A Compact and Compliant External Pipe-Crawling Robot

The focus of this paper is on the practical aspects of design, prototyping, and testing of a compact, compliant external pipe-crawling robot that can inspect a closely spaced bundle of pipes in hazardous environments and areas that are inaccessible to humans. The robot consists of two radially deployable compliant ring actuators that are attached to each other along the longitudinal axis of the pipe by a bidirectional linear actuator. The robot imitates the motion of an inchworm. The novel aspect of the compliant ring actuator is a spring-steel compliant mechanism that converts circumferential motion to radial motion of its multiple gripping pads. Circumferential motion to ring actuators is provided by two shape memory alloy (SMA) wires that are guided by insulating rollers. The design of the compliant mechanism is derived from a radially deployable mechanism. A unique feature of the design is that the compliant mechanism provides the necessary kinematic function within the limited annular space around the pipe and serves as the bias spring for the SMA wires. The robot has a control circuit that sequentially activates the SMA wires and the linear actuator; it also controls the crawling speed. The robot has been fabricated, tested, and automated. Its crawling speed is about 45 mm/min, and the weight is about 150 g. It fits within an annular space of a radial span of 15 mm to crawl on a pipe of 60-mm outer diameter.

A weighted average based external clock synchronization protocol for wireless sensor networks

Clock synchronization is an extremely important requirement of wireless sensor networks(WSNs). There are many application scenarios such as weather monitoring and forecasting etc. where external clock synchronization may be required because WSN itself may consists of components which are not connected to each other. A usual approach for external clock synchronization in WSNs is to synchronize the clock of a reference node with an external source such as UTC, and the remaining nodes synchronize with the reference node using an internal clock synchronization protocol. In order to provide highly accurate time, both the offset and the drift rate of each clock with respect to reference node are estimated from time to time, and these are used for getting correct time from local clock reading. A problem with this approach is that it is difficult to estimate the offset of a clock with respect to the reference node when drift rate of clocks varies over a period of time. In this paper, we first propose a novel internal clock synchronization protocol based on weighted averaging technique, which synchronizes all the clocks of a WSN to a reference node periodically. We call this protocol weighted average based internal clock synchronization(WICS) protocol. Based on this protocol, we then propose our weighted average based external clock synchronization(WECS) protocol. We have analyzed the proposed protocols for maximum synchronization error and shown that it is always upper bounded. Extensive simulation studies of the proposed protocols have been carried out using Castalia simulator. Simulation results validate our theoretical claim that the maximum synchronization error is always upper bounded and also show that the proposed protocols perform better in comparison to other protocols in terms of synchronization accuracy. A prototype implementation of the proposed internal clock synchronization protocol using a few TelosB motes also validates our claim.

Electrochemical determination of thermodynamic properties of DyRhO3 and phase relations in the system Dy-Rh-O

Thermodynamic properties of Dysprosium rhodite (DyRhO3) are measured in the temperature range from 900 to 1,300 K using a solid-state electrochemical cell incorporating yttria-stabilized zirconia as the electrolyte. The standard Gibbs free energy of formation of DyRhO3 with O-type perovskite structure from its components binary oxides, Dysprosia with C-rare earth structure and beta-Rh2O3 with orthorhombic structure, can be represented by the equation: Delta G(f(OX))(O) (+/- 182)/J mol(-1) = -52710+3.821(T/K). By using the thermodynamic data for DyRhO3 from experiment and auxiliary data for other phases from the literature, the phase relations in the system Dy-Rh-O are computed. Thermodynamic data for intermetallic phases in the binary system Dy-Rh, required for constructing the chemical potential diagrams, are evaluated using calorimetric data available in the literature for three intermetallics and Miedema's model, consistent with the phase diagram. The results are presented in the form of Gibbs triangle, oxygen potential-composition diagram, and three-dimensional chemical potential diagram at 1,273 K. Temperature-composition diagrams at constant oxygen partial pressures are also developed. The decomposition temperature of DyRhO3 is 1,732 (+/- 2.5) K in pure oxygen and 1,624 (+/- 2.5) K and in air at standard pressure.

