Robot robust path tracking

A new discontinuous robust control law for a rigid manipulator with bounded parameter uncertainties to track a desired trajectory, is presented. Global exponential stability is proved by the use of a natural Lyapunov function based on a transformation of the manipulator's differential equation due to Slotine and Li [2]. Convergence is to a sliding mode along which the tracking error is reduced at an arbitrary exponential rate. It is also shown how adaptation of bounds on uncertainties, and parameter adaptation, can be incorporated. For a continuous approximation of the discontinuous control law,practical stability (essentially, global uniform ultimate boundedness) of the tracking error is proved. Simulation results for the continuous control law exhibit excellent robust tracking.     

Advancing controlled release packaging through smart blending

Researchers from Rutgers University and Clemson University have collaborated to develop a concept of using smart blending to generate functional packaging films for the controlled release of active compounds such as antimicrobials, antioxidants and flavour compounds to extend the shelf‐life of food. In this paper, literature results are reviewed to justify the significance of controlled release packaging (CRP) and the research gaps for further development are identified. A major research gap is the lack of packaging materials that can provide the release of active compounds at rates suitable for a wide range of food packaging applications. Smart blending is a promising technology for bridging this research gap. To fully realize the potentials of smart blending, a systematic approach for developing CRP using smart blending is also presented. Copyright © 2005 John Wiley & Sons, Ltd.     

The controlling effect of 0.05% hydrogen sulfide gaseous atmosphere on the accelerated fatigue failure of coated MM-002 nickel-base superalloy at 650 °C

A systematic study was carried out aimed at evaluating the environmental effects of H₂S containing environment on the creep-fatigue failure of coated undirectionally solidified MM-002 nickel-base superalloy at high temperature. The cyclic loading conditions were constant and consisted of creep tension and plastic compression following the CP-mode of the strain range partitioning method. The results obtained have shown that although the pack cementation coating used showed adequate resistance under the combination of cyclic loading and oxidizing environments, this resistance was not evident under the H₂S containing atmosphere. In fact, it was found that even an amount as little as 0.05% H₂S had an extremely detrimental effect on the creep-fatigue life of the coated superalloy at 650 °C. The crack initiation and propagation in the H₂S environment was controlled by an aggressive sulphidation attack ahead of the crack tip. This was demonstrated by the formation of low melting eutectic sulfides at the plastic zone ahead of the crack tip, causing an accelerated transdendritic cracking and premature failure.     

Corrosion fatigue of extruded magnesium alloys

Corrosion fatigue tests were carried out on extruded AZ31 (3% Al, 1% Zn, 0.3% Mn, Mg—the rest), AM50 (5% Al, 0.4% Mn, Mg—the rest) and ZK60 (5% Zn, 0.5% Zr, Mg—the rest) Mg alloys in air, NaCl-based and borate solutions. N_sol/N_air ratios (the relative fatigue life) were used for the analysis of the corrosion fatigue behavior of Mg alloys in various environments, where N_sol and N_air are the numbers of cycles to failure in the solution and in air, respectively. Extruded ZK60 alloy reveals very high fatigue and corrosion fatigue properties in comparison with other alloys. However, it has the lowest relative fatigue life (N_sol/N_air 10⁻³–10⁻²) or the highest sensitivity to the action of NaCl-based solutions in comparison with that of AM50 and AZ31 alloys (N_sol/N_air 10⁻²–10⁻¹). Under the same stress, the corrosion fatigue life of extruded alloys is significantly longer than that of die-cast alloys (N_sol for extruded AM50 in NaCl is two to three times longer than that of die-cast AM50).     

Optimization and evaluation of reduced graphene oxide hydrogel composite as a demulsifier for heavy crude oil-in-water emulsion

The rising production of produced water from oilfields had been proven to bring detrimental environmental effects. In this study, an efficient, recyclable, and environmental-friendly reduced graphene oxide immobilized κ-Carrageenan hydrogel composite(κCa GO) was fabricated as an alternative sorbent for crude oil-in-water demulsification. Polyethyleneimine(PEI) was employed to form a stable hydrogel composite. The conditions for the immobilization of graphene oxide(GO) on PEI-modified κ-Carrageenan(κC) beads were optimized appropriately. An immobilization yield of 77% was attained at 2% PEI, 2 h immobilization activation time, and p H6.5. Moreover, the synthesized κCa GO is capable of demulsification with an average demulsification efficiency of 70%. It was found that the demulsification efficiency increases with salinity and κCa GO dosage, and it deteriorates under alkaline condition. These phenomena can be attributed to the interfacial interactions between κCa GO and the emulsion. Furthermore, the κCa GO can be recycled to use for up to six cycles without significant leaching and degradation. As such, the synthesized κCa GO could be further developed as a potential sorbent substitute for the separation of crude oil from produced water.     

Generalized Transfer Subspace Learning Through Low-Rank Constraint

It is expensive to obtain labeled real-world visual data for use in training of supervised algorithms. Therefore, it is valuable to leverage existing databases of labeled data. However, the data in the source databases is often obtained under conditions that differ from those in the new task. Transfer learning provides techniques for transferring learned knowledge from a source domain to a target domain by finding a mapping between them. In this paper, we discuss a method for projecting both source and target data to a generalized subspace where each target sample can be represented by some combination of source samples. By employing a low-rank constraint during this transfer, the structure of source and target domains are preserved. This approach has three benefits. First, good alignment between the domains is ensured through the use of only relevant data in some subspace of the source domain in reconstructing the data in the target domain. Second, the discriminative power of the source domain is naturally passed on to the target domain. Third, noisy information will be filtered out during knowledge transfer. Extensive experiments on synthetic data, and important computer vision problems such as face recognition application and visual domain adaptation for object recognition demonstrate the superiority of the proposed approach over the existing, well-established methods.