Nonlinear dynamics and chaotic motions in feedback-controlled two- and three-degree-of-freedom robots

The dynamics of a feedback-controlled rigid robot is most commonly described by a set of nonlinear ordinary differential equations. In this paper we analyze these equations, representing the feedback-controlled motion of two- and three-degrees-of-freedom rigid robots with revolute (R) and prismatic (P) joints in the absence of compliance, friction, and potential energy, for the possibility of chaotic motions. We first study the unforced or inertial motions of the robots, and show that when the Gaussian or Riemannian curvature of the configuration space of a robot is negative, the robot equations can exhibit chaos. If the curvature is zero or positive, then the robot equations cannot exhibit chaos. We show that among the two-degrees-of-freedom robots, the PP and the PR robot have zero Gaussian curvature while the RP and RR robots have negative Gaussian curvatures. For the three-degrees-of-freedom robots, we analyze the two well-known RRP and RRR configurations of the Stanford arm and the PUMA manipulator respectively, and derive the conditions for negative curvature and possible chaotic motions. The criteria of negative curvature cannot be used for the forced or feedback-controlled motions. For the forced motion, we resort to the well-known numerical techniques and compute chaos maps, Poincare maps, and bifurcation diagrams. Numerical results are presented for the two-degrees-of-freedom RP and RR robots, and we show that these robot equations can exhibit chaos for low controller gains and for large underestimated models. From the bifurcation diagrams, the route to chaos appears to be through period doubling.

Synthesis and Degradation of Sorbitol-Based Polymers

A new class of biodegradable copolyesters was synthesized by the catalyst-free melt condensation of sorbitol with citric acid, tartaric acid, and sebacic acid. The resulting polymers were designated as poly(sorbitol citric sebacate) p(SCS)] and poly(sorbitol tartaric sebacate) p(STS)]. The synthesized polymers were characterized by Fourier transform infrared spectroscopy, H-1-NMR spectroscopy, and differential scanning calorimetry analysis. Porous spongelike scaffolds were prepared with a salt-leaching technique and characterized with scanning electron microscopy. Tensile testing of the p(SCS) and p(STS) polymers showed that they exhibited a wide range of mechanical properties. The Young's modulus and tensile strengths of the polymers ranged from 1.06 +/- 0.12 to 462.65 +/- 34.21 MPa and from 0.45 +/- 0.04 to 20.32 +/- 2.54 MPa, respectively. In vitro degradation studies were performed on disc-shaped polymer samples. The half-life of the polymers ranged from 0.54 to 38.52 days. The percentage hydration of the polymers was in the range 9.36 +/- 1.26 to 78.25 +/- 1.91, with sol contents of 2-14%. At any given polymer composition, the Young's modulus and tensile strength of p(SCS) was higher than that of p(STS), whereas the degradation rates of p(SCS) was lower than that of p(STS). This was attributed to the structural difference between the citric and tartaric monomers and to the degree of crosslinking. (C) 2011 Wiley Periodicals, Inc. J Appl Polym Sci 121: 2861-2869, 2011

Total peroxidase activity and peroxidase isoforms as modified by salt stress in two cultivars of fox-tail millet with differential salt tolerance

The effect of NaCl on total peroxidase activity, induction of isoperoxidases and lipid peroxidation in 5-day-old seedlings of two contrasting genotypes of Setaria italica L. (Prasad, a salt tolerant cultivar and Lepakshi, a salt susceptible cultivar), was studied. Total peroxidase activity increased under NaCl salinity and the degree of elevation in the activity was salt concentration dependent. Nevertheless, a greater activity was recorded in the tolerant cultivar (cv Prasad) compared to the susceptible (cv Lepakshi) one in all days of sampling. Further, the pattern of isoperoxidases was modified during stress conditions as evident from the electrophoregrams. Although, five acidic isoforms were detected in both cultivars, differences were found between the cultivars. Furthermore, it was observed that acidic isoperoxidases were strongly expressed and an acidic isoperoxidase, A(3p) (27 kDa) is specifically found in the tolerant cultivar (cv Prasad) under NaCl stress. This isoform was partially purified and found to be thermostable with pr 5.5 and the optimum pH 7.4. A close correlation exists between the rate of lipid peroxidation in terms of malonaldehyde (MDA) content and total peroxidase activity per gram fresh weight with salt tolerance of the two cultivars. The tolerant cultivar (cv Prasad) had low MDA content and high total peroxidase activity than the susceptible variety (cv Lepakshi) during salinity stress. (C) 1999 Published by Elsevier Science Ireland Ltd. All rights reserved.

