directly via data traffic itself without using periodic beacons. To this end, we design a data-driven routing protocol Learn-on-the-Fly (LOF). LOF chooses routes based on ETX/ETT-type metrics, but the metrics are estimated via MAC feedback for unicast data transmission instead of broadcast beacons. Using a realistic sensor network traffic trace and an 802.11b testbed of ~195 Stargates, we experimentally compare the performance of LOF with that of beacon-based protocols, represented by the geography-unaware ETX and the geography-based PRD. We find that LOF reduces end-to-end MAC latency by a factor of 3, enhances energy efficiency by a factor up to 2.37, and improves network throughput by a factor up to 7.78, which demonstrate the feasibility and the potential benefits of data-driven link estimation and routing.