System Gd-Rh-O: Thermodynamics and phase relations

Thermodynamic properties of GdRhO3 are investigated in the temperature range from 900 to 1300 K by employing a solid-state electrochemical cell, incorporating calcia-stabilized zirconia as the electrolyte. The standard Gibbs free energy of formation of GdRhO3 from component binary oxide Gd2O3 with C-rare earth structure and Rh2O3 with orthorhombic structure can be expressed as; Delta G(f(ox))(o)(+/- 60)/J mol(-1) = -56603 + 3.78(T/K) Based on the thermodynamic information on GdRhO3 from experiment and auxiliary data for binary oxides from the literature and estimated properties of Gd-Rh alloys, phase relations are computed for the system Gd-Rh-O at 1273 K. Gibbs free energies for intermetallic phases in the binary Gd-Rh are evaluated using calorimetric data available in the literature for two compositions and Miedema's model, consistent with the binary phase diagram. Isothermal section of the ternary phase diagram, oxygen potential-composition diagram and a 3-D chemical potential diagram for the system Gd-Rh-O at 1273 K are developed. Phase relations in the ternary Gd-Rh-O are also computed as a function of temperature at constant oxygen partial pressures. The ternary oxide, GdRhO3 decomposes to Gd2O3 with B-rare earth structure, metallic Rh and O-2 at 1759(+/- 2) K in pure O-2 and 1649(+/- 2) K in air at a total pressure P-0 -0.1 MPa. (c) 2012 Elsevier B.V. All rights reserved.

Analytical theory and stability analysis of an elongated nanoscale object under external torque

We consider the rotational motion of an elongated nanoscale object in a fluid under an external torque. The experimentally observed dynamics could be understood from analytical solutions of the Stokes equation, with explicit formulae derived for the dynamical states as a function of the object dimensions and the parameters defining the external torque. Under certain conditions, multiple analytical solutions to the Stokes equations exist, which have been investigated through numerical analysis of their stability against small perturbations and their sensitivity towards initial conditions. These experimental results and analytical formulae are general enough to be applicable to the rotational motion of any isolated elongated object at low Reynolds numbers, and could be useful in the design of non-spherical nanostructures for diverse applications pertaining to microfluidics and nanoscale propulsion technologies.

Refining sub-solidus phase relations in the systems CaO-RuO2-SiO2 and CaO-RuO2-V2O5

Sub-solidus phase relations in the ternary systems CaO-RuO2-SiO2 and CaO-RuO2-V2O5 have been refined using thermodynamic data on calcium ruthenates, silicates and vanadates. Tie lines are established by considering Gibbs energy change for exchange reactions. Quaternary oxides have not been detected in these systems. Because of the relatively large entropy associated with phase transition of Ca2SiO4 from olivine to alpha' structure at 1120 K, reversal of one tie line is seen in the system CaO-RuO2-SiO2 between 950 and 1230 K. There is no change in sub-solidus phase relation as a function of temperature in the system CaO-RuO2-V2O5. Since vanadium can exist in several lower oxidation states, the computed sub-solidus phase relations are valid only at high oxygen partial pressures. There is fair agreement between the computed phase diagram and the limited experimental information available for CaO-deficient compositions in the literature. (C) 2013 Elsevier Ltd. All rights reserved.

Facile synthesis of carbon doped TiO2 nanowires without an external carbon source and their opto-electronic properties

The present study demonstrates a simple protocol for the preparation of one dimensional (1D) oxidized titanium carbide nanowires and their opto-electronic properties. The oxidized titanium carbide nanowires (Ox-TiC-NW) are prepared from TiC nanowires (TiC-NW) that are in turn synthesized from micron sized TiC particles using the solvothermal technique. The Ox-TiC-NW is characterized by X-ray diffraction, UV-Vis spectroscopy, transmission electron microscopy (TEM), scanning electron microscopy (SEM) and Raman spectroscopy. Thermal oxidation of TiC-NW yields carbon doped TiO2-NW (C-TiO2-NW), a simple methodology to obtain 1D C-TiO2-NW. Temperature dependent Raman spectra reveal characteristic bands for TiO2-NW. Electrical characterization of individual C-TiO2-NW is performed by fabricating a device structure using the focused ion beam deposition technique. The opto-electronic properties of individual C-TiO2-NW demonstrate visible light activity and the parameters obtained from photoconductivity measurements reveal very good sensitivity. This methodology opens up the possibility of using C-TiO2-NW in electronic and opto-electronic device applications.

