Corrosion behaviour of AA2024 aluminium alloy in different tempers in NaCl solution and with the CeCl3 corrosion inhibitor

The paper analyses the corrosion behaviour of naturally and artificially aged AA2024 alloy in NaCl solution and in the presence of an environment-friendly corrosion inhibitor, CeCl₃. On the basis of the values of polarisation resistance and corrosion current density, the corrosion resistance of the protective inhibitor film is established as well as the general corrosion resistance of this aluminium alloy. Resistance to pit formation is determined based on the difference in pitting and corrosion potentials while resistance to pit growth is determined based on the amount of charge consumed during pit growth. A scanning electron microscope is used to examine the morphology of the pits formed during the pitting corrosion testing, as well as to determine the cerium content on intermetallic particles and the matrix AA2024 alloy. The corrosion behaviour of AA2024 alloy is investigated after different test periods in NaCl solution and in the same solution with the CeCl₃ inhibitor. The corrosion resistance of both tempers of AA2024 alloy is more than one order of magnitude higher in the presence of CeCl₃. An explanation of the observed differences in the corrosion behaviour of the naturally and artificially aged AA2024 alloy is proposed. Different corrosion behaviour of the alloy after different test periods is also explained.     

Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

The mechanism and kinetics of the electrochemical cleavage of azo bond of 2-hydroxy-5-sulfophenyl-azo-benzoic acids

The electrochemical reduction of 2-hydroxy-5-[(4-sulfophenyl)azo]benzoic acid, 2-hydroxy-5-[(3-sulfophenyl)azo]benzoic acid, 2-hydroxy-5-[(2-sulfophenyl)azo]benzoic acid and 2-hydroxy-5-azo-benzoic acid has been carried out in aqueous solutions at glassy carbon electrode using cyclic voltammetry and chronoamperometry. The position of sulfo substituent relative to azo bridge as well as pH of the solution have significant impact on the electrochemical behavior of these compounds. It has been proposed that these compounds are reduced predominantly as hydrazone tautomers resulting in corresponding hydrazo compounds. The overall electrochemical reduction follows DISP2 mechanism, ultimately leading to the 5-amino salicylic acid and sulfanilic acid. The rate determining step is the homogenous redox reaction between intermediate hydrazo compound and 5-amino salicylic acid quinoneimine. The mechanism is proposed in which activated complex of 5-amino salicylic acid quinoneimine and intermediate hydrazo compound is formed with the simultaneous loss of one proton.     

Optimizing throughput and resource utilization using pipelining: Transformation based approach

A simple formulation of pipelining: Pipelining withN stages is equivalent to retiming where the number of delays on all inputs or all outputs, but not both, is increased byN is used as the basis for a convenient and efficient treatment of pipelining in the design of application specific computers.Pipelining according to the objective function (throughput or resource utilization) and the latency is introduced. For two polynomial complexity pipelining classes, optimal algorithms are presented. For two other classes both proofs of NP-completeness and efficient probabilistic algorithms are presented. Both theoretical and experimental properties of pipelining are discussed and a relationship with other transformations is explored. Due to similar formulations for both software pipelining and the pipelining presented here, all results can be easily modified for use in compilers for general purpose computers. We have also developed a polynomial complexity algorithm for determining the iteration bound.This work was done while the first author was at the University of California, Berkeley.     

Virtual Mechatronic/Robotic laboratory – A step further in distance learning

The implementation of the distance learning and e-learning in technical disciplines (like Mechanical and Electrical Engineering) is still far behind the grown practice in narrative disciplines (like Economy, management, etc.). This comes out from the fact that education in technical disciplines inevitably involves laboratory exercises and this fact drastically increases the complexity of a potential e-learning system. New approach and new specific knowledge are needed to develop such a system. We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, i.e., a virtual laboratory. To fully substitute a physical system like laboratory equipment, one must emulate its full dynamics. The mathematical model in the form of differential equations will be applied to calculate dynamics and provide the data that would otherwise be measured on a physical system – this means simulation.     

Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 2: Simulation and Robustness

The sophisticated method for mathematical modeling of humanoid robots formulated in Part 1 of this paper is applied here to the dynamic task of keeping a posture under disturbance, which is equally important to humans and humanoid robots. The idea of this work is to develop and realize a simulator tool for dynamic analysis of human-or-humanoid behavior under disturbances. To show the potentials and verify this tool, we comparatively analyze the robustness of some postures to external disturbance. At this stage of research we do not conduct real experiments with humans/humanoids but try to verify our simulation tool by relying on available experience. Therefore, the postures for comparison are taken from everyday life and from sports: upright standing, squat posture, and three karate postures. As the external disturbance we choose an impulse and a permanent force, both with variable direction and magnitude.     

The handwriting problem [man-machine motion analogy in robotics]

Two approaches are proposed to model and control a human-like motion of robot arms. The first, which is based on the concept of distributed positioning (DP), is suggested as a good model of arm motion in the phase where fatigue does not appear. The prescribed motion of the end-effector is distributed to a redundant number of arm joints in accordance to their acceleration capabilities. For the phase where fatigue appears, the concept of virtual fatigue is proposed. This artificial variable, which is based on robot dynamics, emulates the progress of biological fatigue. The human handwriting task is chosen for the simulation. The DP concept is tested first by modeling nonfatigued motion. The justification of the usual inclination of letters is presented, and the relation between the inclination, legibility, and a secondary objective (finger involvement, energy consumption, motor thermal load) is discussed. It is found that, for some prescribed level of legibility, the individual optima of all the secondary cost functions are quite near to each other. Writing in the presence of fatigue is also analyzed, applying the method of the so-called "virtual fatigue".