Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

Proposal of a Transmission Line Model Based on Lumped Elements: An Analytic Solution

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Laserlike emission from silica inverse opals infiltrated with rhodamine 6G

Monodisperse latex spheres were obtained by a surfactant free styrene polymerization method and used to obtain colloidal crystals by controlled centrifugation settling. Silica inverse opals were then prepared by using the colloidal crystals as templates and TEOS/ethanol solution. The inverse opals were infiltrated with Rhodamine 6G and laserlike emission was observed at 590 nm under 532 nm pump wavelength. The data show line narrowing of the dye fluorescence and a laser threshold of similar to 0.1 mJ/pulse. Local-field effects and light scattering due to structural defects are the main mechanisms contributing to generation of the laser-action observed. (c) 2005 Elsevier B.V. All rights reserved.

Rare earth doped synthetic opals and inverse opals

Monodisperse spheres of silica and latex were obtained by a surfactant free styrene polimerization and the Stober method respectively. Controlling settling either by centrifugation or by dip-coating colloidal crystals could be obtained. Silica inverse opals were prepared by using the latex colloidal crystals as templates and TEOS/ethanol solution. Eu3+ containing silica spheres were obtained dispersing silica spheres in Eu(NO3)(3) isopropanol solutions. Emission spectra suggest the formation of an amorphous Eu3+ containing phase well adhered at the spheres surface. The utilization of solutions of trifluoroacetates salts of Pb2+ and Eu3+ was observed to destroy the silica spherical pattern when samples are treated at 1000degreesC. In that case nanocrystals of PbF2 and amorphous silica were obtained after heat treatment.

Substitution-newton-Raphson method for the solution of electric network equations

The power flow problem, in transmission networks, has been well solved, for most cases, using Newton-Raphson method (NR) and its decoupled versions. Generally speaking, the solution of a non-linear system of equations refers to two methods: NR and Successive Substitution. The proposal of this paper is to evaluate the potential of the Substitution-Newton-Raphson Method (SNR), which combines both methods, on the solution of the power flow problem. Simulations were performed using a two-bus test network in order to observe the characteristics of these methods. It was verified that the NR is faster than SNR, in terms of convergence, considering non-stressed scenarios. For those cases where the power flow in the network is closed to the limits (stressed system), the SNR converges faster. This paper presents the power flow formulation of the SNR and describes its potential for its application in special cases such as stressed scenarios. © 2006 IEEE.

A hybrid method for the solution of a sparse power system matrices on vector computers

This paper describes a methodology for solving a linear system of equations on vector computer. The methodology combines direct and inverse factors. The decomposition and implementation of the direct solution in a CRAY Y-MPZE/232, and the performance results are discussed.