Singularity-free path planning for the Stewart platform manipulator

This paper addresses the problem of singularity-free path planning for the six-degree-of-freedom parallel manipulator known as the Stewart platform manipulator. Unlike serial manipulators, the Stewart platform possesses singular configurations within the workspace where the manipulator is uncontrollable. An algorithm has been developed to construct continuous paths within the workspace of the manipulator by avoiding singularities and ill-conditioning. Given two end-poses of the manipulator, the algorithm finds out safe (well-conditioned) via points and plans a continuous path from the initial pose to the final one. When the two end-poses belong to different branches and no singularity-free path is possible, the algorithm indicates the impossibility of a valid path. A numerical example has also been presented as illustration of the path planning strategy.

Protection of rabbits against lapinized rinderpest virus with purified envelope glycoproteins of peste-des-petits-ruminants and rinderpest viruses

Haemagglutinin (HA) and fusion (F) proteins of peste-des-petits-ruminants virus (PPRV) and rinderpest virus (RPV) were purified by immunoaffinity chromatography. The purified proteins were characterized by polyacrylamide gel electrophoresis in the presence of sodium dodecyl sulfate (SDS-PAGE). Rabbit hyperimmune sera were raised against the purified HA and F proteins and assayed by enzyme-linked immunosorbent assay (ELISA), haemagglutination-inhibition (HAI) and virus neutralization (VN) tests. The immunized animals were challenged with a virulent lapinized (rabbit-adapted) strain of RPV: Both HA and F proteins of PPRV protected rabbits against a lethal challenge with lapinized RPV. As expected, RPV HA and F proteins also conferred a similar protection against the homologous challenge. The postchallenge antibody responses were of a true anamnestic type.

Study of texture evolution in metastable beta-Ti alloy as a function of strain path and its effect on alpha transformation texture

Texture evolution in a low cost beta titanium alloy was studied for different modes of rolling and heat treatments. The alloy was cold rolled by unidirectional and multi-step cross rolling. The cold rolled material was either aged directly or recrystallized and then aged. The evolution of texture in alpha and beta phases were studied. The rolling texture of beta phase that is characterized by the gamma fiber is stronger for MSCR than UDR; while the trend is reversed on recrystallization. The mode of rolling affects alpha transformation texture on aging with smaller alpha lath size and stronger alpha texture in UDR than in MSCR. The defect structure in beta phase influences the evolution of a texture on aging. A stronger defect structure in beta phase leads to variant selection with the rolled samples showing fewer variants than the recrystallized samples.

Ant Colony Optimization Algorithms for Shortest Path Problems

We propose four variants of recently proposed multi-timescale algorithm in [1] for ant colony optimization and study their application on a multi-stage shortest path problem. We study the performance of the various algorithms in this framework. We observe, that one of the variants consistently outperforms the algorithm [1].

Access path query language for relational database systems

Database management systems offer a very reliable and attractive data organization for fast and economical information storage and processing for diverse applications. It is much more important that the information should be easily accessible to users with varied backgrounds, professional as well as casual, through a suitable data sublanguage. The language adopted here (APPLE) is one such language for relational database systems and is completely nonprocedural and well suited to users with minimum or no programming background. This is supported by an access path model which permits the user to formulate completely nonprocedural queries expressed solely in terms of attribute names. The data description language (DDL) and data manipulation language (DML) features of APPLE are also discussed. The underlying relational database has been implemented with the help of the DATATRIEVE-11 utility for record and domain definition which is available on the PDP-11/35. The package is coded in Pascal and MACRO-11. Further, most of the limitations of the DATATRIEVE-11 utility have been eliminated in the interface package.

Comment on path integration of a quadratic action with a generalized memory

Using the promeasure technique, we give an alternative evaluation of a path integral corresponding to a quadratic action with a generalized memory.

Exact evaluation of Gaussian path integrals involving non-local potentials

An exact expression for the calculation of gaussian path integrals involving non-local potentials is given. Its utility is demonstrated by using it to evaluate a path integral arising in the study of an electron gas in a random potential.

A hierarchical system of learning automata that can learn die globally optimal path

Systems of learning automata have been studied by various researchers to evolve useful strategies for decision making under uncertainity. Considered in this paper are a class of hierarchical systems of learning automata where the system gets responses from its environment at each level of the hierarchy. A classification of such sequential learning tasks based on the complexity of the learning problem is presented. It is shown that none of the existing algorithms can perform in the most general type of hierarchical problem. An algorithm for learning the globally optimal path in this general setting is presented, and its convergence is established. This algorithm needs information transfer from the lower levels to the higher levels. Using the methodology of estimator algorithms, this model can be generalized to accommodate other kinds of hierarchical learning tasks.

Comment on “path integration of a quadratic action with a generalized memory

Using the promeasure technique, we give an alternative evaluation of a path integral corresponding to a quadratic action with a generalized memory.

