Parallel algorithms for computation of the manipulator inertia matrix

The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm

The influence of cobalt on the microstructure and adherence characteristics of enamel on steel sheet

In this study, the influence of cobalt (Co) on the microstructure and adhesion between enamel and steel substrate has been investigated. The result of press test indicated that the adhesion strength was greatly improved by Co inclusion. Scanning electronic microscope (SEM)revealed that the amount of dendrite increases in the interface while its average size decreases. The wavelength dispersive X-ray analysis (WDS) identified the existence of Co in the dendrite, which confirms that the Co was closely related to the change of interface morphology and the improvement of adhesion strength. Finally, the reasons for adhesion improvement were discussed

Optimization and Experimental Investigation of the Ability of New Material from Aluminum Casting on Pumice Particles to Reduce Shock Wave

Some materials, due to their inherent properties, can be used as shock and wave absorbers. These materials include foam and porous materials, in this study, specimens were made by casting aluminum on porous mineral pumice. Which can replace aluminum foam in some applications with lesser cost, at first, the material is compared with aluminum foam using compression test and quasi-static loading diagram. Which compares the diagrams of these two materials showing the similarity of their behavior in quasi-static loading. Initially, the elastic bending of the walls causes an elastic region in the stress-strain curve of the material. Then, the plastic collapsing of the cells forms a large and relatively smooth region along the elastic and after the plastic collapse of the cells, the area known as foam densification begins where the density of the foam closer to the density of its constituent material causes a sudden increase in the stress level in the specimen. These steps have also been seen in the quasi-static loading of aluminum foam. Then, by using numerical simulations with ANSYS AUTODYN and the shock tube test the ability of these specimens were investigated to reduce the shock wave. The behavior of the material in this case is also very similar to the results of previous studies on aluminum foam

Experimental and numerical optimization study of shock wave damping in aluminum panel sandwich

Sandwich panels with polymer composite and light core composites are widely used in aircraft and spacecraft, vessels, trains, submarines, and cars. Due to their high strength to weight ratio, high stability, and high corrosion resistance, these structures have become particularly important in the industry. Reduction in impact energy, shock waves, and noise in many industries, including the automotive and military industries. Porous materials have always been the focus of attention due to their shock-reducing effects in various protective applications. For this reason, the study of physics governing shock propagation problems in porous media is of particular importance, and the complexity of the governing equations also results in the numerical solution of these equations with many computational problems and costs. In this paper, shock wave damping is investigated numerically and experimentally in aluminum blocks with porous grains scattered inside aluminum. The deformations of the specimens in numerical simulation and experimental testing have been compared. The results show that this material behaves similarly to the aluminum foam in both static loadings (practical pressure testing) and dynamic loading (explosion simulation) results, again similar to aluminum foam

An Improved Continuous-Action Extended Classifier Systems for Function Approximation

AbstractDue to their structural simplicity and superior generalization capability, Extended Classifier Systems (XCSs) are gaining popularity within the Artificial Intelligence community. In this study an improved XCS with continuous actions is introduced for function approximation purposes. The proposed XCSF uses “prediction zones,” rather than distinct “prediction values,” to enable multi-member match sets that would allow multiple rules to be evaluated per training step. It is shown that this would accelerate the training procedure and reduce the computational cost associated with the training phase. The improved XCSF is also shown to produce more accurate rules than the classical classifier system when it comes to approximating complex nonlinear functions

Agrobacterium Mediated Transformation of Fld and GUS Genes into Canola for Salinity Stress

Salinity is one of the major abiotic stress which limits wide spread canola cultivation. One way to overcome this problem could be transfection, to produce tolerable species. Cotyledonary and hypocotyls explants obtained from 4 and 7 days old seedling of Elite and RJS003 varieties were utilized in this study. Genetic transformation was implemented through Agrobacterium tumefaciens LBA4404 containing PBI121 plasmid and Agrobacterium tumefaciens C58, LBA4404, AGL0 and EHA 101 strains which contain P6u- ubi- fvt1 construct. The T-DNA region of P6u- Ubi- Fvt1 plasmid included HPT (Hygromycin phosphotransferase) plant selectable marker and Fld (flavodoxin) gene. PBI121 plasmid had NptII (Neomycin phosphotransferase) plant Selectable marker and β-glucuronidase (GUS) reporter genes. Transfected explants were analyzed by PCR and histochemical assay for Fld and Gus genes, respectively. Our data indicated that the cotyledonary explants of both cultivars were incompetent to be infected with Fld gens. However, the transformation in Elite hypocotyls explants with Agrobacterium tumefaciens C58 and LBA 4404 strains were confirmed through PCR product and histochemical evaluation for Fld and GUS genes, respectively. Therefore, the result of this manuscript may to certain degree fulfill the endeavor appointed to this oilseed