A differential geometric method for kinematic analysis of two- and three-degree-of-freedom rigid body motions

In this paper, we present a novel differential geometric characterization of two- and three-degree-of-freedom rigid body kinematics, using a metric defined on dual vectors. The instantaneous angular and linear velocities of a rigid body are expressed as a dual velocity vector, and dual inner product is defined on this dual vector, resulting in a positive semi-definite and symmetric dual matrix. We show that the maximum and minimum magnitude of the dual velocity vector, for a unit speed motion, can be obtained as eigenvalues of this dual matrix. Furthermore, we show that the tip of the dual velocity vector lies on a dual ellipse for a two-degree-of-freedom motion and on a dual ellipsoid for a three-degree-of-freedom motion. In this manner, the velocity distribution of a rigid body can be studied algebraically in terms of the eigenvalues of a dual matrix or geometrically with the dual ellipse and ellipsoid. The second-order properties of the two- and three-degree-of-freedom motions of a rigid body are also obtained from the derivatives of the elements of the dual matrix. This results in a definition of the geodesic motion of a rigid body. The theoretical results are illustrated with the help of a spatial 2R and a parallel three-degree-of-freedom manipulator.

Effect of aging on swelling and swell-shrink behavior of a compacted expansive soil

Effect of aging on swelling and swell-shrink behavior of a compacted expansive soil is investigated in this paper. An expansive soil having a liquid limit of 100% is used for this purpose. Compacted specimens were prepared and aged for a predetermined number of days (7, 15, 30, and 90 days) to study their swelling and swell-shrink behavior. It has been shown that aging improves the resistance to compression of compacted specimens. The swelling potentials of specimens also decreased with aging. The dominant factors that influence the aging effects are the water content and degree of saturation at the beginning of the aging process. The changed behavior of aged specimens is attributed to particle rearrangements and formation of bonds, which affect the surface area absorbing water during swelling. The cyclic swell-shrink tests on aged specimens indicated that the differences in vertical displacement during the first swelling were eliminated in the subsequent cycles when specimens were shrunk more, but the aging effect was found to persist with cycles for specimens subjected to lower shrinkage magnitudes.

The inactive X chromosome in the human female is enriched in 5-methylcytosine to an unusual degree and appears to contain more of this modified nucleotide than the remainder of the genome

By employing a procedure that combines ELISA and photoacoustic spectroscopy, we have examined the content of 5-methylcytosine (m(5)C) in DNA of individuals who differed from one another in the number of X chromosomes in their genomes. The results show that the human inactive X chromosome (Xi) contains very high amounts of this modified nucleotide. We estimate that in the 46,XX female there is more m(5)C in Xi (similar to3.6 x 10(7)) than in all the remaining chromosomes put together (similar to2.1 x 10(7)). Our results also suggest that nearly one-fifth of all cytosines in Xi are methylated and that, in addition to CpG methylation, there is extensive non-CpG methylation as well.

Assessing Degree of Novelty of Products to Ascertain Innovative Products

Substantial increase in competition compels design firms to develop new products at an increasingly rapid pace. This situation pressurizes engineering teams to develop better products and at the same time develop products faster [1]. Continuous innovation is a key factor to enable a company to generate profit on a continued basis, through the introduction of new products in the market – a prime intention for Product Lifecycle Management. Creativity, affecting a wide spectrum of business portfolios, is regarded as the crucial factor for designing products. A central goal of product development is to create products that are sufficiently novel and useful. This research focuses on the determination of novelty of engineering products. Determination of novelty is important for ascertaining the newness of a product, to decide on the patentability of the design, to compare designers' capability of solving problems and to ascertain the potential market of a product. Few attempts at measuring novelty is available in literature [2, 3, 4], but more in-depth research is required for assessing degree of novelty of products. This research aims to determine the novelty of a product by enabling a person to determine the degree of novelty in a product. A measure of novelty has been developed by which the degree of ''novelty'' of products can be ascertained. An empirical study has been conducted to determine the validity of this method for determining the 'novelty' of the products.

