Synthesis of workspaces of planar manipulators with arbitrary topology using shape representation and simulated annealing

This paper presents a general methodology for the synthesis of the external boundary of the workspaces of a planar manipulator with arbitrary topology. Both the desired workspace and the manipulator workspaces are identified by their boundaries and are treated as simple closed polygons. The paper introduces the concept of best match configuration and shows that the corresponding transformation can be obtained by using the concept of shape normalization available in image processing literature. Introduction of the concept of shape in workspace synthesis allows highly accurate synthesis with fewer numbers of design variables. This paper uses a new global property based vector representation for the shape of the workspaces which is computationally efficient because six out of the seven elements of this vector are obtained as a by-product of the shape normalization procedure. The synthesis of workspaces is formulated as an optimization problem where the distance between the shape vector of the desired workspace and that of the workspace of the manipulator at hand are minimized by changing the dimensional parameters of the manipulator. In view of the irregular nature of the error manifold, the statistical optimization procedure of simulated annealing has been used. A number of worked-out examples illustrate the generality and efficiency of the present method. (C) 1998 Elsevier Science Ltd. All rights reserved.

Vesicle formation from dimeric ion-paired amphiphiles. Control over vesicular thermotropic and ion-transport properties as a function of intra-amphiphilic headgroup separation

A novel series of vesicle-forming ion-paired amphiphiles, bis(hexadecyldimethylammonium)alkane dipalmitate (1a-1h), containing four chains were synthesized with two isolated headgroups. In each of these amphiphiles, the two headgroup charges are separated by a flexible polymethylene spacer chain -[(CH2)(m)]- of varying lengths (m) such that the length and the conformation of the spacer chain determine the intra-"monomer" headgroup separation. Transmission electron microscopy indicated that each of these forms bilayer membranes upon dispersion in aqueous media. The vesicular properties of these aggregates have been examined by differential scanning calorimetry and temperature-dependent fluorescence anisotropy measurements. Interestingly, their T-m values decreased with the increase in the m value. Thus while the apparent T-m of the lipid with m = 2 (1a) is 74.1 degrees C, the corresponding value observed for the lipid with m = 12 (1h) is 38.9 degrees C. The fluorescence anisotropy values (r) for 1b-1g were quite high (r similar to 0.3) compared to that of 1h (r similar to 0.23) at 20-30 degrees C in their gel states. On the other hand, the r value for vesicular 1b beyond melting was higher (0.1) compared to any of those for 1c-1h (similar to 0.04-0.06). X-ray diffraction of the cast films was performed to understand the nature and the thickness of these membrane organizations. The membrane widths ranged from 30 to 51 A as the m values varied. The entrapment of a small water-soluble solute, riboflavin, by the individual vesicular aggregates, and their sustenance: under an imposed transmembrane pH gradient have also been examined. These results show that all lipid vesicles entrap riboflavin and that generally the resistance to OH- permeation decreases with the increase in m value. Finally,all the above observations were comparatively analyzed, and on the basis of the calculated structures of these lipids, it was possible to conclude that membrane propel-ties can be modulated by spacer chain length variation of the ion-paired amphiphiles.

Aerosol radiative forcing over land: effect of surface and cloud reflection

It is now clearly understood that atmospheric aerosols have a significant impact on climate due to their important role in modifying the incoming solar and outgoing infrared radiation. The question of whether aerosol cools (negative forcing) or warms (positive forcing) the planet depends on the relative dominance of absorbing aerosols. Recent investigations over the tropical Indian Ocean have shown that, irrespective of the comparatively small percentage contribution in optical depth (similar to11%), soot has an important role in the overall radiative forcing. However, when the amount of absorbing aerosols such as soot are significant, aerosol optical depth and chemical composition are not the only determinants of aerosol climate effects, but the altitude of the aerosol layer and the altitude and type of clouds are also important. In this paper, the aerosol forcing in the presence of clouds and the effect of different surface types (ocean, soil, vegetation, and different combinations of soil and vegetation) are examined based on model simulations, demonstrating that aerosol forcing changes sign from negative (cooling) to positive (warming) when reflection from below (either due to land or clouds) is high.

Context based service discovery for ubiquitous applications

Service discovery is vital in ubiquitous applications, where a large number of devices and software components collaborate unobtrusively and provide numerous services without user intervention. Existing service discovery schemes use a service matching process in order to offer services of interest to the users. Potentially, the context information of the users and surrounding environment can be used to improve the quality of service matching. To make use of context information in service matching, a service discovery technique needs to address certain challenges. Firstly, it is required that the context information shall have unambiguous representation. Secondly, the devices in the environment shall be able to disseminate high level and low level context information seamlessly in the different networks. And thirdly, dynamic nature of the context information be taken into account. We propose a C-IOB(Context-Information, Observation and Belief) based service discovery model which deals with the above challenges by processing the context information and by formulating the beliefs based on the observations. With these formulated beliefs the required services will be provided to the users. The method has been tested with a typical ubiquitous museum guide application over different cases. The simulation results are time efficient and quite encouraging.

