Effect of control sampling rates on model-based manipulator control schemes

The effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes is discussed. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. Researchers discuss the design of controller gains for both the computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme. Based on experimental results, researchers also conclusively establish the importance of high sampling rates as they result in an increased stiffness of the system

Navier-Stokes calculations with a coupled strongly implicit method. Part 2: Spline solutions

A coupled strongly implicit method is combined with a deferred-corrector spline solver for the vorticity-stream function form of the Navier-Stokes equation. Solutions for cavity, channel and cylinder flows are obtained with the fourth-order spline 4 procedure. The strongly coupled spline corrector method converges as rapidly as the finite difference calculations and also allows for arbitrary large time increments for the Reynolds numbers considered. In some cases fourth-order smoothing or filtering is required in order to suppress high frequency oscillations

High-order numerical solutions using cubic splines

The cubic spline collocation procedure for the numerical solution of partial differential equations was reformulated so that the accuracy of the second-derivative approximation is improved and parallels that previously obtained for lower derivative terms. The final result is a numerical procedure having overall third-order accuracy for a nonuniform mesh and overall fourth-order accuracy for a uniform mesh. Application of the technique was made to the Burger's equation, to the flow around a linear corner, to the potential flow over a circular cylinder, and to boundary layer problems. The results confirmed the higher-order accuracy of the spline method and suggest that accurate solutions for more practical flow problems can be obtained with relatively coarse nonuniform meshes

An iconic programming language for sensor-based robots

In this paper we describe an iconic programming language called Onika for sensor-based robotic systems. Onika is both modular and reconfigurable and can be used with any system architecture and real-time operating system. Onika is also a multi-level programming environment wherein tasks are built by connecting a series of icons which, in turn, can be defined in terms of other icons at the lower levels. Expert users are also allowed to use control block form to define servo tasks. The icons in Onika are both shape and color coded, like the pieces of a jigsaw puzzle, thus providing a form of error control in the development of high level applications

Real-time edge tracking using a tactile sensor

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented

A pressure flux-split technique for computation of inlet flow behavior

A method for calculating the flow field in aircraft engine inlets is presented. The phenomena of inlet unstart and restart are investigated. Solutions of the reduced Navier-Stokes (RNS) equations are obtained with a time consistent direct sparse matrix solver that computes the transient flow field both internal and external to the inlet. Time varying shocks and time varying recirculation regions can be efficiently analyzed. The code is quite general and is suitable for the computation of flow for a wide variety of geometries and over a wide range of Mach and Reynolds numbers

Solution of three-dimensional afterbody flow using reduced Navier-Stokes equations

The flow over afterbody geometries was investigated using the reduced Navier-Stokes (RNS) approximation. Both pressure velocity flux-split and composites velocity primitive variable formulations were considered. Pressure or pseudopotential relaxation procedures are combined with sparse matrix or coupled strongly implicit algorithms to form a three-dimensional solver for general non-orthogonal coordinates. Three-dimensional subsonic and transonic viscous/inviscid interacting flows were evaluated. Solutions with and without regions of recirculation were obtained

GENDER SPECIFIC VARIATION OF TWO PHENOLIC GLYCOSIDES (POPULIN AND SALICIN) IN POPULUS CILIATA AND IDENTIFICATION OF A NEW COMPOUND (CINNAMOYL-SALICIN)

Objective: To observe gender specific seasonal variation of two phenolic glycosides (PG's) (populin and salicin) in Populus ciliata male and female trees.Methods: Plant material (bark) was collected from male and female trees throughout the year. The content of salicin and populin was measured using HPLC. Because of the lack of populin in the market, the standard compound was synthesized in the laboratory from salicin following standard procedure. Confirmation and characterization of synthesized populin were done using 1H NMR and 13C NMR. TLC and LC-MS of methanolic extract were performed to observe the presence of populin and salicin in the plant bark.Results: TLC showed the presence of populin and salicin in crude plant extract at Rf value 0.84 and 0.52, respectively. The results of monthly variation showed a consistent pattern of two PG's for both the sexes. However, salicin content was observed highest compared to populin content. Whereas female trees were observed with low content of PG's compared to male trees. The maximum content of salicin and populin was observed in the flowering season. LC-MS of bark methanolic extract confirmed the presence of a significantly larger peak, which was identified as a cinnamoyl-salicin peak at 463.Conclusion: The study confirms the highest content of PG's in the flowering season. Additionally, LC-MS study concluded a new compound cinnamoyl-salicin (M+at 463) which is reported first time to the best of author's knowledge. It seems that it could be the denaturation product of 2'-O-cinnamoyl salicortin and can be further explored for biological applications

Towards learning free naive bayes nearest neighbor-based domain adaptation

As of today, object categorization algorithms are not able to achieve the level of robustness and generality necessary to work reliably in the real world. Even the most powerful convolutional neural network we can train fails to perform satisfactorily when trained and tested on data from different databases. This issue, known as domain adaptation and/or dataset bias in the literature, is due to a distribution mismatch between data collections. Methods addressing it go from max-margin classifiers to learning how to modify the features and obtain a more robust representation. Recent work showed that by casting the problem into the image-to-class recognition framework, the domain adaptation problem is significantly alleviated [23]. Here we follow this approach, and show how a very simple, learning free Naive Bayes Nearest Neighbor (NBNN)-based domain adaptation algorithm can significantly alleviate the distribution mismatch among source and target data, especially when the number of classes and the number of sources grow. Experiments on standard benchmarks used in the literature show that our approach (a) is competitive with the current state of the art on small scale problems, and (b) achieves the current state of the art as the number of classes and sources grows, with minimal computational requirements. © Springer International Publishing Switzerland 2015

Analysis of Magneto-inductive System for Rocket Sled Velocity Measurement Beyond Mach 1.5

The rail track rocket sled (RTRS) national test facility at Terminal Ballistics Research Laboratory (TBRL) has been established to provide simulated flight environment for carrying out aero dynamic studies, terminal studies and kinematic studies of variety of test articles. The sled velocity is a critical parameter in evaluation trials.  This velocity is also used to ensure that the maximum speed and allowable g loading does not exceed the value which the test article will experience under free flight in air1. Overseas, the facilities have been set up to attain velocities ranging from sub-sonic to hypersonic2. The rocket sled at TBRL can be presently accelerated to travel along the rail track at velocities up to 500 m/s and capability is being built to increase velocity beyond 500 m/s. Signals acquired from existing magneto-inductive arrangement have been analysed in the present work. The experiments indicate that with increase in velocity the rate of change of flux increases, the amplitude of induced emf also increases but terminal voltage decreases and shape of the acquired pulse gets distorted. The parameters of magneto-inductive pick up have been modified in such a way that there is improvement in amplitude and shape of the received pulse with increase in velocity. The improved signals have been analysed and simulation results validated with feasible experiments. This paper also discusses issues, challenges and proposes recommendations in improving the sensor for measurement of velocity beyond Mach 1.5. It has been found that it is prudent to reduce the inductance by reducing the number of turns and changing the core from soft iron core to air core which will improve the response of inductive pick up coil at high velocity.Defence Science Journal, 2014, 64(2), pp. 143-151. DOI: http://dx.doi.org/10.14429/dsj.64.503