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.     

Application of Differential Evolution for Irrigation Planning: An Indian Case Study

The present paper demonstrates the applicability of population based search optimization method, namely, Differential Evolution (DE) to a case study of Mahi Bajaj Sagar Project (MBSP), India. Ten different strategies of DE are employed to assess the ability of DE for solving higher dimensional problems as an alternative methodology for irrigation planning. The parameters considered in DE are population size, crossover constant and weighting factor. Linear Programming (LP) is utilized as a comparative approach to assess the ability of DE. Comparison of results of LP and the 10 DE strategies for the given parameters indicated that both the results are comparable even for high dimensional problems. Extensive sensitivity analysis studies, performed for 3,600 combinations of above parameters for the 10 DE strategies suggested that DE/rand-to-best/1/bin strategy is the best strategy giving maximum benefits taking minimum CPU time. It is concluded that DE can be utilized for efficient planning of any irrigation system with suitable modifications.     

Surface Hardening of High-Strength Low Alloy Steels (HSLA) Dual-Phase Steels by Ball Burnishing Using Factorial Design

Burnishing is used increasingly as a finishing operation which gives additional advantages such as increased hardness, fatigue strength, and wear resistance. Experimental work based on 3⁴ factorial design was carried out to establish the effects of ball burnishing parameters on the surface hardness of high-strength low alloy steels (HSLA) dual-phase (DP) steel specimens. Statistical analysis of the results shows that the speed, feed, lubricant and ball diameter have significant effect on surface hardness.     

A combination of differential equations and convolution in understanding the spread of an epidemic

Nonlinear dynamical method of projecting the transmission of an epidemic is accurate if the input parameters and initial value variables are reliable. Here, such a model is proposed for predicting an epidemic. A method to supplement two variables and two parameters for this proposed model is demonstrated through a robust statistical approach. The method described here worked well in case of three continuous distributions. Model predictions could be lower estimates due to under-reporting of disease cases. Anad hoc procedure with a technical note is provided in the appendix An earlier version of this paper was presented at the annual conference of the Indian Society for Mathematical Modelling & Computer Simulation, Bangalore, November 14–15, 2002     

Microstructural developments in Mg-Ti-PSZ systems

The microstructure of titania-added Mg-partially-stabilized zirconia (PSZ) is dramatically influenced by thermal treatments. Effects of various sintering, heat-treatment and thermal shock cycling parameters on the microstructure of the Mg-Ti-PSZ system are described. Conditions favourable for the growth of needle-like Ti-rich reinforcements in highly thermalshock-resistant Mg-Ti-PSZ ceramics are identified. TiO₂ seems to play a catalytic role in the formation of Zr-rich networks during high-temperature (1700°C) sintering of the Mg-Ti-PSZ system, quite similar to those found in Mg-PSZ, heat-treated above 1300 °C.     

Deformation twinning during impact – numerical calculations using a constitutive theory based on multiple natural configurations

When materials such as Armco iron, titanium etc., are subject to impact it can be observed that two basic inelastic processes take place – slip and deformation twinning. Of these processes, inelasticity associated with the slip mechanism has received considerable attention. For example, Zerilli and Armstrong (1988) modeled the Taylor impact test for a variety of materials using traditional plasticity theories. They found that there was a significant discrepancy between the theoretical and experimental results for some materials. They attributed this to the fact that they had neglected deformation twinning in their models. Subsequent metallurgical studies have indicated that twinning had indeed taken place in these materials. In this study, we focus on the inelastic processes solely due to deformation twinning (i.e., neglecting slip). We model these processes using the approach of Rajagopal and Srinivasa (1995, 1997) and Srinivasa et al., (1997), the results of which are briefly summarized in section 2.1. In order to better understand the twinning process, we study the Taylor impact test for a 2-D slab under the assumption that only deformation twinning takes place and solve the governing dynamical equations by using the finite element method. The results show that the twinned zone is concentrated near the point of impact and indeed it contributes significantly to the overall permanent shape change due to the impact.     

Influence of Montmorillonite Clay Content on Thermal,Mechanical, Water Absorption and Biodegradability Properties of Treated Kenaf Fiber/ PLA-Hybrid Biocomposites

Silicon - Nowadays, the starring attentions of the polylactic acid based composites are improved due to environmental awareness and diminution of petroleum oil. The bio-plastics were restricted to...     

Dehydration of tetrahydrofuran by pervaporation using crosslinked PVA/PEI blend membranes

Dense blend membranes were prepared by blending hydrophilic polymers poly(vinyl alcohol) (PVA) and poly(ethyleneimine) (PEI), which were then crosslinked by glutaraldehyde (GA) in a mixture of solvents under the catalysis of hydrochloric acid (HCl) for the dehydration of tetrahydrofuran (THF) by pervaporation. The effect of experimental parameters such as feed water concentration, permeate pressure, and membrane thicknesses on permeate parameters, i.e., flux and selectivity were determined with feed water concentration less than 40 wt %. The membranes were found to have good potential for breaking the azeotrope of 94 wt % THF with a flux of 1.072 and 0.376 kg/m² h for plane PVA/PEI and crosslinked PVA/PEI blend membrane, which exhibited high selectivity of 156 and 579 respectively. Selectivity was found to improve with decreasing feed water concentration and increasing membrane thickness, whereas flux decreased correspondingly. High permeate pressure causes a reduction in both flux and selectivity. These effects were clearly elucidated with the aid of the known relationship among plasticization effect, degree of swelling, permeate pressure, and feed water concentration. These blend membranes were also subjected to sorption studies to evaluate the extent of interaction and degree of swelling in pure as well as binary feed mixtures. Further ion exchange capacity studies were carried out for all the crosslinked and uncrosslinked membranes to determine the total number of interacting groups present in the membranes. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 1152–1161, 2006     

A reduced reaction model for carbon CVD/CVI processes

Carbon-carbon composites are produced by chemical vapor deposition/chemical vapor infiltration (CVD/CVI) processes. Models of carbon-carbon composite production processes will help reduce production costs. Reliable process models must, however, include details of the gas phase kinetics in order to identify optimal conditions. We have combined detailed gas phase kinetics, surface kinetics, and a pore closure model to predict pore geometry changes with respect to time. To determine the dominant gas phase kinetics, we reduced a large set of reactions to a minimal set using a sensitivity, rate, and dimensional analysis approach. These robust and relatively fast techniques can be used under a variety of conditions, including those within the pores of the composite. The process model shows that the deposition profile depends on the kinetic model chosen. Using the more realistic reaction model, conditions for uniform, or inside-out, densification can be suggested.