Fast-Group-Decodable STBCs via Codes over GF(4)

In this paper we construct low decoding complexity STBCs by using the Pauli matrices as linear dispersion matrices. In this case the Hurwitz-Radon orthogonality condition is shown to be easily checked by transferring the problem to $\mathbb{F}_4$ domain. The problem of constructing low decoding complexity STBCs is shown to be equivalent to finding certain codes over $\mathbb{F}_4$. It is shown that almost all known low complexity STBCs can be obtained by this approach. New codes are given that have the least known decoding complexity in particular ranges of rate.

Neighbor oblivious link reversal over duty-cycled WSNs

We propose partial and full link reversal algorithms to bypass voids during geographic routing over duty-cycled wireless sensor networks. We propose a distributed approach that is oblivious to one-hop neighbor information. Upon termination of the algorithm, the resulting network is guaranteed to be destination-oriented. Further, to reduce the delays incurred under reactive link reversal, we propose the use of `pseudo-events', a preemptive link reversal strategy, that renders the network destination-oriented before the onset of a real event. A simulation study of the effectiveness of pseudo-events is also provided.

Dielectric barrier discharge plasma interaction with the airflow over an airfoil

The effect of various parameters on the velocity of the induced jet produced by a dielectric barrier discharge (DBD) plasma was studied experimentally. The glow discharge was created at atmospheric conditions by using a high voltage RF power supply. Flow visualization and photographic studies of the plasma were performed. The parametric investigation of the characteristics of the plasma show that the width of the plasma in the uniform glow discharge regime was an indication of the velocity induced under stagnant conditions. It was observed that the spanwise overlap of the two electrodes, dielectric thickness, voltage and frequency of the applied voltage are the major parameters that govern the velocity and the extent of plasma in the streamwise direction.

Enhanced aerosol loading over Arabian Sea during the pre-monsoon season: Natural or anthropogenic?

[1] Recent experiments conducted over the oceanic regions adjacent to the Indian sub continent have revealed the presence of anthropogenic aerosol haze during January to March. It has been suggested that the major source of this aerosol is South and Southeast Asia. Here we show from long term, multi-station and ship borne observations that aerosols transported from regions northwest of Indian subcontinent especially Arabian and Saharan regions (mostly natural dust) along with the locally produced sea-salt aerosols by sea-surface winds constitute a more significant source of aerosols during April-May period. The radiative forcing due to Arabian/Saharan aerosols (mostly natural) during April May period is comparable and often exceed (as much as 1.5 times) the forcing due to anthropogenic aerosols during January to March period. The presence of dust load over the Arabian Sea can influence the temperature profile and radiative balance in this region.

MHD flow over a moving plate in a rotating fluid with magnetic field, Hall currents and free stream velocity

The non-similar boundary layer flow of a viscous incompressible electrically conducting fluid over a moving surface in a rotating fluid, in the presence of a magnetic field, Hall currents and the free stream velocity has been studied. The parabolic partial differential equations governing the flow are solved numerically using an implicit finite-difference scheme. The Coriolis force induces overshoot in the velocity profile of the primary flow and the magnetic field reduces/removes the velocity overshoot. The local skin friction coefficient for the primary flow increases with the magnetic field, but the skin friction coefficient for the secondary flow reduces it. Also the local skin friction coefficients for the primary and secondary flows are reduced due to the Hall currents. The effects of the magnetic field, Hall currents and the wall velocity, on the skin friction coefficients for the primary and secondary flows increase with the Coriolis force. The wall velocity strongly affects the flow field. When the wall velocity is equal to the free stream velocity, the skin friction coefficients for the primary and secondary flows vanish, but this does not imply separation. (C) 2002 Published by Elsevier Science Ltd.

Oxidation and decomposition of NH3 over combustion synthesized Al2O3 and CeO2 supported Pt, Pd and Ag catalysts

The catalytic oxidation and decomposition of NH3 have been carried out over combustion synthesized Al2O3 and CeO2 supported Pt, Pd and Ag catalysts using temperature programmed reaction (TPR) technique in a packed bed tubular reactor. Metals are ionically dispersed over CeO2 and fine metal particles are found on Al2O3. NH3 oxidation occurs over 1% Pt/Al2O3, 1% Pd/Al2O3 and 1% Ag/Al2O3 at 175, 270 and 350 C respectively producing N-2, NO, N2O and H2O, whereas 1% Pt/CeO2, 1% Pd/CeO2 and 1% Ag/CeO2 give N-2 along with NO, N2O and H2O at 200, 225 and 250degreesC respectively. N-2 predominates over other nitrogen-containing products during the reaction on all catalysts. At less O-2 concentration, N-2 and H2O are the only products obtained during NH3 Oxidation. NH3 decomposition over all the catalysts occurs above 450degreesC.

