Curvature-constrained trajectory generation for waypoint following for miniature air vehicle

This paper addresses trajectory generation problem of a fixed-wing miniature air vehicle, constrained by bounded turn rate, to follow a given sequence of waypoints. An extremal path, named as g-trajectory, that transitions between two consecutive waypoint segments (obtained by joining two waypoints in sequence) in a time-optimal fashion is obtained. This algorithm is also used to track the maximum portion of waypoint segments with the desired shortest distance between the trajectory and the associated waypoint. Subsequently, the proposed trajectory is compared with the existing transition trajectory in the literature to show better performance in several aspects. Another optimal path, named as loop trajectory, is developed for the purpose of tracking the waypoints as well as the entire waypoint segments. This paper also proposes algorithms to generate trajectories in the presence of steady wind to meet the same objective as that of no-wind case. Due to low computational burden and simplicity in the design procedure, these trajectory generation approaches are implementable in real time for miniature air vehicles.

Throwing light on platinized carbon nanostructured composites for hydrogen generation

In the present study, we have synthesised carbon nanoparticles (CNPs) through a relatively simple process using a hydrocarbon precursor. These synthesised CNPs in the form of elongated spherules and/or agglomerates of 30-55 nm were further used as a support to anchor platinum nanoparticles. The broad light absorption (300-700 nm) and a facile charge transfer property of CNPs in addition to the plasmonic property of Pt make these platinized carbon nanostructures (CNPs/Pt) a promising candidate in photocatalytic water splitting. The photocatalytic activity was evaluated using ethanol as the sacrificial donor. The photocatalyst has shown remarkable activity for hydrogen production under UV-visible light while retaining its stability for nearly 70 h. The broadband absorption of CNPs, along with the Surface Plasmon Resonance (SPR) effect of PtNPs singly and in composites has pronounced influence on the photocatalytic activity, which has not been explored earlier. The steady rate of hydrogen was observed to be 20 mu mol h(-1) with an exceptional cumulative hydrogen yield of 32.16 mmol h(-1) g(-1) observed for CNPs/Pt, which is significantly higher than that reported for carbon-based systems.

Analytical evaluation of harmonic distortion factor corresponding to generalised advanced bus-clamping pulse width modulation

A few advanced bus-clamping pulse width modulation (ABCPWM) methods have been proposed recently for a three-phase inverter. With these methods, each phase is clamped, switched at nominal frequency, and switched at twice the nominal frequency in different regions of the fundamental cycle. This study proposes a generalised ABCPWM scheme, encompassing the few ABCPWM schemes that have been proposed and many more ABCPWM schemes that have not been reported yet. Furthermore, analytical closed-form expression is derived for the harmonic distortion factor corresponding to the generalised ABCPWM. This factor is independent of load parameters. The analytical expression derived here brings out the dependence of root-mean-square (RMS) current ripple on modulation index, and can be used to evaluate the RMS current ripple corresponding to any ABCPWM scheme. The analytical closed-form expression is validated experimentally in terms of measured weighted total harmonic distortion (THD) in line voltage (V-WTHD) and measured THD in line current (I-THD) on a 6 kW induction motor drive.

A 5th and 7th order harmonic suppression scheme using capacitive filtering for 2-level VSI fed IM drive

In this paper, a 5th and 7th harmonic suppression technique for a 2-level VSI fed IM drive, by using capacitive filtering is proposed. A capacitor fed 2-level inverter is used on an open-end winding induction motor to suppress all 5th and 7th order harmonics. A PWM scheme that maintains the capacitor voltage, while suppressing the harmonics is also proposed. The proposed scheme is valid for the entire modulation range, including overmodulation and six-step mode of operation of the main inverter.

Adaptive mesh generation for singularly perturbed fourth-order ordinary differential equations

In this paper, we consider a singularly perturbed boundary-value problem for fourth-order ordinary differential equation (ODE) whose highest-order derivative is multiplied by a small perturbation parameter. To solve this ODE, we transform the differential equation into a coupled system of two singularly perturbed ODEs. The classical central difference scheme is used to discretize the system of ODEs on a nonuniform mesh which is generated by equidistribution of a positive monitor function. We have shown that the proposed technique provides first-order accuracy independent of the perturbation parameter. Numerical experiments are provided to validate the theoretical results.

On the Communication Complexity of Secret Key Generation in the Multiterminal Source Model

Communication complexity refers to the minimum rate of public communication required for generating a maximal-rate secret key (SK) in the multiterminal source model of Csiszar and Narayan. Tyagi recently characterized this communication complexity for a two-terminal system. We extend the ideas in Tyagi's work to derive a lower bound on communication complexity in the general multiterminal setting. In the important special case of the complete graph pairwise independent network (PIN) model, our bound allows us to determine the exact linear communication complexity, i.e., the communication complexity when the communication and SK are restricted to be linear functions of the randomness available at the terminals.

