Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed

Experiments on the Low Frequency Barrier Characteristics of Cellular Metamaterial Panels in a Diffuse Sound Field

The metamaterial under investigation here consists of a periodic arrangement of unit plates in a grid-like frame such that there is a contrast in the local areal mass between cell interior and cell wall. In the low frequency range and under normal incidence this metamaterial panel exhibits a sound transmission loss significantly larger than the transmission loss of an unstructured panel with the same homogeneous mass per unit area. However, when the incident sound field is diffuse, the relative advantage of the metamaterial barrier is reduced or eliminated. A sequence of experiments is documented to demonstrate that the relative advantage of the metamaterial barrier can be realized even in a diffuse sound field by creating a hybrid barrier system which embeds the metamaterial layer between a normalizing waveguide layer on the incident side and an absorbing layer on the transmitted side. The sound normalizing waveguide layer is a lattice structure, and the absorbing layer is high performance glass fiber mat. By using measurements of the transmission loss of a 1,2 m square panel system the role of each of these components is demonstrated

Surface feature detection and description with applications to mesh matching

In this paper we revisit local feature detectors/descriptors developed for 2D images and extend them to the more general framework of scalar fields defined on 2D manifolds. We provide methods and tools to detect and describe features on surfaces equiped with scalar functions, such as photometric information. This is motivated by the growing need for matching and tracking photometric surfaces over temporal sequences, due to recent advancements in multiple camera 3D reconstruction. We propose a 3D feature detector (MeshDOG) and a 3D feature descriptor (MeshHOG) for uniformly triangulated meshes, invariant to changes in rotation, translation, and scale. The descriptor is able to capture the local geometric and/or photometric properties in a succinct fashion. Moreover, the method is defined generically for any scalar function, e.g., local curvature. Results with matching rigid and non-rigid meshes demonstrate the interest of the proposed framework

Enhanced self-field critical current density of nano-composite YBa(2)Cu(3)O(7) thin films grown by pulsed-laser deposition

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ EPLA, 2008.Enhanced self-field critical current density Jc of novel, high-temperature superconducting thin films is reported. Layers are deposited on (001) MgO substrates by laser ablation of YBa2Cu3O7−δ(Y-123) ceramics containing Y2Ba4CuMOx (M-2411, M=Ag, Nb, Ru, Zr) nano-particles. The Jc of films depends on the secondary-phase content of the ceramic targets, which was varied between 0 and 15 mol%. Composite layers (2 mol% of Ag-2411 and Nb-2411) exhibit Jc values at 77 K of up to 5.1 MA/cm2, which is 3 to 4 times higher than those observed in films deposited from phase pure Y-123 ceramics. Nb-2411 grows epitaxially in the composite layers and the estimated crystallite size is ~10 nm.The Austrian Science Fund, the Austrian Federal Ministry of Economics and Labour, the European Science Foundation and the Higher Education Commission of Pakistan

Magnetization creep and decay in YBa2Cu3O7−x thin films with artificial nanostructure pinning

Critical current and flux pinning have been studied for YBa_2Cu_3O_7−x thin films with Y_2BaCuO_5 (211) precipitates introduced as layers and as random distributions. The 211 precipitates were introduced during pulsed laser deposition. In the case of the layered sample, the strata were spaced approximately 6.5 nm apart throughout the film thickness. Magnetically determined critical current density (J_c) was then fitted to J_c∝B^−α above a magnetic field B*, below which a relatively field independent J_c-self-field was observed, consistent with previous results. Values of α were suppressed from the control sample values of α=0.5 to lower values for pinned samples, reaching α=0.2 for the layer pinned 211 sample at low temperatures. M-H was then measured as a function of ramp rate, and U(J) vs J curves were extracted for temperatures from 4.2 to 77 K for pinned and control samples. Direct magnetization decay measurements were made for the 211 layer pinned sample, and good agreement was seen with ramp-rate-derived results. Using U(J)=(U_0∕μ)[(J_c∕J)^μ−1]B^−ν, values of μ≅0.6–0.8 were seen for all samples, while ν≅0.4 for control samples, 0.1 for layer pinned samples, and 0.2–0.4 for the random pinned samples. The activation energy scale U_0 was 600–700 and 400 K for layer pinned and control samples, respectively, and 400–500 K for the random pinned samples. The values of μ and ν extracted were inconsistent with two dimensional pinning behavior in all cases, even though the layer spacing in the layer pinned sample is smaller than the calculated collective correlation length. While the layer pinned sample is clearly in the collective pinning regime, the artificial defects in the random pinned sample may be in the isolated strong pinning regime

Physiological and Molecular Mechanisms of Differential Sensitivity of Palmer Amaranth (Amaranthus palmeri) to Mesotrione at Varying Growth Temperatures

