Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Multiple cluster beamspace and resolution-enhanced ESPRIT

This paper addresses approaches to enhancement of the resolution of one or more clusters of closely spaced emitters. The TLS-ESPRIT algorithm is considered, as applied in beamspace and in element space, in conjunction with resolution enhancement. Beamspace (BS)-ESPRIT employs a matrix beamformer as a preprocessor to map the sensor space into a lower dimensional beamspace. Resolution enhanced (RE)ESPRIT employs a matrix beamformer as a left weighting of the signal subspace eigenvector matrix for enhancing the resolution of ESPRIT. This paper specifically discusses several types of these beamformer matrices, which differ in the way that they treat source clusters other than of interest. Our objective is to clearly define approaches and identify their relative merits, through discussion and illustrative simulation, so as to provide an understanding of how to proceed in designing an ESPRIT algorithm     

Colorimetric evaluation of thermooxidative degradation of nylon 6 fibers

Nylon 6 fibers were annealed in air at 160°C for periods ranging from 1 to 10 h. Their spectral reflectance values were measured. Color parameters, including luminance factor, dominant wavelength, purity, and the color difference between annealed nylon 6 fiber samples and unheated ones were calculated. The observed variations in the colors of samples were assumed due to the thermal and oxidation degradations. The behavior of the color parameters with heating duration was compared with the general kinetic curve of thermooxidative degradation of polymers and the match between them is discussed. The color difference ΔE values is recommended for monitoring the thermooxidative degradation of nylon 6 fibers. © 1995 John Wiley & Sons, Inc.     

Ingenious golden section search MPPT algorithm for PEM fuel cell power system

Neural Computing and Applications - Among several types of fuel cells available in the market, proton exchange membrane fuel cell (PEMFC) is characterized by low operating temperature, high...     

A comparison of swarm-based optimization algorithms in linear antenna array synthesis

Today, the design of antenna arrays is very important in providing effective and efficient wireless communication. The purpose of antenna array synthesis is to obtain a radiation pattern with a low side lobe level (SLL) at a desired half power beam width in far-field. The amplitude and position values of the array elements can be optimized to obtain a radiation pattern with suppressed SLLs. In this paper, swarm-based metaheuristic algorithms including particle swarm optimization (PSO), artificial bee colony (ABC), mayfly algorithm (MA) and jellyfish search (JS) are compared to determine the optimal design of linear antenna arrays. Extensive experiments are conducted on designing 10-, 16-, 24- and 32-element linear arrays by determining the amplitude and positions. Experiments are repeated 30 times due to the random nature of swarm-based optimizers, and statistical results show that the performance of the novel algorithms, MA and JS, is better than that of the well-known PSO and ABC methods.

     

An Eco-Friendly Approach to the Control of Pathogenic Microbes and Anopheles stephensi Malarial Vector Using Magnesium Oxide Nanoparticles (Mg-NPs) Fabricated by Penicillium chrysogenum

The discovery of eco-friendly, rapid, and cost-effective compounds to control diseases caused by microbes and insects are the main challenges. Herein, the magnesium oxide nanoparticles (MgO-NPs) are successfully fabricated by harnessing the metabolites secreted by Penicillium chrysogenum. The fabricated MgO-NPs were characterized using UV-Vis, XRD, TEM, DLS, EDX, FT-IR, and XPS analyses. Data showed the successful formation of crystallographic, spherical, well-dispersed MgO-NPs with sizes of 7–40 nm at a maximum wavelength of 250 nm. The EDX analysis confirms the presence of Mg and O ions as the main components with weight percentages of 13.62% and 7.76%, respectively. The activity of MgO-NPs as an antimicrobial agent was investigated against pathogens Staphylococcus aureus, Bacillus subtilis, Pseudomonas aeruginosa, Escherichia coli, and Candida albicans, and exhibited zone of inhibitions of 12.0 ± 0.0, 12.7 ± 0.9, 23.3 ± 0.8, 17.7 ± 1.6, and 14.7 ± 0.6 mm respectively, at 200 µg mL⁻¹. The activity is decreased by decreasing the MgO-NPs concentration. The biogenic MgO-NPs exhibit high efficacy against different larvae instar and pupa of Anopheles stephensi, with LC50 values of 12.5–15.5 ppm for I–IV larvae instar and 16.5 ppm for the pupa. Additionally, 5 mg/cm² of MgO-NPs showed the highest protection percentages against adults of Anopheles stephensi, with values of 100% for 150 min and 67.6% ± 1.4% for 210 min.     

