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

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

Work Function Engineered Charge Plasma-Germanium Double Gate Tunnel Field Effect Transistor for Low-Power Switching Applications

Here, we propose a Charge Plasma (CP)-based Germanium Double Gate Tunnel Field-Effect Transistor (Ge-DGTFET) device structure, where a CP is induced in the heavily doped source region using the work function engineering of source electrode. The CP enables creation of electrical metallurgical junction and converts n-p-n to p-n-p-n structure of TFET and enhances the drain current, reliability, eliminate additional pocket ion-implantation. The proposed CP-Ge-DGTFET device structure revealed excellent electrical DC performance as compared to the conventional Ge-DGTFET device structure such as high ON current (ION), excellent ION/IOFF ratio, and low sub-threshold swing of ~4.7E-4 A/um, ~1.8E9, and ~5.23 mV/dec, respectively. Furthermore, analog/RF analyses revealed high transconductance, upright cut-off frequency, low overall capacitance, transit time, and power delay product. Therefore, the proposed CP-Ge-DGTFET device structure with alternate channel material Ge, High-\k{appa} Al2O3, and work function engineered CP in source region furnishes high performance and cost-effective solution for next-generation energy-efficient switching applications.Comment: 7 pages, 10 figure

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

Analysis of MAGSAT data of the Indian region

Progress in the development of software for reading MAGSAT data tapes and for the reduction of anomaly data, and in the preparation of data for magnetic anomaly maps is reported

Characterization and its implication on beneficiation of low grade iron ore by gravity separation

Studies were undertaken on low grade iron ore sample from Noamundi iron ore mines. The objective of this study was to examine the possibility of the physical beneficiation of low grade iron ore sample by physical methods for the blast furnace route of iron production. The present investigation relies on petrography and ore mineralogical characterization, ore textures (primary, secondary, metamorphic), liberation characters and its impact on the mineral beneficiation methods to produce quality concentrate. The geological characters, alteration mineralogy, morphometric variation, ore microscopy (using model microscope with transmitted and reflected light) and thereby understanding the genesis has given proper insight into the occurrence of various minerals. In addition to this, representative samples were employed for detailed investigation by using XRD, SEM-EDS and cathodoluminescence (CL) studies for confirmation of major as well as minor ore minerals and associated gangue minerals. Investigations suggest that lateritic iron ore samples obtained from the study area are composed of hematite (two generations), goethite (two generations) and limonitic material (younger generation) in association with major gangue minerals such as clay minerals (kaolinite, illite), bauxitic minerals(gibbsite, boehmite and diaspore), cryptocrystalline silica(japer, chert) and crystalline quartz as well as apatite and collophane. Fair liberation obtained below 74 micron size. It was interesting to find that inspite of the complex mineralogy of iron ore, beneficiation results using gravity separation like multi gravity separator (MGS), particularly in finer size ranges was encouraging. The result of ore-gangue mineralogical studies were found quite useful in evaluating the separation efficacy of gravity separation process. The process mineralogical data corroborated well with beneficiation results

Evaluating Housing Health Hazards: Prevalence, Practices and Priorities in Delhi's Informal Settlements

Housing quality is crucially linked to health and sustainability goals, yet there is limited research on informal housing and settlements where housing quality is poor, and the health risks are expected to be greatest. This paper describes the investigation of housing conditions in a low-income resettlement colony in Delhi. A novel transdisciplinary methodology to evaluate multiple housing health hazards and establish intervention priorities in participation with the community was developed. Findings from housing surveys and indoor environmental monitoring were contrasted with a participatory self-assessment—revealing the widespread prevalence of hazards and suboptimal housing conditions as well as substantial differences in priorities, and thus perspectives, between participants and researchers. Focus group discussions explored the findings and built consensus on priorities. Our findings uncovered how poor housing conditions affect daily practices and thus are likely to adversely affect socio-economic development and gender equality. We highlight limitations in current frameworks to assess housing hazards and argue that a transdisciplinary approach is vital to provide a holistic understanding and to develop effective interventions. These insights are crucial to inform inclusive solutions for adequate housing and human settlements that can support improved health and help achieve the sustainable development goals