Jeans instability criterion modified by external tidal field

The well-known Jeans criterion describes the onset of instabilities in an infinite, homogeneous, self-gravitating medium supported by pressure. Most realistic astrophysical systems, however, are not isolated - instead they are under the influence of an external field such as the tidal field due to a neighbour. Here, we do a linear perturbation analysis for a system in an external field and obtain a generalized dispersion relation that depends on the wavenumber, the sound speed and also the magnitude of the tidal field. A typical, disruptive tidal field is shown to make the system more stable against perturbations, and results in a higher effective Jeans wavelength. The minimum mass that can become unstable is then higher (super-Jeans) than the usual Jeans mass. Conversely, in a compressive tidal field, perturbations can grow even when the mass is lower (sub-Jeans). This approach involving the inclusion of tidal field opens up a new way of looking at instabilities in gravitating systems. The treatment is general and the simple analytical form of the modified Jeans criterion obtained makes it easily accessible.

Thermodynamics of NdRhO3 and phase relations in the system Nd-Rh-O

Phase equilibrium experiments indicate that NdRhO3 is the only ternary oxide in the system Nd-Rh-O at 1273 K; it has orthorhombically-distorted perovskite structure. By employing a solid-state electrochemical cell incorporating calcia-stabilized zirconia as the electrolyte, thermodynamic properties of NdRhO3 are determined. The standard Gibbs energy of formation of NdRhO3 from its component binary oxides in the temperature ranges from 900 to 1300 K can be expressed as: 1/2Rh(2)O(3) (ortho)+1/2Nd(2)O(3)(hex)=NdRhO3(ortho), Delta(f(o,x))G(0)/J mol(-1)( +/- 197) = - 66256+5.64 (T/K). The decomposition temperature of NdRhO3 computed from extrapolated thermodynamic data is 1803 (+/- 4) K in pure oxygen and 1692 (+/- 4) K in air at standard pressure. Oxygen partial pressure-composition diagram and three-dimensional chemical potential diagram at 1273 K are developed from thermodynamic data obtained in this study and auxiliary information from the literature. Equilibrium temperature-composition phase diagrams at constant oxygen partial pressures are also constructed. (C) 2013 Elsevier Ltd. All rights reserved.

Thermodynamic Properties of LaCrO4, La2CrO6, and La2Cr3O12, and Subsolidus Phase Relations in the System Lanthanum-Chromium-Oxygen

In the system La-Cr-O, there are three ternary oxides (LaCrO4, La2Cr3O12, and La2CrO6) that contain Cr in higher valence states (V or VI). On heating, LaCrO4 decomposes to LaCrO3, La2Cr3O12 to a mixture of LaCrO4 and Cr2O3, and La2CrO6 to LaCrO3 and La2O3 with loss of oxygen. The oxygen potentials corresponding to these decomposition reactions are determined as a function of temperature using solid-state cells incorporating yttria-stabilized zirconia as the electrolyte. Measurements are made from 840K to the decomposition temperature of the ternary oxides in pure oxygen. The standard Gibbs energies of formation of the three ternary oxides are derived from the reversible electromotive force (EMF) of the three cells. The standard enthalpy of formation and standard entropy of the three ternary oxides at 298.15K are estimated. Subsolidus phase relations in the system La-Cr-O are computed from thermodynamic data and displayed as isothermal sections at several temperature intervals. The decomposition temperatures in air are 880 (+/- 3)K for La2Cr3O12, 936 (+/- 3)K for LaCrO4, and 1056 (+/- 4)K for La2CrO6.

On Averaging Multiview Relations for 3D Scan Registration

In this paper, we present an extension of the iterative closest point (ICP) algorithm that simultaneously registers multiple 3D scans. While ICP fails to utilize the multiview constraints available, our method exploits the information redundancy in a set of 3D scans by using the averaging of relative motions. This averaging method utilizes the Lie group structure of motions, resulting in a 3D registration method that is both efficient and accurate. In addition, we present two variants of our approach, i.e., a method that solves for multiview 3D registration while obeying causality and a transitive correspondence variant that efficiently solves the correspondence problem across multiple scans. We present experimental results to characterize our method and explain its behavior as well as those of some other multiview registration methods in the literature. We establish the superior accuracy of our method in comparison to these multiview methods with registration results on a set of well-known real datasets of 3D scans.