(BaTiO3)1-x + (Co0.5Ni0.5Nb0.06Fe1.94O4)x nanocomposites: Structure,morphology, magnetic and dielectric properties

Two phase-based nanocomposites consisting of dielectric barium titanate (BaTiO₃ or BTO) and magnetic spinel ferrite Co_0.5Ni_0.5Nb_0.06Fe_1.94O₄ (CNNFO) have been synthesized through solid state route. Series of (BaTiO₃)_1-x + (Co_0.5Ni_0.5Nb_0.06Fe_1.94O₄)_x nanocomposites with x content of 0.00, 0.25, 0.50, 0.75, and 1.00 were considered. The structure has been examined via X-rays diffraction (XRD) and indicated the occurrence of both perovskite BTO and spinel CNNFO phases in various nanocomposites. A phase transition from tetragonal BTO structure to cubic structure occurs with inclusion of CNNFO phase. The average crystallites size of BTO phase decreases, whereas that for the CNNFO phase increases with increasing x in various nanocomposites. The morphological observations revealed that the porosity is highly reduced, and the connectivity between grains is enhanced with increasing x content. The optical properties have been investigated by UV−vis diffuse reflectance spectroscopy. The deduced band gap energy (E_g) value is found to reduce with increasing the content of spinel ferrite phase. The magnetic as well as the dielectric properties were also investigated. The analysis showed that CNNFO ferrite phase greatly affects the magnetic properties and dielectric response of BTO material. The obtained findings can be useful to enhance the performances of magneto-dielectric composite-based systems.     

Great enhancement of mechanical features in PLA based composites containing aligned few layer graphene (FLG), the effect of FLG loading,size, and dispersion on mechanical and thermal properties

Four series of polylactide (PLA) based composite films containing horizontally aligned few layer graphene (FLG) flakes of high aspect ratio and adsorbed albumin are prepared. The mechanical and thermal properties varies with percentage, dispersion degree and size of FLG flakes. Great improvement up to 290% and 360% of tensile modulus and strength respectively were obtained for the composite containing high lateral size of FLG at 0.17% wt, and up to 60% and 80% for the composite with very well dispersed 0.02% wt FLG. The composites of PLA and PEG-PLLA containing very well dispersed FLG flakes at 0.07% wt are ductile showing enhancement of elongation at break up to respectively 80% and 88%. Relatively high electrical conductivity, 5 × 10⁻³ S/cm, is measured for PLA film charged with 3% of FLG.     

Topology optimization of a coupled thermal-fluid system under a tangential thermal gradient constraint

This paper presents a continuous adjoint approach for topology optimization of a coupled heat transfer and laminar fluid flow system under tangential thermal gradient (TTG) constraints. In this system, the thermal gradient along the boundary of multiple heat sources needs to be controlled. The design goals are to minimize the temperature of the domain, the fluid power dissipation and the TTG along the boundary of the heat sources. The first two goals are combined into a single cost function with weight variables. The TTG is constrained in one of two forms, an integral form where the integral of TTG squares along the boundaries of heat sources is constrained, or a point-wise form where TTG is constrained point-wise. A gradient-based approach is developed to obtain the optimized designs. A salient feature of our approach is the use of the continuous adjoint approach to derive gradients of both the cost function and two forms of TTG constraints. Numerical examples demonstrate that the continuous adjoint approach leads to successful topological optimization of the constrained thermal-fluid system. The use of TTG constraint is effective in lowering the TTG along the heat source boundaries. The resulting designs exhibit clear black/white contrast.     

Topology optimization of structures with integral compliant mechanisms for mid-frequency response

The purpose of this paper is to present a method for developing new truss-like sandwich structures that exhibit desirable mid-frequency vibratory characteristics. Specifically, a genetic algorithm optimization routine is used to determine candidate small scale structural topologies, i.e. unit cells, that may be used in the design of larger scale periodic sandwich structures. This multi-scale procedure is demonstrated starting with several unit cell topology optimization examples. From these examples a specific optimal unit cell is selected for further investigation and integration into a periodic sandwich beam. Computational results indicate that the proposed optimization approach is effective when used to design new structures for reduced mid-frequency vibratory response.