Flat control of industrial robotic manipulators

Published ArticleA new approach to tracking control of industrial robot manipulators is presented in this paper. The highly coupled nonlinear dynamics of a six degrees of freedom (6-DOF) serial robot is decoupled by expressing its variables as a function of a flat output and a finite number of its derivatives. Hence the derivation of the flat output for the 6-DOF robot is presented. With the flat output, trajectories for each of the generalized coordinates are easily designed and open loop control is made possible. Using MATLAB/Simulink Sfunctions combined with the differential flatness property of the robot, trajectory tracking is carried out in closed loop by using a linear flat controller. The merit of this approach reduces the computational complexity of the robot dynamics by allowing online computation of a high order system at a lower computational cost. Using the same processor, the run time for tracking arbitrary trajectories is reduced significantly to about 10 s as compared to 30 min in the original study (Hoifodt, 2011). The design is taken further by including a Jacobian transformation for tracking of trajectories in cartesian space. Simulations using the ABB IRB140 industrial robot with full dynamics are used to validate the study

Synchronous reluctance machine with controlled capacitance injection

Abstract This paper describes a detailed analysis, verified by practical experimental results, of a synchronous reluctance machine with two similar stator windings and capacitance injection using a static switch. The steady state equivalent circuit is developed and used to investigate leading capacitance injection into the machine via a balanced three phase auxiliary winding that is only magnetically coupled to the main winding. The scheme was found to improve the torque and power factor performance of the machine as well as reduce harmonics in the line current. Two switching topologies were utilized for the static control in this arrangement, and both were found to present good and comparable results. Experimental results corroborate the simulations

Northwest Africa 8159: An approximately 2.3 Billion Year Old Martian Olivine-Bearing Augite Basalt

Based on petrology, mineralogy, and bulk composition, the new NWA 8159 martian meteorite is distinct from all known samples from Mars. In particular, the augite compositional trends are unique, but most similar to those of nakhite intercumulus. Whether NWA 8159 represents a new lithology or is related to a known meteorite group remains to be determined. Sr and Nd isotopic analyses will allow comparison of source characteristics with SNC and other new ungrouped meteorites (e.g., NWA 7635). Here we report initial Rb-Sr and Sm-Nd isotopic results for NWA 8159 with the objective to determine its formation age and to potentially identify similarities and potential source affinities with other martian rocks

Reassessing the Formation of CK7 Northwest Africa (NWA) 8186

The classification of meteorites is commonly determined using isotopes, modal mineralogy, and bulk compositions [1]. Bulk rare earth elements (REEs) in meteorites are additionally utilized to understand parent body processes. Numerous authors have shown that chondritic groups exhibit REE patterns that may be attributable to their parent bodies [e.g. 2-4], and variations in abundances and concentrations of REEs may reflect early nebular processes, thermal metamorphism, and aqueous alteration on the parent body [5-6]

Statistical analysis of wind speed and wind power potential of Port Elizabeth using Weibull parameters

This paper analyses wind speed characteristics and wind power potential of Port Elizabeth using statistical Weibull parameters. A measured 5–minute time series average wind speed over a period of 5 years (2005 - 2009) was obtained from the South African Weather Service (SAWS). The results show that the shape parameter (k) ranges from 1.319 in April 2006 to 2.107 in November 2009, while the scale parameter (c) varies from 3.983m/s in May 2008 to 7.390 in November 2009.The average wind power density is highest during Spring (September–October), 256.505W/m2 and lowest during Autumn (April-May), 152.381W/m2. This paper is relevant to a decision-making process on significant investment in a wind power project

Statistical analysis of wind speed and wind power potential of Port Elizabeth using Weibull parameters

This paper analyses wind speed characteristics and wind power potential of Port Elizabeth using statistical Weibull parameters. A measured 5–minute time series average wind speed over a period of 5 years (2005 - 2009) was obtained from the South African Weather Service (SAWS). The results show that the shape parameter (k) ranges from 1.319 in April 2006 to 2.107 in November 2009, while the scale parameter (c) varies from 3.983m/s in May 2008 to 7.390 in November 2009.The average wind power density is highest during Spring (September–October), 256.505W/m2 and lowest during Autumn (April-May), 152.381W/m2. This paper is relevant to a decision-making process on significant investment in a wind power project

A contingent valuation study to estimate the parental willingness-to-pay for childhood diarrhoea and gender bias among rural households in India

We used contingent valuation technique to estimate the parental willingness to pay for an episode of diarrhoea among 324 children of both sexes aged between five and seven years in two rural villages of Chennai in India. The aim was to examine if there was any gender bias in the parental willingness to treat children for a diarrhoeal episode, and if so to what extent. The willingness to pay was specified as a hedonic function of the duration and severity of an episode, and of parents' socioeconomic characteristics. The findings suggest that parents were willing to pay more to protect their male child compared to the female child suffering from a diarrhoeal episode. The median willingness to pay to avoid an episode for male and female children were calculated at Rs. 33.7 (approx. US$0.72) and Rs. 25.2 (approx. US$ 0.54) respectively – a difference of around 34%. After adjusting for the greater duration and severity of the illness, it was found that the difference between the two medians increased to 51%

Biomass and Burning Characteristics of Sugar Pine Cones

We investigated the physical and burning characteristics of sugar pine (Pinus lambertiana Douglas) cones and their contribution to woody surface fuel loadings. Field sampling was conducted at the Yosemite Forest Dynamics Plot (YFDP), a 25.6 ha mapped study plot in Yosemite National Park, California, USA. We developed a classification system to describe sugar pine cones of different sizes and decay conditions, and examined differences among cone classes in biomass, bulk density, flame length, burning time, consumption, and relative contribution to surface fuel loads. Sugar pine cones comprised 601 kg ha-1 of surface fuels. Mature cones comprised 54% of cone biomass, and aborted juvenile cones accounted for 44%. Cone biomass, diameter, and bulk density differed among cone condition classes, as did burning characteristics (one-way ANOVA, P \u3c 0.001 in all cases). Flame lengths ranged from 5 cm to 94 cm for juvenile cones, and 71 cm to 150 cm for mature cones. Our results showed that the developmental stage at which sugar pine cones become surface fuels determines their potential contribution to surface fire behavior in Sierra Nevada mixed-conifer forests. Sugar pine cones burn with greater flame lengths and flame times than the cones of other North American fire-tolerant pine species studied to date, indicating that cones augment the surface fire regime of sugar pine forests, and likely do so to a greater degree than do cones of other pine species