Formation of single-phase disordered CsxFe2-ySe2 at high pressure

A single-phase high pressure (HP) modification of CsxFe2-ySe2 was synthesized at 11.8 GPa at ambient temperature. Structurally this polymorph is similar to the minor low pressure (LP) superconducting phase, namely they both crystallize in a ThCr2Si2-type structure without ordering of the Fe vacancies within the Fe-deficient FeSe4 layers. The HP CsxFe2-ySe2 polymorph is found to be less crystalline and nearly twice as soft compared to the parent major and minor phases of CsxFe2-ySe2. It can be quenched to low pressures and is stable at least on the scale of weeks. At ambient pressure the HP polymorph of CsxFe2-ySe2 is expected to exhibit different superconducting properties compared to its LP minor phase (Tc = 27 K)

Generic decoupled image-based visual servoing for cameras obeying the unified projection model

In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform

Visual servoed micropositioning for protein manipulation tasks

In this paper, we present a framework for cell manipulation tasks with visual servoing micromanipulation strategies. A vision based micropositioner is designed in order to address the requirement of high precision needed to perform manipulation of objects under 100 μm in size. The system calibration (microscope-camera-micropositioner) and the model of the observed scene are not known. Experimental results for micropositioning tasks with respect to protein cells are presented and demonstrate the validity of the proposed approach

Modeling and Lyapunov-designed based on adaptive gain sliding mode control for wind turbines

In this paper, modeling and the Lyapunov-designed control approach are studied for the Wind Energy Conversion Systems (WECS). The objective of this study is to ensure the maximum energy production of a WECS while reducing the mechanical stress on the shafts (turbine and generator). Furthermore, the proposed control strategy aims to optimize the wind energy captured by the wind turbine operating under rating wind speed, using an Adaptive Gain Sliding Mode Control (AG-SMC). The adaptation for the sliding gain and the torque estimation are carried out using the sliding surface as an improved solution that handles the conventional sliding mode control. Furthermore, the resultant WECS control policy is relatively simple, meaning the online computational cost and time are considerably reduced. Time-domain simulation studies are performed to discuss the effectiveness of the proposed control strateg

Path Planning for Robust Image-Based Visual Servoing

Vision feedback control loop techniques are efficient for a large class of applications but they come up against difficulties when the initial and desired robot positions are distant. Classical approaches are based on the regulation to zero of an error function computed from the current measurement and a constant desired one. By using such approach, it is not obvious to introduce any constraint in the realized trajectories and to ensure the convergence for all the initial configurations. In this paper, we propose a new approach to resolve these difficulties by coupling path planning in image space and image-based control. Constraints such that the object remains in the camera field of view or the robot avoids its joint limits can be taken into account at the task planning level. Furthermore, by using this approach, current measurements always remain close to their desired value and a control by image-based servoing ensures the robustness with respect to modeling errors. The proposed method is based on the potential field approach and is applied when object shape and dimensions are known or not, and when the calibration parameters of the camera are well or badly estimated. Finally, real time experimental results using an eye-in-hand robotic system are presented and confirm the validity of our approach

Phase boundary between Na-Si clathrates of structures I and II at high pressures and high temperatures

Understanding the covalent clathrate formation is a crucial point for the design of new superhard materials with intrinsic coupling of superhardness and metallic conductivity. Silicon clathrates have the archetype structures that can serve an existant model compounds for superhard clathrate frameworks "Si-B", "Si-C", "B-C" and "C" with intercalated atoms (e.g. alkali metals or even halogenes) that can assure the metalic properties. Here we report the in situ and ex situ studies of high-pressure formation and stability of clathrates Na8Si46 (structure I) and Na24+xSi136 (structure II). Experiments have been performed using standard Paris-Edinburgh cells (opposite anvils) up to 6 GPa and 1500 K. We have established that chemical interactions in Na-Si system and transition between two structures of clathrates occur at temperatures below silicon melting. The strong sensitivity of crystallization products to the sodium concentration have been observed. A tentative diagram of clathrate transformations has been proposed. At least up to ~6 GPa, Na24+xSi136 (structure II) is stable at lower temperatures as compared to Na8Si46 (structure I)

Constitutive modeling of the anisotropic behavior of Mullins softened filled rubbers

Original constitutive modeling is proposed for filled rubber materials in order to capture the anisotropic softened behavior induced by general non-proportional pre-loading histo-ries. The hyperelastic framework is grounded on a thorough analysis of cyclic experimental data. The strain energy density is based on a directional approach. The model leans on the strain amplification factor concept applied over material directions according to the Mul-lins softening evolution. In order to provide a model versatile that applies for a wide range of materials, the proposed framework does not require to postulate the mathematical forms of the elementary directional strain energy density and of the Mullins softening evo-lution rule. A computational procedure is defined to build both functions incrementally from experimental data obtained during cyclic uniaxial tensile tests. Successful compari-sons between the model and the experiments demonstrate the model abilities. Moreover, the model is shown to accurately predict the non-proportional uniaxial stress-stretch responses for uniaxially and biaxially pre-stretched samples. Finally, the model is effi-ciently tested on several materials and proves to provide a quantitative estimate of the anisotropy induced by the Mullins softening for a wide range of filled rubbers

Imposed Switching Frequency Direct Torque Control of Induction Machine Using Five Level Flying Capacitors Inverter

The paper proposes a new control structure for sensorless induction motor drive based on a five-level voltage source inverter (VSI). The output voltages of the five-level VSI can be represented by nine groups. Then, the amplitude and the rotating velocity of the flux vector can be controlled freely. Both fast torque and optimal switching logic can be obtained. The selection is based on the value of the stator flux and the torque. This paper investigates a new control structure focused on controlling switching frequency and torque harmonics contents. These strategies, called ISFDTC, indeed combines harmoniously both these factors, without compromising the excellence of the dynamical performances typically conferred to standard DTC strategies. The validity of the proposed control technique is verified by Matlab/Simulink. Simulation results presented in this paper confirm the validity and feasibility of the proposed control approach and can be tested on experimental setup.Peer reviewe