Effect of deposition conditions on the chemical bonding in sputtered carbon nitride films

A balanced planar r.f. powered magnetron sputter source has been used to deposit carbon nitride films from a graphite target under various conditions. Sample temperature, bias voltage and nitrogen content in the gas mixture were varied. The effects of oxygen, methane and ammonia on the film growth were also studied. Special attention was paid to the effects of the deposition parameters on the structure of the films, in particular the hybridisation of the carbon and nitrogen bonding. The chemical bonding of the carbon and nitrogen atoms was studied by electron energy loss spectroscopy (EELS). The chemical composition was evaluated by Rutherford back-scattering. The intensity of transitions to π antibonding orbitals, as revealed by EELS, was found to increase with the nitrogen content in the films. Ion bombardment of the films during growth and the addition of oxygen or hydrogen-rich gases further increased the proportion of π bonds of both the carbon and nitrogen atoms. It is suggested that the increase in the transitions to μ antibond orbitals is to be explained by increased sp2 or possibly sp hybridisation of the carbon and nitrogen. Also, the effect of annealing on the bonding of nitrogen rich films after deposition was tested. The changes caused by nitrogen and deposition conditions are consistent with previous reports on the formation of paracyanogen structures.

Identification of support conditions of buried pipes using a vibrating pig

This paper describes a method for monitoring the variation in support condition of pipelines using a vibration technique. The method is useful for detecting poor support of buried pipelines and for detecting spanning and depth of cover in sub-sea lines. Variation in the pipe support condition leads to increased likelihood of pipe damage. Under roadways, poorly supported pipe may be damaged by vehicle loading. At sea, spanned sections of pipe are vulnerable to ocean current loading and also to snagging by stray anchors in shallow waters. A vibrating `pig' has been developed and tested on buried pipelines. Certain features of pipe support, such as voids and hard spots, display characteristic responses to vibration, and these are measured by the vibrating pig. Post-processing of the measured vibration data is used to produce a graphical representation of the pipeline support and certain `feature characteristics' are identified. In field tests on a pipeline with deliberately constructed support faults, features detected by the vibrating pig are in good agreement with the known construction.

Optimizing the energy output of vertical axis wind turbines for fluctuating wind conditions

The control of a wind turbine to the mean wind speed in a gusty wind results in very poor performance. Fluctuations in wind speed with time constants shorter than the response time of a wind turbine results in operation away from optimum design conditions. The effectiveness of a turbine operating in a gusty wind is shown though the use of an unsteady performance coefficient, C e. This performance coefficient is similar in form to a power coefficient. However in order to accommodate unsteady effects, Ce is defined as a ratio of energy extracted to the total wind energy available over a set time period. The turbine's response to real wind data is modelled, in the first instance, by assuming a constant rotational speed operation. It is shown that a significant increase in energy production can be realized by demanding a Tip Speed Ratio above the steady state optimum. The constant speed model is then further extended to incorporate inertial and controller effects. Parameters dictating how well a turbine can track a demand in Tip Speed Ratio have been identified and combined, to form a non-dimensional turbine response parameter. This parameter characterizes a turbine's ability to track a demand in Tip Speed Ratio dependent on an effective gust frequency. A significant increase in energy output of 42% and 245% is illustrated through the application of this over-speed control. This is for the constant rotational speed and Tip Speed Ratio feedback models respectively. The affect of airfoil choice on energy extraction within a gusty wind has been considered. The adaptive control logic developed enables the application of airfoils demonstrating high maximum L/D values but sharp stalling characteristics to be successfully used in a VAWT design.

AC losses of superconducting racetrack coil in various magnetic conditions

High-temperature superconductors have created the opportunity for a step change in the technology of power applications. Racetrack superconducting coils made from YBCO coated conductors have been used in several engineering applications including SMES, rotor or stator windings of electric machines. AC loss is one of the most important factors that determine the design and performance of superconducting devices. In this paper, a numerical model is developed to calculate the AC losses in superconducting racetrack coils in different magnetic conditions. This paper first discusses the AC losses of the coils in self-field or external field only. It then goes to investigate the AC losses of the coils being exposed to AC ripple field and a DC background field. Finally, the AC losses of the coils carrying DC current and being exposed to AC field are calculated. These two scenarios correspond to using superconducting coils as the rotor field winding of an electric machine. © 2010 IEEE.