The Alpha-Method Direct Transcription In Path Constrained Dynamic Optimization

Numerically discretized dynamic optimization problems having active inequality and equality path constraints that along with the dynamics induce locally high index differential algebraic equations often cause the optimizer to fail in convergence or to produce degraded control solutions. In many applications, regularization of the numerically discretized problem in direct transcription schemes by perturbing the high index path constraints helps the optimizer to converge to usefulm control solutions. For complex engineering problems with many constraints it is often difficult to find effective nondegenerat perturbations that produce useful solutions in some neighborhood of the correct solution. In this paper we describe a numerical discretization that regularizes the numerically consistent discretized dynamics and does not perturb the path constraints. For all values of the regularization parameter the discretization remains numerically consistent with the dynamics and the path constraints specified in the, original problem. The regularization is quanti. able in terms of time step size in the mesh and the regularization parameter. For full regularized systems the scheme converges linearly in time step size.The method is illustrated with examples.

Studies on characteristics of lightning generated currents in an interconnected lightning protection system

An in-depth knowledge about the characteristics of lightning generated currents will facilitate evaluation of the interception efficacy of lightning protection systems. In addition, it would aid in extraction of valuable statistics (from measured current data) on local lightning parameters. Incidentally, present day knowledge on characteristics of lightning induced current in typical lightning protection systems is rather limited. This is particularly true with closely interconnected protection systems, like the one employed in Indian Satellite Launch Pad-II. This system is taken as a specific example in the present study. Various aspects suggest that theoretical modelling would be the best possible approach for the intended work. From the survey of pertinent literature, it is concluded that electromagnetic modelling of lightning return-stroke with current source at the channel base is best suited for this study. Numerical electromagnetic code was used for the required electromagnetic field solution and Fourier transform techniques were employed for computing time-domain results. A validation for the numerical modelling is provided by laborator experiments on a reduced scale model of the system. Apart from ascertaining the influence of various parameters, salient characteristics of tower base currents for different kinds of events are deduced. This knowledge can be used in identifying the type of event, as well as its approximate location. A method for estimation of injected stroke current has also been proposed.

Comprehensive Path-sensitive Data-flow Analysis

Data-flow analysis is an integral part of any aggressive optimizing compiler. We propose a framework for improving the precision of data-flow analysis in the presence of complex control-flow. W initially perform data-flow analysis to determine those control-flow merges which cause the loss in data-flow analysis precision. The control-flow graph of the program is then restructured such that performing data-flow analysis on the resulting restructured graph gives more precise results. The proposed framework is both simple, involving the familiar notion of product automata, and also general, since it is applicable to any forward data-flow analysis. Apart from proving that our restructuring process is correct, we also show that restructuring is effective in that it necessarily leads to more optimization opportunities. Furthermore, the framework handles the trade-off between the increase in data-flow precision and the code size increase inherent in the restructuring. We show that determining an optimal restructuring is NP-hard, and propose and evaluate a greedy strategy. The framework has been implemented in the Scale research compiler, and instantiated for the specific problem of Constant Propagation. On the SPECINT 2000 benchmark suite we observe an average speedup of 4% in the running times over Wegman-Zadeck conditional constant propagation algorithm and 2% over a purely path profile guided approach.

Application of Haar functions for transmission line and transformer differential protection

The development of algorithms, based on Haar functions, for extracting the desired frequency components from transient power-system relaying signals is presented. The applications of these algorithms to impedance detection in transmission line protection and to harmonic restraint in transformer differential protection are discussed. For transmission line protection, three modes of application of the Haar algorithms are described: a full-cycle window algorithm, an approximate full-cycle window algorithm, and a half-cycle window algorithm. For power transformer differential protection, the combined second and fifth harmonic magnitude of the differential current is compared with that of fundamental to arrive at a trip decision. The proposed line protection algorithms are evaluated, under different fault conditions, using realistic relaying signals obtained from transient analysis conducted on a model 400 kV, 3-phase system. The transformer differential protection algorithms are also evaluated using a variety of simulated inrush and internal fault signals.

Protection and Switching-Aid Networks for Transistor Bridge Inverters

The present trend in the industry is towards the use of power transistors in the development of efficient Pulsewidth Modulated (PWM) inverters, because of their operation at high frequency, simplicity of turn-off, and low commutation losses compared to the technology using thyristors. But the protection of power transistors, minimization of switching power loss, and design of base drive circuit are very important for a reliable operation of the system. The requirements, analysis, and a simplified procedure for calculation of the switching-aid network components are presented. The transistor is protected against short circuit using a modified autoregulated and autoprotection drive circuit. The experimental results show that the switching power loss and voltage stress in the device can be reduced by suitable choice of the switching-aid network component values.

Stress path effects on the strength behaviour of a layered soil

An experimental investigation dealing with the influence of stress path on the shear behaviour of a layered soil prepared in the laboratory is described. Specimens trimmed in vertical and horizontal directions have been sheared under three different stress paths in compression and extension tests. Either in compression or extension, the stress–strain behaviour of the specimens with both orientations was apparently the same, although the volume change behaviour was different. The effective stress parameters C′ and ′ were found to be unique and independent of the stress path and two principal orientations. However, the values of ′ in extension tests were 6–7° higher than those in compression tests.