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.     

Polyaniline‐supported acid catalyst: Esterification of cinnamic acid with alcohols

Polyaniline‐supported acid salts such as polyaniline‐hydrochloride, polyaniline‐sulfate, and polyaniline‐nitrate were prepared by oxidation of aniline using benzoyl peroxide and ammonium persulfate as oxidizing agents. Polyaniline salts were used as catalysts in the esterification of cinnamic acid with alcohols. Polyaniline‐sulfate salt was found to be the best catalyst for the esterification of cinnamic acid. The reusability, handling, and recovery of the catalyst were found to be good. The yield of the ester depended on the type of the polyaniline salt, amount of the catalyst, amount of alcohol, and both the time and the temperature of the reaction. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 96: 1584–1590, 2005     

Sodium alginate–poly(hydroxyethylmethacrylate) interpenetrating polymeric network membranes for the pervaporation dehydration of ethanol and tetrahydrofuran

Interpenetrating polymeric network (IPN) membranes of sodium alginate (NaAlg) and various amounts of poly(hydroxyethylmethacrylate) (PHEMA) have been prepared and tested for the pervaporation dehydration of ethanol and tetrahydrofuran (THF). The presence of hydrophilic PHEMA in the IPN matrix was found to be responsible for increase in membrane selectivity to water. NaAlg–PHEMA IPN membrane containing 20 wt % of PHEMA exhibited a selectivity of 571 to water for the water–ethanol mixture and 857 for water–THF mixture. These data are much better than those observed for the pristine NaAlg membrane. However, flux of the IPN membranes was smaller than that of pristine NaAlg membrane. Comparatively higher flux values were observed for water–THF mixture than for water–ethanol mixture. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 101: 3324–3329, 2006     

Preparation and characterization of novel semi‐interpenetrating 2‐hydroxyethyl methacrylate‐g‐chitosan copolymeric microspheres for sustained release of indomethacin

A novel semi‐interpenetrating (semi‐IPN) graft copolymer of 2‐hydroxyethyl methacrylate (HEMA) with chitosan (CS) has been prepared in the form of microspheres, using water‐in‐oil (W/O) emulsion technique. Microspheres were characterized by Fourier transform infrared spectroscopy (FTIR), differential scanning calorimetry (DSC), and X‐ray diffractometry (X‐RD) to confirm the crosslinking and polymorphism of indomethacin (IDM). The X‐RD and DSC techniques indicated a molecular‐level dispersion of IDM in the IPN matrix. Scanning electron micrographs (SEM) taken at the cross section of the microspheres have shown rough surfaces around the microspheres. The sustained release characteristics of the matrices for IDM, an anti‐inflammatory drug, were investigated in pH 7.4 media. Particle size and size distribution of the microspheres were studied by laser light diffraction particle size analyzer. The drug was released in a sustained manner for up to 12 h. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci, 2006     

Blend membranes of chitosan and poly(vinyl alcohol) in pervaporation dehydration of isopropanol and tetrahydrofuran

Blend membranes of a natural polymer, chitosan, with a synthetic polymer, poly(vinyl alcohol) (PVA), were prepared by solution casting and crosslinked with a urea formaldehyde/sulfuric acid (UFS) mixture. Chitosan was used as the base component in the blend system, whereas PVA concentration was varied from 20 to 60 wt %. Blend compatibility was studied by differential scanning calorimetry, and Fourier transform infrared spectroscopy was used to study membrane crosslinking. Membranes were tested for pervaporation dehydration of isopropanol and tetrahydrofuran (THF) at 30°C in close proximity to their azeotropic compositions. Membrane performance was assessed by calculating flux and selectivity. Swelling experiments performed in water + organic mixtures at 30°C were used to explain the pervaporation results. The blend membrane containing 20 wt % PVA when tested for 5 and 10 wt % water–containing THF and isopropanol feeds exhibited selectivity of 4203 and 17,991, respectively. Flux increased with increasing concentration of water in the feed. Selectivity was highest for the 20 wt % PVA‐containing blend membrane. The results of this study are unique in the sense that the crosslinking agent used—the UFS mixture—was novel. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 103: 1918–1926, 2007     

Design and analysis of RF MEMS shunt switch for V-band applications

Microsystem Technologies - In this paper, we have designed and simulations of RF MEMS shunt switch. The electro-mechanical and electromagnetic analysis of the switch have been done using COMSOL...     

Characterization and Low Temperature Study of Iron Telluride Thin Films Upon Ageing and Oxygen Ion Irradiation

The occurrence of superconductivity in iron telluride thin films has been observed upon ageing. The superconducting transition is found to be very robust under an application of magnetic fields up to 10 T. Infrared and Raman spectroscopic characterization of the aged films reveal the formation of Fe_1+δTeO _x upon ageing. As an alternative method of introducing oxygen in FeTe thin film, oxygen ion irradiation has also been carried out It is found that the irradiated film becomes increasingly disordered and ultimately transforms to an amorphous phase upon increasing the irradiation dose. Investigation of electrical resistivity and optical reflectivity of the irradiated FeTe films indicates an interesting possibility of an ion irradiationinduced phase change memory material in analogy to the phase change characteristics of laserirradiated FeTe films.     

Moisture absorption studies of fluorocarbon films deposited from pentafluoroethane and octafluorocyclobutane plasmas

The moisture absorption and diffusion characteristics of fluorocarbon films deposited from pentafluoroethane (PFE) and octafluorocyclobutane C₄F₈ plasmas are presented. The moisture absorption studies were carried out using a quartz crystal microbalance in a controlled environment. X-ray photoelectron spectroscopy and Fourier transform infrared (IR) spectroscopy were used to monitor the changes in bulk and surface chemical structure and composition of the deposited films. The equilibrium moisture uptake at relative humidity >90% was lower than 0.13 wt.% for films deposited from PFE or C₄F₈ monomers. Humidity cycling measurements showed no moisture chemisorption in the deposited films. Attenuated total reflectance infrared spectroscopy (ATR-IR) spectra of the deposited films indicated negligible change in the bulk composition of the deposited films. The estimated diffusivities of water in the deposited fluorocarbon films were of the order of 10⁻¹⁰ cm²/sec, and films deposited from C₄F₈ monomer showed higher diffusivity as compared to films deposited from PFE monomer. The equilibrium moisture uptake is affected by the presence of polar groups, the F/C ratio, and the O/C ratio. The relatively high diffusivity of water in the fluorocarbon films is attributed to the lack of polar groups in the deposited films. Adsorption onto the surface followed by diffusion into the bulk is proposed as the mechanism for moisture absorption in the fluorocarbon films. Finally, the moisture uptake of the fluorocarbon and hydrofluorocarbon films is compared to that of a conventionally used microelectronic polymer, polyimide (PI 2611), in order to evaluate the effect of polar groups and fluorine content on diffusion and equilibrium moisture uptake.