Spectral response of a droplet in pulsating external flow field

A droplet introduced in an external convective flow field exhibits significant multimodal shape oscillations depending upon the intensity of the aerodynamic forcing. In this paper, a theoretical model describing the temporal evolution of normal modes of the droplet shape is developed. The fluid is assumed to be weakly viscous and Newtonian. The convective flow velocity, which is assumed to be incompressible and inviscid, is incorporated in the model through the normal stress condition at the droplet surface and the equation of motion governing the dynamics of each mode is derived. The coupling between the external flow and the droplet is approximated to be a one-way process, i.e., the external flow perturbations effect the droplet shape oscillations and the droplet oscillation itself does not influence the external flow characteristics. The shape oscillations of the droplet with different fluid properties under different unsteady flow fields were simulated. For a pulsatile external flow, the frequency spectra of the normal modes of the droplet revealed a dominant response at the resonant frequency, in addition to the driving frequency and the corresponding harmonics. At driving frequencies sufficiently different from the resonant frequency of the prolate-oblate oscillation mode of the droplet, the oscillations are stable. But at resonance the oscillation amplitude grows in time leading to breakup depending upon the fluid viscosity. A line vortex advecting past the droplet, simulated as an isotropic jump in the far field velocity, leads to the resonant excitation of the droplet shape modes if and only if the time taken by the vortex to cross the droplet is less than the resonant period of the P-2 mode of the droplet. A train of two vortices interacting with the droplet is also analysed. It shows clearly that the time instant of introduction of the second vortex with respect to the droplet shape oscillation cycle is crucial in determining the amplitude of oscillation. (C) 2014 AIP Publishing LLC.

Structure-function hierarchies and von Karman-Howarth relations for turbulence in magnetohydrodynamical equations

We generalize the method of A. M. Polyakov, Phys. Rev. E 52, 6183 (1995)] for obtaining structure-function relations in turbulence in the stochastically forced Burgers equation, to develop structure-function hierarchies for turbulence in three models for magnetohydrodynamics (MHD). These are the Burgers analogs of MHD in one dimension Eur. Phys. J.B 9, 725 (1999)], and in three dimensions (3DMHD and 3D Hall MHD). Our study provides a convenient and unified scheme for the development of structure-function hierarchies for turbulence in a variety of coupled hydrodynamical equations. For turbulence in the three sets of MHD equations mentioned above, we obtain exact relations for third-order structure functions and their derivatives; these expressions are the analogs of the von Karman-Howarth relations for fluid turbulence. We compare our work with earlier studies of such relations in 3DMHD and 3D Hall MHD.

Effective Q Criterion for Disk Stability in an External Potential

The standard Q criterion (with Q > 1) describes the stability against local, axisymmetric perturbations in a disk supported by rotation and random motion. Most astrophysical disks, however, are under the influence of an external gravitational potential, which can significantly affect their stability. A typical example is a galactic disk embedded in a dark matter halo. Here, we do a linear perturbation analysis for a disk in an external potential and obtain a generalized dispersion relation and the effective stability criterion. An external potential, such as that due to the dark matter halo concentric with the disk, contributes to the unperturbed rotational field and significantly increases its stability. We obtain the values for the effective Q parameter for the Milky Way and for a low surface brightness galaxy, UGC 7321. We find that in each case the stellar disk by itself is barely stable and it is the dark matter halo that stabilizes the disk against local, axisymmetric gravitational instabilities. Thus, the dark matter halo is necessary to ensure local disk stability. This result has been largely missed so far because in practice the Q parameter for a galactic disk is obtained using the observed rotational field that already includes the effect of the halo

Reliability-based load and resistance factor design approach for external seismic stability of reinforced soil walls

Load and resistance factor design (LRFD) approach for the design of reinforced soil walls is presented to produce designs with consistent and uniform levels of risk for the whole range of design applications. The evaluation of load and resistance factors for the reinforced soil walls based on reliability theory is presented. A first order reliability method (FORM) is used to determine appropriate ranges for the values of the load and resistance factors. Using pseudo-static limit equilibrium method, analysis is conducted to evaluate the external stability of reinforced soil walls subjected to earthquake loading. The potential failure mechanisms considered in the analysis are sliding failure, eccentricity failure of resultant force (or overturning failure) and bearing capacity failure. The proposed procedure includes the variability associated with reinforced backfill, retained backfill, foundation soil, horizontal seismic acceleration and surcharge load acting on the wall. Partial factors needed to maintain the stability against three modes of failure by targeting component reliability index of 3.0 are obtained for various values of coefficients of variation (COV) of friction angle of backfill and foundation soil, distributed dead load surcharge, cohesion of the foundation soil and horizontal seismic acceleration. A comparative study between LRFD and allowable stress design (ASD) is also presented with a design example. (C) 2014 Elsevier Ltd. All rights reserved.