Analysis of Entropy Generation During Mixed Convective Heat Transfer of Nanofluids Past a Rotating Circular Cylinder

The entropy generation due to mixed convective heat transfer of nanofluids past a rotating circular cylinder placed in a uniform cross stream is investigated via streamline upwind Petrov-Galerkin based finite element method. Nanosized copper (Cu) particles suspended in water are used with Prandtl number (Pr)=6.9. The computations are carried out at a representative Reynolds number (Re) of 100. The dimensionless cylinder rotation rate, a, is varied between 0 and 2. The range of nanoparticle volume fractions (phi) considered is 0 <= phi <= 5%. Effect of aiding buoyancy is brought about by considering two fixed values of the Richardson number (Ri) as 0.5 and 1.0. A new model for predicting the effective viscosity and thermal conductivity of dilute suspensions of nanoscale colloidal particles is presented. The model addresses the details of the agglomeration-deagglomeration in tune with the pertinent variations in the effective particulate dimensions, volume fractions, as well as the aggregate structure of the particulate system. The total entropy generation is found to decrease sharply with cylinder rotation rates and nanoparticle volume fractions. Increase in nanoparticle agglomeration shows decrease in heat transfer irreversibility. The Bejan number falls sharply with increase in alpha and phi.

Efficient generation of diffraction-limited multi-sheet pattern for biological imaging

We demonstrate a new technique to generate multiple light-sheets for fluorescence microscopy. This is possible by illuminating the cylindrical lens using multiple copies of Gaussian beams. A diffraction grating placed just before the cylindrical lens splits the incident Gaussian beam into multiple beams traveling at different angles. Subsequently, this gives rise to diffraction-limited light-sheets after the Gaussian beams pass through the combined cylindrical lens-objective sub-system. Direct measurement of field at and around the focus of objective lens shows multi-sheet pattern with an average thickness of 7.5 mu m and inter-sheet separation of 380 mu m. Employing an independent orthogonal detection sub-system, we successfully imaged fluorescently-coated yeast cells (approximate to 4 mu m) encaged in agarose gel-matrix. Such a diffraction-limited sheet-pattern equipped with dedicated detection system may find immediate applications in the field of optical microscopy and fluorescence imaging. (C) 2015 Optical Society of America

Pyroelectric and second harmonic responses from LiTaO3 nanocrystallites evolved in a Li2O-B2O3-Ta2O5 glass system

Dendritic growth of trigonal and square bipyramidal structures of LiTaO3 nanocrystallites, of 19-30 nm size, was observed when 1.5Li(2)O-2B(2)O(3)-0.5Ta(2)O(5) glasses were subjected to controlled heat treatment between 530 degrees C and 560 degrees C/3 h. X-ray diffraction and Raman spectral studies carried out on the heat-treated samples confirmed the formation of a LiTaO3 phase along with a minor phase of ferroelectric Li2B4O7. The sample that was heat-treated at 550 degrees C/3 h was found to possess similar to 26 nm sized crystallites which exhibited a pyroelectric coefficient as high as 15 nC cm(-2) K-1 which is in the same range (23 nC cm(-2) K-1) as that of single crystalline LiTaO3 at room temperature. The corresponding figures of merit that were calculated for the fast pulse detector (F-i), the large area pyroelectric detector (F-v) and the pyroelectric point detector (F-D) were 0.517 x 10(-10) m V-1, 0.244 m(2) C-1 and 1.437 x 10(-5) Pa-1/2, respectively. Glass nanocrystal composites comprising similar to 30 nm sized crystallites exhibited broad Maker fringes and the second harmonic intensity emanated from these was 0.5 times that of KDP single crystals.

SWEETENING OF BIOGAS IN SPRAY TOWERS FOR POWER GENERATION

This paper presents the experience of the new design of using impinging jet spray columns for scrubbing hydrogen sulfide from biogas that has been developed by Indian Institute of Science and patented. The process uses a chelated polyvalent metal ion which oxidizes the hydrogen sulfide to sulfur as a precipitate. The sulfur generated is filtered and the scrubbing liquid recycled after oxidation. The process involves in bringing contact the sour gas with chelated liquid in the spray columns where H2S reacts with chelated Fe3+ and precipitates as sulfur, whereas Fe3+ gets reduced to Fe2+. Fe2+ is regenerated to Fe3+ by reaction of oxygen in air in a separate packed column. The regenerated liquid is recirculated. Sulfur is filtered and separated as a byproduct. The paper presents the experience in using the spray towers for hydrogen sulfide removal and further use of the clean gas for generating power using gas engines. The maximum allowable limit of H2S for the gas engine is 200 ppm (v/v) in order to prevent any corrosion of engine parts and fouling of the lubricating oil. With the current ISET process, the hydrogen sulfide from the biogas is cleaned to less than 100 ppm (v/v) and the sweet gas is used for power generation. The system is designed for 550 NM3/hr of biogas and inlet H2S concentration of 2.5 %. The inlet concentration of the H2S is about 1 - 1.5 % and average measured outlet concentration is about 30 ppm, with an average gas flow of about 300 - 350 NM3/hr, which is the current gas production rate. The sweet gas is used for power generation in a 1.2 MWe V 12 engine. The average power generation is about 650 - 750 kWe, which is the captive load of the industry. The plant is a CHP (combined heat power) unit with heat from the cylinder cooling and flue being recovered for hot water and steam generation respectively. The specific fuel consumption is 2.29 kWh/m(3) of gas. The system has been in operation for more than 13,000 hours in last one year in the industry. About 8.4 million units of electricity has been generated scrubbing about 2.1 million m3 of gas. Performance of the scrubber and the engine is discussed at daily performance level and also the overall performance with an environment sustenance by precipitating over 27 tons of sulfur.

