Nonlinear Performance Index (npi): A Tool for Manipulator Dynamics Improvement

The precise control of manipulators depends nonlinearly on the velocity of the motion as well as on manipulator configuration and commanded acceleration requiring complex control strategies. This paper presents a useful tool for identifying and quantifying nonlinear effects appearing during the motion of any manipulator, the Nonlinear Performance Index (npi). The npi takes into account not only the geometrical parameters defining the manipulator but also its structural dynamics through the use of inertial parameters like mass, inertia, centre of mass... The npi can be used in the design stage for analysing and reducing these undesirable nonlinear effects in any general motion or in the trajectory planning looking for paths along which more precise control is expected. The last part of the paper shows how this design optimisation and path planning has been applied to the Agribot, a fruit picking robot designed at the IAI.     

Multisensor Fusion: An Autonomous Mobile Robot

A conventional autonomous mobile robot is introduced. The main idea is the integration of many conventional and sophisticated sensor fusion techniques, introduced by several authors in recent years. We show the actual possibility of integrating all these techniques together, rather than analyzing implementation details. The topics of multisensor fusion, observation integration and sensor coordination are widely used throuhout the article. The final goal is to demonstrate the validity of both mathematical and artificial intelligence techniques in guaranteeing vehicle survival in a dynamic environment, while the robot carries out a specific task. We review conventional techniques for the management of uncertainty while we describe an implementation of a mobile robot which combines on-line heterogeneous sensors in its navigation and localisation tasks.     

Efficient Approximation of Unsteady Friction Weighting Functions

A simple method is presented for evaluating wall shear stresses from known flow histories in unsteady pipe flows. The method builds on previous work by Trikha, but has two important differences. One of these enables the method to be used with much larger integration time steps than are acceptable with Trikha’s method. The other, a general procedure for determining approximations to weighting functions, enables it to be used at indefinitely small times (high frequencies). The method is applicable to both laminar and turbulent flows.     

A model management systems approach to manufacturing systems design

Manufacturing systems design involves the solution of a complex series of interrelated problems. This complexity will increase in the future as manufacturing practices change to meet increased global competition. Research within manufacturing systems design has mainly been focused on finding improved models for solving particular problems, or extending existing modeling techniques. This has resulted in numerous modeling tools being available to support manufacturing systems design. However, little research work has been carried out into consolidating the existing theories and models. As a result, a large body of this work has not been applied in industry.Model management has evolved as a research area which investigates methods for storing, modifying, and manipulating models. This article describes a prototype model management system for manufacturing systems design. The objective here is not to develop another decision support system for manufacturing design, but to illustrate, through the development of a prototype system, a number of key ideas of how concepts from the area of model management systems can be used to support manufacturing systems design. The prototype model management system utilizes the structured modeling framework and uses an extended version of the structured modeling language. An important aspect of the prototype model management system is the incorporation of the model development task, thus allowing the system to be easily updated and adapted. The prototype system was evaluated using a range of queueing network models for manufacturing systems design.     

Characterisation of chickpea flour‐based gluten‐free batters and muffins with added biopolymers: rheological,physical and sensory properties

Chickpea flour (CF)‐based muffin formulations were made with CF alone and with added biopolymers [whey protein (WP), xanthan gum (XG) and inulin (INL)] to evaluate their suitability to be a wheat flour (WF) substitute in muffins. Structural characteristics of the batters and muffins were studied by means of rheometry, microscopy, physicochemical properties, and texture and sensory analysis. Partial replacement of CF with XG, alone (at 0.5 and 1%) or blended with either WP or INL, significantly increased the batter viscoelasticity as denser matrices developed; moreover, the muffins with XG added at 1% had similar hardness to wheat gluten muffins. The replacement of WF decreased the springiness, cohesiveness, chewiness, resilience and specific volume of the muffin. However, baked muffins with added XG also showed higher sensory sponginess and moisture associated with numerous air bubbles in the batter and were perceived to be easier to swallow and to have better general appearance.     

Cooperative games with nontransferable utility on antimatroids

This paper introduces a new family of nontransferable utility (NTU) games with partial cooperation. Games with transferable utility (TU) restricted by antimatroids were studied since 2004. Antimatroids are known combinatorial structures which are interpreted in games as dependency situations among a group of agents, and they generalize several other hierarchical structures studied in the literature. Now we define projected NTU games over antimatroids following the same idea. We have needed to build a new theory about projections between two coalitions. In this case, an outcome is feasible for a coalition if and only if its projection is feasible in the NTU game. This paper studies several properties of the projected games and the relations between these games and the original game for some interesting cases: TU games, hyperplane games and bargaining problems.     

Morphological contrast index based on the Weber's law

In this article, a morphological contrast index based on the Weber's law is proposed to quantify the contrast in a processed image. This measure involves the contours of the image along with its background. The proposal made here is applied to detect the image with higher contrast, and also identify the enhanced image most similar to the original. Moreover, the contrast index is compared with other four indexes reported in the current literature. © 2012 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 22, 137–144, 2012     

Ultraviolet Lamp Output Measurement: A Concise Derivation of the Keitz Equation

An equation relating the measured irradiance and the output power of a fluorescent lamp was derived by Keitz. The equation forms the basis for a new protocol that has been proposed for quantifying the total flux from an ultraviolet lamp. There has been confusion in the literature regarding the spatial distribution of flux from lamp emitters, which has led to emission models that are similar to the Keitz model but are incorrect. The Keitz equation is derived here from first principles in an effort to eliminate the confusion and present a correct method of calculating total flux.