Citation: Godar, A. S., Varanasi, V. K., Nakka, S., Prasad, P. V. V., Thompson, C. R., & Mithila, J. (2015). Physiological and Molecular Mechanisms of Differential Sensitivity of Palmer Amaranth (Amaranthus palmeri) to Mesotrione at Varying Growth Temperatures. Plos One, 10(5), 17. doi:10.1371/journal.pone.0126731Herbicide efficacy is known to be influenced by temperature, however, underlying mechanism(s) are poorly understood. A marked alteration in mesotrione [a 4-hydroxyphenylpyruvate dioxygenase (HPPD) inhibitor] efficacy on Palmer amaranth (Amaranthus palmeri S. Watson) was observed when grown under low- (LT, 25/15 degrees C, day/night temperatures) and high (HT, 40/30 degrees C) temperature compared to optimum (OT, 32.5/22.5 degrees C) temperature. Based on plant height, injury, and mortality, Palmer amaranth was more sensitive to mesotrione at LT and less sensitive at HT compared to OT (ED50 for mortality; 18.5, 52.3, and 63.7 g ai ha(-1), respectively). Similar responses were observed for leaf chlorophyll index and photochemical efficiency of PSII (F-v/F-m). Furthermore, mesotrione translocation and metabolism, and HPPD expression data strongly supported such variation. Relatively more mesotrione was translocated to meristematic regions at LT or OT than at HT. Based on T-50 values (time required to metabolize 50% of the C-14 mesotrione), plants at HT metabolized mesotrione faster than those at LT or OT (T-50; 13, 21, and 16.5 h, respectively). The relative HPPD: CPS (carbamoyl phosphate synthetase) or HPPD:beta-tubulin expression in mesotrione-treated plants increased over time in all temperature regimes; however, at 48 HAT, the HPPD:beta-tubulin expression was exceedingly higher at HT compared to LT or OT (18.4-, 3.1-, and 3.5-fold relative to untreated plants, respectively). These findings together with an integrated understanding of other interacting key environmental factors will have important implications for a predictable approach for effective weed management

Visible light guided manipulation of liquid wettability on photoresponsive surfaces

Photoresponsive titania surfaces are of great interest due to their unique wettability change upon ultraviolet light illumination. However, their applications are often limited either by the inability to respond to visible light or the need for special treatment to recover the original wettability. Sensitizing TiO2 surfaces with visible light-absorbing materials has been utilized in photovoltaic applications. Here we demonstrate that a dye-sensitized TiO2 surface can selectively change the wettability towards contacting liquids upon visible light illumination due to a photo-induced voltage across the liquid and the underlying surface. The photo-induced wettability change of our surfaces enables external manipulation of liquid droplet motion upon illumination. We show demulsification of surfactant-stabilized brine-in-oil emulsions via coalescence of brine droplets on our dye-sensitized TiO2 surface upon visible light illumination. We anticipate that our surfaces will have a wide range of applications including microfluidic devices with customizable wettability, solar-driven oil–water clean-up and demulsification technologies

Aerosynthesis: Growth of Vertically-aligned Carbon Nanofibres with Air DC Plasma

Vertically-aligned carbon nanofibres (VACNFs) have been synthesized in a mixture of acetone and air using catalytic DC plasma-enhanced chemical vapour deposition. Typically, ammonia or hydrogen is used as an etchant gas in the mixture to remove carbon that otherwise passivates the catalyst surface and impedes growth. Our demonstration of the use of air as the etchant gas opens up the possibility that ion etching could be sufficient to maintain the catalytic activity state during synthesis. It also demonstrates a path toward growing VACNFs in the open atmosphere

Transition of Cellulose Crystalline Structure and Surface Morphology of Biomass as a Function of Ionic Liquid Pretreatment and Its Relation to Enzymatic Hydrolysis

Cellulose is inherently resistant to breakdown, and the native crystalline structure (cellulose I) of cellulose is considered to be one of themajor factors limiting its potential in terms of cost-competitive lignocellulosic biofuel production. Here we report the impact of ionic liquid pretreatment on the cellulose crystalline structure in different feedstocks, including microcrystalline cellulose (Avicel), switchgrass (Panicum virgatum), pine (Pinus radiata), and eucalyptus (Eucalyptus globulus), and its influence on cellulose hydrolysis kinetics of the resultant biomass. These feedstocks were pretreated using 1-ethyl-3-methyl imidazolium acetate ([C2mim][OAc]) at 120 and 160°C for 1, 3, 6, and 12 h. The influence of the pretreatment conditions on the cellulose crystalline structure was analyzed by X-ray diffraction (XRD).On a larger length scale, the impact of ionic liquid pretreatment on the surface roughness of the biomass was determined by small-angle neutron scattering (SANS). Pretreatment resulted in a loss of native cellulose crystalline structure. However, the transformation processes were distinctly different for Avicel and for the biomass samples. For Avicel, a transformation to cellulose II occurred for all processing conditions. For the biomass samples, the data suggest that pretreatment formost conditions resulted in an expanded cellulose I lattice. For switchgrass, first evidence of cellulose II only occurred after 12 h of pretreatment at 120°C. For eucalyptus, first evidence of cellulose II required more intense pretreatment (3 h at 160°C). For pine, no clear evidence of cellulose II contentwas detected for the most intense pretreatment conditions of this study (12 h at 160°C). Interestingly, the rate of enzymatic hydrolysis of Avicel was slightly lower for pretreatment at 160°C compared with pretreatment at 120°C. For the biomass samples, the hydrolysis rate was much greater for pretreatment at 160°C compared with pretreatment at 120°C. The result for Avicel can be explained by more complete conversion to cellulose II upon precipitation after pretreatment at 160°C. By comparison, the result for the biomass samples suggests that another factor, likely lignincarbohydrate complexes, also impacts the rate of cellulose hydrolysis in addition to cellulose crystallinity