The influence of injection conditions and soil types on soil improvement by microbial functions

Research has begun on Microbial Carbonate Precipitation (MCP), which shows promise as a soil improvement method because of its low carbon dioxide emission compared to cement stabilized agents. MCP produces calcium carbonate from carbonates and calcium in soil voids through ureolysis by "Bacillus Pasteurii". This study focuses on how the amount of calcium carbonate precipitation is affected by the injection conditions of the microorganism and nutrient salt, such as the number of injections and the soil type. Experiments were conducted to simulate soil improvement by bio-grouting soil in a syringe. The results indicate that the amount of precipitation is affected by injection conditions and soil type, suggesting that, in order for soil improvement by MCP to be effective, it is necessary to set injection conditions that are in accordance with the soil conditions. © 2011 ASCE.

Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable dynamics.

This study compared the mechanisms of adaptation to stable and unstable dynamics from the perspective of changes in joint mechanics. Subjects were instructed to make point to point movements in force fields generated by a robotic manipulandum which interacted with the arm in either a stable or an unstable manner. After subjects adjusted to the initial disturbing effects of the force fields they were able to produce normal straight movements to the target. In the case of the stable interaction, subjects modified the joint torques in order to appropriately compensate for the force field. No change in joint torque or endpoint force was required or observed in the case of the unstable interaction. After adaptation, the endpoint stiffness of the arm was measured by applying displacements to the hand in eight different directions midway through the movements. This was compared to the stiffness measured similarly during movements in a null force field. After adaptation, the endpoint stiffness under both the stable and unstable dynamics was modified relative to the null field. Adaptation to unstable dynamics was achieved by selective modification of endpoint stiffness in the direction of the instability. To investigate whether the change in endpoint stiffness could be accounted for by change in joint torque or endpoint force, we estimated the change in stiffness on each trial based on the change in joint torque relative to the null field. For stable dynamics the change in endpoint stiffness was accurately predicted. However, for unstable dynamics the change in endpoint stiffness could not be reproduced. In fact, the predicted endpoint stiffness was similar to that in the null force field. Thus, the change in endpoint stiffness seen after adaptation to stable dynamics was directly related to changes in net joint torque necessary to compensate for the dynamics in contrast to adaptation to unstable dynamics, where a selective change in endpoint stiffness occurred without any modification of net joint torque.

Different mechanisms involved in adaptation to stable and unstable dynamics.

Recently, we demonstrated that humans can learn to make accurate movements in an unstable environment by controlling magnitude, shape, and orientation of the endpoint impedance. Although previous studies of human motor learning suggest that the brain acquires an inverse dynamics model of the novel environment, it is not known whether this control mechanism is operative in unstable environments. We compared learning of multijoint arm movements in a "velocity-dependent force field" (VF), which interacted with the arm in a stable manner, and learning in a "divergent force field" (DF), where the interaction was unstable. The characteristics of error evolution were markedly different in the 2 fields. The direction of trajectory error in the DF alternated to the left and right during the early stage of learning; that is, signed error was inconsistent from movement to movement and could not have guided learning of an inverse dynamics model. This contrasted sharply with trajectory error in the VF, which was initially biased and decayed in a manner that was consistent with rapid feedback error learning. EMG recorded before and after learning in the DF and VF are also consistent with different learning and control mechanisms for adapting to stable and unstable dynamics, that is, inverse dynamics model formation and impedance control. We also investigated adaptation to a rotated DF to examine the interplay between inverse dynamics model formation and impedance control. Our results suggest that an inverse dynamics model can function in parallel with an impedance controller to compensate for consistent perturbing force in unstable environments.

Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model.

This study compared adaptation in novel force fields where trajectories were initially either stable or unstable to elucidate the processes of learning novel skills and adapting to new environments. Subjects learned to move in a null force field (NF), which was unexpectedly changed either to a velocity-dependent force field (VF), which resulted in perturbed but stable hand trajectories, or a position-dependent divergent force field (DF), which resulted in unstable trajectories. With practice, subjects learned to compensate for the perturbations produced by both force fields. Adaptation was characterized by an initial increase in the activation of all muscles followed by a gradual reduction. The time course of the increase in activation was correlated with a reduction in hand-path error for the DF but not for the VF. Adaptation to the VF could have been achieved solely by formation of an inverse dynamics model and adaptation to the DF solely by impedance control. However, indices of learning, such as hand-path error, joint torque, and electromyographic activation and deactivation suggest that the CNS combined these processes during adaptation to both force fields. Our results suggest that during the early phase of learning there is an increase in endpoint stiffness that serves to reduce hand-path error and provides additional stability, regardless of whether the dynamics are stable or unstable. We suggest that the motor control system utilizes an inverse dynamics model to learn the mean dynamics and an impedance controller to assist in the formation of the inverse dynamics model and to generate needed stability.