Effect of rotor profiles on the torque of a switched-reluctancemotor

The authors examine effects on the torque that simple variations of the standard rotor pole face profile could have, basically from an elementary viewpoint of how the modified profiles affect the distribution and magnitude of the radial and tangential components of the flux density. It is observed that the average torque is mostly affected by changes that alter the dominant radial component, such as changes in the effective air gap length. The other observation that an increase in the average torque can also be obtained by a favorable shift in the torque versus angle characteristics by relatively simple changes of the rotor pole profile is not so well known. Such a shift that reduces the slope of the torque angle characteristic, skewing the curve towards the unaligned position, has two advantages: one is that the phase inductance is at its maximum positive slop and, hence, the maximum torque, when the phase is energized; second, the flatter inductance profile near the aligned position when the phase current is to be commutated would allow a faster drop off of the commutated current and, thus, a smaller negative torque     

Swarm Intelligence Approaches for Grid Load Balancing

With the rapid growth of data and computational needs, distributed systems and computational Grids are gaining more and more attention. The huge amount of computations a Grid can fulfill in a specific amount of time cannot be performed by the best supercomputers. However, Grid performance can still be improved by making sure all the resources available in the Grid are utilized optimally using a good load balancing algorithm. This research proposes two new distributed swarm intelligence inspired load balancing algorithms. One algorithm is based on ant colony optimization and the other algorithm is based on particle swarm optimization. A simulation of the proposed approaches using a Grid simulation toolkit (GridSim) is conducted. The performance of the algorithms are evaluated using performance criteria such as makespan and load balancing level. A comparison of our proposed approaches with a classical approach called State Broadcast Algorithm and two random approaches is provided. Experimental results show the proposed algorithms perform very well in a Grid environment. Especially the application of particle swarm optimization, can yield better performance results in many scenarios than the ant colony approach.     

High sensitive optode for selective determination of Ni based on the covalently immobilized thionine in agarose membrane

A novel Ni²⁺ optode was prepared by covalent immobilization of thionine, 3,7-diamine-5-phenothiazoniom thionineacetate, in a transparent agarose membrane. Influences of various experimental parameters on Ni²⁺ sensing, including the reaction time, the solution pH and the concentration of reagents were investigated. Under the optimized conditions, a linear response was obtained for Ni²⁺ concentrations ranging from 1.00 × 10⁻¹⁰ to 1.00 × 10⁻⁷ mol l⁻¹ with an R² value of 0.9985. The detection limit (3σ) of the method for Ni²⁺ was 9.30 × 10⁻¹¹ mol l⁻¹. The influence of several potentially interfering ions such as Ag⁺, Hg²⁺, Cd²⁺, Zn²⁺, Pb²⁺, Cu²⁺, Mn²⁺, Co³⁺, Cr³⁺, Al³⁺ and Fe³⁺ on the determination of Ni²⁺ was studied and no significant interference was observed. The membrane showed a good durability and short response time with no evidence of reagent leaching. The membrane was successfully applied for the determination of Ni²⁺ in environmental water samples.     

Simple,fast, and accurate parametric modeling of the coupling and external quality factor for microstrip filter design using active learning method

In the realization step of any microstrip filter according to the required electrical characteristics, coupling factors and external quality factor (Q_ext) are related to the physical parameters of the structure using time consuming full wave simulations. This paper presents a simple, fast, and accurate parametric model of the coupling between the coupled square open loop resonators (SOLRs) and Q_ext of these resonators versus physical parameters of the structure and substrate characteristics utilizing active learning method (ALM). In the modeling process the multi-dimensional functions of coupling factor and Q_ext are broken down into their simpler aspects, their behaviors are extracted and then final model will be constructed by combining these simpler aspects. ALM allows the overall model for coupling factor and Q_ext to be developed through the use of small number of initial data. Once the modeling process is completed it provides a fast and accurate prediction of the required physical parameters for a given coupling factor and Q_ext. Using the constructed model for a distinct SOLR, which its accuracy was validated by comparison with the full wave simulation results a filter was designed and fabricated. Good agreement between measured and simulated response confirms the accuracy of the modeling procedure.     

High-fidelity bilateral teleoperation systems and the effect of multimodal haptics.

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.     

A new actuation mechanism for an Interfacial Force Microscope: Design,implementation, and feedback control

In this paper we present development of a sensing and actuation mechanism along with its controller for an Interfacial Force Microscope. The device can be used as a micro-scale force sensor or actuator using a feedback control scheme that regulates the interaction force between the probe tip and the sample. The mechanism is essentially a force balancing system consisting of a torsion bar and two variable gap parallel plate capacitors with a sharp probe attached to the moving plate of one of the capacitors. The capacitors are utilized to measure the air gap distance and act as electrostatic actuators to compensate the force applied to the sensor tip. Given that the system is nonlinear with respect to the control input, a nonlinear feedback linearization scheme coupled with a dynamic output feedback controller is developed and integrated with available measurement and computing hardware. The dynamic controller requires measurement of position information only and provides improved performance when compared to conventional controllers. Experimental studies are conducted for nanoindentation and imaging applications and performance of the controller is evaluated.     

