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     

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.     

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     

Efficient Design of Rounding Based Static Segment Imprecise Multipliers for Error Tolerance Application

Journal of Electronic Testing - Error-Tolerant applications regularly accomplish more data adaption. Approximate computing is one of the optimum strategies for data manipulation in several...     

Control of bandwidth,resonant frequency,and modelling of bandpass filter using open stub resonator for K-band application

Microsystem Technologies - In this paper, we present the implementation of a new compact end coupled bandpass filter (BPF) in coplanar waveguide (CPW) technology. The proposed BPF is exposed with...     

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...