Galois Theory and Solvable Equations of Prime Degree

In this article we review classical and modern Galois theory with historical evolution and prove a criterion of Galois for solvability of an irreducible separable polynomial of prime degree over an arbitrary field k and give many illustrative examples.

Comparison of the degree of creativity in the design outcomes using different design methods

This work analyses the influence of several design methods on the degree of creativity of the design outcome. A design experiment has been carried out in which the participants were divided into four teams of three members, and each team was asked to work applying different design methods. The selected methods were Brainstorming, Functional Analysis, and SCAMPER method. The `degree of creativity' of each design outcome is assessed by means of a questionnaire offered to a number of experts and by means of three different metrics: the metric of Moss, the metric of Sarkar and Chakrabarti, and the evaluation of innovative potential. The three metrics share the property of measuring the creativity as a combination of the degree of novelty and the degree of usefulness. The results show that Brainstorming provides more creative outcomes than when no method is applied, while this is not proved for SCAMPER and Functional Analysis.

Processes of 30-90 days sea surface temperature variability in the northern Indian Ocean during boreal summer

During summer, the northern Indian Ocean exhibits significant atmospheric intraseasonal variability associated with active and break phases of the monsoon in the 30-90 days band. In this paper, we investigate mechanisms of the Sea Surface Temperature (SST) signature of this atmospheric variability, using a combination of observational datasets and Ocean General Circulation Model sensitivity experiments. In addition to the previously-reported intraseasonal SST signature in the Bay of Bengal, observations show clear SST signals in the Arabian Sea related to the active/break cycle of the monsoon. As the atmospheric intraseasonal oscillation moves northward, SST variations appear first at the southern tip of India (day 0), then in the Somali upwelling region (day 10), northern Bay of Bengal (day 19) and finally in the Oman upwelling region (day 23). The Bay of Bengal and Oman signals are most clearly associated with the monsoon active/break index, whereas the relationship with signals near Somali upwelling and the southern tip of India is weaker. In agreement with previous studies, we find that heat flux variations drive most of the intraseasonal SST variability in the Bay of Bengal, both in our model (regression coefficient, 0.9, against similar to 0.25 for wind stress) and in observations (0.8 regression coefficient); similar to 60% of the heat flux variation is due do shortwave radiation and similar to 40% due to latent heat flux. On the other hand, both observations and model results indicate a prominent role of dynamical oceanic processes in the Arabian Sea. Wind-stress variations force about 70-100% of SST intraseasonal variations in the Arabian Sea, through modulation of oceanic processes (entrainment, mixing, Ekman pumping, lateral advection). Our similar to 100 km resolution model suggests that internal oceanic variability (i.e. eddies) contributes substantially to intraseasonal variability at small-scale in the Somali upwelling region, but does not contribute to large-scale intraseasonal SST variability due to its small spatial scale and random phase relation to the active-break monsoon cycle. The effect of oceanic eddies; however, remains to be explored at a higher spatial resolution.

Tight co-degree condition for perfect matchings in 4-graphs

We will give a tight minimum co-degree condition for a 4-uniform hypergraph to contain a perfect matching.

Climate response to changes in atmospheric carbon dioxide and solar irradiance on the time scale of days to weeks

Recent studies show that fast climate response on time scales of less than a month can have important implications for long-term climate change. In this study, we investigate climate response on the time scale of days to weeks to a step-function quadrupling of atmospheric CO2 and contrast this with the response to a 4% increase in solar irradiance. Our simulations show that significant climate effects occur within days of a stepwise increase in both atmospheric CO2 content and solar irradiance. Over ocean, increased atmospheric CO2 warms the lower troposphere more than the surface, increasing atmospheric stability, moistening the boundary layer, and suppressing evaporation and precipitation. In contrast, over ocean, increased solar irradiance warms the lower troposphere to a much lesser extent, causing a much smaller change in evaporation and precipitation. Over land, both increased CO2 and increased solar irradiance cause rapid surface warming that tends to increase both evaporation and precipitation. However, the physiological effect of increased atmospheric CO2 on plant stomata reduces plant transpiration, drying the boundary layer and decreasing precipitation. This effect does not occur with increased solar irradiance. Therefore, differences in climatic effects from CO2 versus solar forcing are manifested within days after the forcing is imposed.