Vertical thermal structure of the atmosphere during active and weak phases of convection over the north Bay of Bengal: Observation and model results

Owing to the lack of atmospheric vertical profile data with sufficient accuracy and vertical resolution, the response of the deep atmosphere to passage of monsoon systems over the Bay of Bengal. had not been satisfactorily elucidated. Under the Indian Climate Research Programme, a special observational programme called 'Bay of Bengal Monsoon Experiment' (BOBMEX), was conducted during July-August 1999. The present study is based on the high-resolution radiosondes launched during BOBMEX in the north Bay. Clear changes in the vertical thermal structure of the atmosphere between active and weak phases of convection have been observed. The atmosphere cooled below 6 km height and became warmer between 6 and 13 km height. The warmest layer was located between 8 and 10 km height, and the coldest layer was found just below 5 km height. The largest fluctuations in the humidity field occurred in the mid-troposphere. The observed changes between active and weak phases of convection are compared with the results from an atmospheric general circulation model, which is similar to that used at the National Centre for Medium Range Weather Forecasting, New Delhi. The model is not able to capture realistically some important features of the temperature and humidity profiles in the lower troposphere and in the boundary layer during the active and weak spells.

Anthropogenic aerosol fraction over Afro-Asian regions inferred using Kalpana-I and MISR data

Mineral dust constitutes the single largest contributor of natural aerosols over continents. The first step towards separating natural aerosol radiative impact from its anthropogenic counterparts over continents is to gather information on dust aerosols. The infrared (IR) radiance (10.5-12.5 mu m) acquired from the Kalpana-I satellite (similar to 8-km resolution) was used to retrieve regional characteristics of dust aerosols over the Afro-Asian region during the winter of 2004, coinciding with a national aerosol campaign. Here, we used aerosol-induced IR radiance depression as an index of dust load. The regional distribution of dust over various arid and semi-arid regions of India and adjacent continents has been estimated, and these data in conjunction with regional maps of column aerosol optical depth (AOD) are used to infer anthropogenic aerosol fraction. Surprisingly, even over desert locations in India and Saudi Arabia, the anthropogenic fraction was relatively high (similar to 0.3 to 0.4) and the regionally averaged anthropogenic fraction over India was 0.62 +/- 0.06.

NO Reduction Over Noble Metal Ionic Catalysts

In last 40 years, catalysis for NO (x) removal from exhaust gas has received much attention to achieve pollution free environment. CeO(2) has been found to play a major role in the area of exhaust catalysis due to its unique redox properties. In last several years, we have been exploring an entirely new approach of dispersing noble metal ions in CeO(2) and TiO(2) for redox catalysis. We have extensively studied Ce(1-x) M (x) O(2-delta) (M = Pd, Pt, Rh), Ce(1-x-y) A (x) M (y) O(2-delta) (A = Ti, Zr, Sn, Fe; M = Pd, Pt) and Ti(1-x) M (x) O(2-delta) (M = Pd, Pt, Rh, Ru) catalysts for exhaust catalysis especially NO reduction and CO oxidation, structure-property relation and mechanism of catalytic reactions. In these catalysts, lower valent noble metal ion substitution in CeO(2) and TiO(2) creates noble metal ionic sites and oxide ion vacancy. NO gets molecularly adsorbed on noble metal ion site and dissociatively adsorbed on oxide ion vacancy site. Dissociative chemisorption of NO on oxide ion vacancy leads to preferential conversion of NO to N(2) instead of N(2)O over these catalysts. It has been demonstrated that these new generation noble metal ionic catalysts (NMIC) are much more catalytically active than conventional nano crystalline noble metal catalysts especially for NO reduction.

Some salient features of the atmosphere observed over the north Bay of Bengal during BOBMEX

This paper describes the near surface characteristics and vertical variations based on the observations made at 17.5degreesN and 89degreesE from ORV Sagar Kanya in the north Bay of Bengal during the Bay of Bengal Monsoon Experiment (BOBMEX) carried out in July-August 1999. BOBMEX captured both the active and weak phases of convection. SST remained above the convection threshold throughout the BOBMEX. While the response of the SST to atmospheric forcing was clearly observed, the response of the atmosphere to SST changes was not clear. SST decreased during periods of large scale precipitation, and increased during a weak phase of convection. It is shown that the latent heat flux at comparable wind speeds was about 25-50% lower over the Bay during BOBMEX compared to that over the Indian Ocean during other seasons and tropical west Pacific. On the other hand, the largest variations in the surface daily net heat flux are observed over the Bay during BOBMEX. SST predicted using observed surface fluxes showed that 1-D heat balance model works sometime but not always, and horizontal advection is important. The high resolution Vaisala radiosondes launched during BOBMEX could clearly bring out the changes in the vertical structure of the atmosphere between active and weak phases of convection. Convective Available Potential Energy of the surface air decreased,by 2-3 kJ kg(-1) following convection, and recovered in a time period of one or two days. The mid tropospheric relative humidity and water vapor content, and wind direction show the major changes between the active and weak phases of convection.