Effects of increased supplementation of n-3 fatty acids to transition dairy cows on performance and fatty acid profile in plasma, adipose tissue, and milk fat

The objective of this study was to determine the effects of feeding an increased amount of extruded flaxseed with high proportions of n-3 fatty acids (FA) to transition dairy cows on performance, energy balance, and FA composition in plasma, adipose tissue, and milk fat. Multiparous Israeli-Holstein dry cows (n = 44) at 256 d of pregnancy were assigned to 2 treatments: (1) control cows were fed prepartum a dry-cow diet and postpartum a lactating-cow diet that consisted of 5.8% ether extracts; and (2) extruded flaxseed (EF) cows were supplemented prepartum with 1 kg of extruded flaxseed (7.9% dry matter)/cow per d, and postpartum were fed a diet containing 9.2% of the same supplement. The EF supplement was fed until 100 d in milk. On average, each pre- and postpartum EF cow consumed 160.9 and 376.2 g of C18:3n-3/d, respectively. Postpartum dry matter intake was 3.8% higher in the EF cows. Milk production was 6.4% higher and fat content was 0.4% U lower in the EF group than in the controls, with no differences in fat and protein yields. Energy balance in the EF cows was more positive than in the controls; however, no differences were observed in concentrations of nonesterified fatty acids and glucose in plasma. Compared with controls, EF cows had greater proportions of C18:3n-3 in plasma and adipose tissue. The proportion of n-3 FA in milk fat was 3.7-fold higher in the EF cows, and the n-6:n-3 ratio was decreased from 8.3 in controls to 2.3 in the EF cows. Within-group tests revealed that the C18:3n-3 content in milk fat in the EF cows was negatively correlated with milk fat percentage (r = –0.91) and yield (r = –0.89). However, no decrease in de novo synthesis of less than 16-carbon FA was found in the EF group, whereas C16:0 yields were markedly decreased. It appears that the enrichment of C18:3n-3 in milk fat was limited to approximately 2%, and the potential for increasing this n-3 FA in milk is higher for cows with lower milk fat contents. In conclusion, feeding increased amounts of C18:3n-3 during the transition period enhanced dry matter intake postpartum, increased milk production, decreased milk fat content, and improved energy balance. Increased amounts of EF considerably influenced the FA profile of plasma, adipose tissue, and milk fat. However, the extent of C18:3n-3 enrichment in milk fat was limited and was negatively correlated with milk fat content and yield.     

An Internet-based distributed multiple-telerobot system

Internet-based telerobotic systems have been evolving rapidly in recent years. Using Web-based technology, telerobotic systems have been shown to have an increasing potential for a variety of applications including remote control, manufacturing, surgery, training, and education. In this paper, we present an Internet-based distributed, multiple-telerobot system that enables operators to use remote robots in order to perform cooperative tasks. Several multiple-telerobot demonstration programs have been designed, including a single telerobot training program, a multiple-telerobot "group object-handling" program, and pairs of telerobots serving Internet participants playing with a Rubik's Cube to illustrate Internet-based interaction and collaboration. Experimental tests have been performed on three demonstration programs that are presented in this paper.     

Flexure control using piezostack actuators: design and implementation

In this paper, the application of high control authority piezostack actuators (PSAs) for active vibration control of large-scale flexible structures is studied. The idea is to add PSAs at appropriate locations of a flexible structure in order to strengthen its stiffness characteristics. In this regard, a flexible link of a macro-micro manipulator system actuated with PSAs is considered. The design of a mechanism for converting the force produced by a PSA to a bending moment is presented and a model for a system consisting of a flexible beam and a PSA is obtained. To this end, the solution of the governing partial differential equation with nonhomogeneous boundary conditions is obtained. Using singular value decomposition of the controllability Grammian of the system, optimum values for actuator parameters are obtained. The experimental results confirm that the suggested method can open up new possibilities in active vibration control of large-scale structures that require a large amount of control authority.     

Adaptive cruise control with stop&go function using the state-dependent nonlinear model predictive control approach

In the design of adaptive cruise control (ACC) system two separate control loops - an outer loop to maintain the safe distance from the vehicle traveling in front and an inner loop to control the brake pedal and throttle opening position - are commonly used. In this paper a different approach is proposed in which a single control loop is utilized. The objective of the distance tracking is incorporated into the single nonlinear model predictive control (NMPC) by extending the original linear time invariant (LTI) models obtained by linearizing the nonlinear dynamic model of the vehicle. This is achieved by introducing the additional states corresponding to the relative distance between leading and following vehicles, and also the velocity of the leading vehicle. Control of the brake and throttle position is implemented by taking the state-dependent approach. The model demonstrates to be more effective in tracking the speed and distance by eliminating the necessity of switching between the two controllers. It also offers smooth variation in brake and throttle controlling signal which subsequently results in a more uniform acceleration of the vehicle. The results of proposed method are compared with other ACC systems using two separate control loops. Furthermore, an ACC simulation results using a stop&go scenario are shown, demonstrating a better fulfillment of the design requirements.