Monsoon circulation interaction with Western Ghats orography under changing climate - Projection by a 20-km mesh AGCM

In this study, the authors have investigated the likely future changes in the summer monsoon over the Western Ghats (WG) orographic region of India in response to global warming, using time-slice simulations of an ultra high-resolution global climate model and climate datasets of recent past. The model with approximately 20-km mesh horizontal resolution resolves orographic features on finer spatial scales leading to a quasi-realistic simulation of the spatial distribution of the present-day summer monsoon rainfall over India and trends in monsoon rainfall over the west coast of India. As a result, a higher degree of confidence appears to emerge in many aspects of the 20-km model simulation, and therefore, we can have better confidence in the validity of the model prediction of future changes in the climate over WG mountains. Our analysis suggests that the summer mean rainfall and the vertical velocities over the orographic regions of Western Ghats have significantly weakened during the recent past and the model simulates these features realistically in the present-day climate simulation. Under future climate scenario, by the end of the twenty-first century, the model projects reduced orographic precipitation over the narrow Western Ghats south of 16A degrees N that is found to be associated with drastic reduction in the southwesterly winds and moisture transport into the region, weakening of the summer mean meridional circulation and diminished vertical velocities. We show that this is due to larger upper tropospheric warming relative to the surface and lower levels, which decreases the lapse rate causing an increase in vertical moist static stability (which in turn inhibits vertical ascent) in response to global warming. Increased stability that weakens vertical velocities leads to reduction in large-scale precipitation which is found to be the major contributor to summer mean rainfall over WG orographic region. This is further corroborated by a significant decrease in the frequency of moderate-to-heavy rainfall days over WG which is a typical manifestation of the decrease in large-scale precipitation over this region. Thus, the drastic reduction of vertical ascent and weakening of circulation due to `upper tropospheric warming effect' predominates over the `moisture build-up effect' in reducing the rainfall over this narrow orographic region. This analysis illustrates that monsoon rainfall over mountainous regions is strongly controlled by processes and parameterized physics which need to be resolved with adequately high resolution for accurate assessment of local and regional-scale climate change.

Structure, tensile properties and cytotoxicity assessment of sebacic acid based biodegradable polyesters with ricinoleic acid

A new family of ricinoleic acid based polyesters was synthesized using catalyst free melt-condensation polymerization with sebacic acid, citric acid, mannitol and ricinoleic acid as precursors. The use of FT-IR and NMR characterisation techniques confirms the presence of ester linkages in the as-synthesized polymers. Depending on the precursor combination, their relative amount and the degree of curing, a broad range of elastic modulus (22-327 MPa) and tensile strength (0.7-12.7 MPa) can be obtained in the newly synthesized biopolymers. The polymers show rubbery behaviour at a physiological temperature (37 degrees C) and the contact angles of the synthesized polymers fall in the range of 42 degrees to 71 degrees, making them ideal substrates to study delivery of drugs through polymer scaffolds. The cytocompatibility assessment of the cured polymers confirmed good cell attachment and growth of smooth muscle cells (C2C12 myoblast cells). Importantly, oriented cell growth was observed after culturing myoblast cells for 3 days. The in vitro degradation in PBS indicates that the mild cured polymers follow a first order reaction kinetics and have degradation rate constants in the range of 0.009-0.038 h(-1), depending on the relative proportions of monomers. Overall, the results of our study indicate that the physical properties can be tailored by varying the composition of the monomers and curing conditions in the newly developed polyesters. Hence, they may be used as potential substrates for tissue engineering scaffolds and for localized drug delivery.