Extremely High Near Field Enhancement in a Novel Plasmonic Nano Material used for Photovoltage Generation

Enhancement of localized electric field near metal (plasmonic) nanostructures can have various interesting applications in sensing, imaging, photovoltage generation etc., for which significant efforts are aimed towards developing plasmonic systems with well designed and large electromagnetic response. In this paper, we discuss the wafer scale fabrication and optical characterization of a unique three dimensional plasmonic material. The near field enhancement in the visible range of the electromagnetic spectrum obtained in these structures (order of 106), is close to the fundamental limit that can be obtained in this and similar EM field enhancement schemes. The large near field enhancement has been reflected in a huge Raman signal of graphene layer in close proximity to the plasmonic system, which has been validated with FEM simulations. We have integrated graphene photodetectors with this material to obtain record photovoltage generation, with responsivity as high as A/W. As far as we know, this is the highest sensitivity obtained in any plasmonic-graphene hybrid photodetection system till date.

Investigations on Optimal Pulse-Width Modulation to Minimize Total Harmonic Distortion in the Line Current

PWM waveforms with positive voltage transition at the positive zero crossing of the fundamental voltage (type-A) are generally considered for PWM waveform with even number of switching angles per quarter whereas, waveforms with negative voltage transition at the positive zero crossing (type-B) are considered for odd number of switching angles per quarter. Optimal PWM, for minimization of total harmonic distortion of line to line (VWTHD), is generally solved with the aforementioned criteria. This paper establishes that a combination of both types of waveforms gives better performance than any individual type in terms of minimum VWTHD for complete range of modulation index (M). Optimal PWM for minimum VWTHD is solved for PWM waveforms with pulse numbers (P) of 5 and 7. Both type-A and type-B waveforms are found to be better in different ranges of M. The theoretical findings are confirmed through simulation and experimental results on a 3.7 kW squirrel cage induction motor in an open-loop V/f drive. Further, the optimal PWM is analysed from a space vector point of view.

Study of Multilevel Sinusoidal PWM methods for Cascaded H-Bridge Multilevel Inverters

This paper is a study of Multilevel Sinusoidal Pulse Width Modulation (MSPWM) methods; Phase Disposition (PD), Alternate Phase Opposition Disposition (APOD), Phase Opposition Disposition (POD) on a single phase Cascaded H-Bridge Multilevel inverter. Various factors such as amplitude modulation index (Ma), frequency modulation index (M-f), phase angle between carrier and reference modulating wave (phi) have been considered for simulation. Variation in these factors and their effect on inverter performance is evaluated. Factors such as DC bus utilization, output r.m.s voltage, total harmonic distortion (%THD), dominant harmonic order, switching losses are evaluated based on simulation results.

Phase space path integral approach to harmonic oscillator with a time-dependent force constant

The quantum statistical mechanical propagator for a harmonic oscillator with a time-dependent force constant, m omega(2)(t), has been investigated in the past and was found to have only a formal solution in terms of the solutions of certain ordinary differential equations. Such path integrals are frequently encountered in semiclassical path integral evaluations and having exact analytical expressions for such path integrals is of great interest. In a previous work, we had obtained the exact propagator for motion in an arbitrary time-dependent harmonic potential in the overdamped limit of friction using phase space path integrals in the context of Levy flights - a result that can be easily extended to Brownian motion. In this paper, we make a connection between the overdamped Brownian motion and the imaginary time propagator of quantum mechanics and thereby get yet another way to evaluate the latter exactly. We find that explicit analytic solution for the quantum statistical mechanical propagator can be written when the time-dependent force constant has the form omega(2)(t) = lambda(2)(t) - d lambda(t)/dt where lambda(t) is any arbitrary function of t and use it to evaluate path integrals which have not been evaluated previously. We also employ this method to arrive at a formal solution of the propagator for both Levy flights and Brownian subjected to a time-dependent harmonic potential in the underdamped limit of friction. (C) 2015 Elsevier B.V. All rights reserved.

Low-Order Harmonic Suppression for Open-End Winding IM With Dodecagonal Space Vector Using a Single DC-Link Supply

This paper proposes a technique to suppress low-order harmonics for an open-end winding induction motor drive for a full modulation range. One side of the machine is connected to a main inverter with a dc power supply, whereas the other inverter is connected to a capacitor from the other side. Harmonic suppression (with complete elimination of fifth- and seventh-order harmonics) is achieved by realizing dodecagonal space vectors using a combined pulsewidth modulation (PWM) control for the two inverters. The floating capacitor voltage is inherently controlled during the PWM operation. The proposed PWM technique is shown to be valid for the entire modulation range, including overmodulation and six-step mode of operation of the main inverter. Experimental results have been presented to validate the proposed technique.