Whole arm manipulation using closed and hybrid planar chains: A kinematic study

This paper studies planar whole arm manipulation of a circular object using closed loop and hybrid manipulators. The manipulation is simple with fewer degrees of actuation than the task space. This is an useful operation if the initial and final positions of the object are on the same surface. Closed loop manipulator is a 4/5 bar mechanism. In hybrid manipulators a open loop manipulator with 3/4 links is attached to the floating link of 4/5 bar mechanism. The mobility analysis is carried out to find the connectivity of the object with reference to frame. The manipulation (forward kinematics) starts from a given configuration of the object and the manipulator. In hybrid manipulators determination of initial configuration involves inverse kinematics of open loop manipulator. The input joint velocities are used to demonstrate the manipulation. Conditions are specified for prehensile manipulation.

Photocatalytic degradation of dimethoate using LbL fabricated TiO2/polymer hybrid films

Degradation of dimethoate under UV irradiation using TiO2/polymer films prepared by the layer-by-layer (LbL) method was investigated. The thin films were fabricated on glass slides and the surface morphology and roughness of the thin films were characterized using X-ray diffraction (XRD), scanning electron microscopy (SEM) and atomic force microscopy (AFM). The effect of lamp intensity, catalyst loading in the layers, number of bilayers, pH and initial dimethoate concentration on the degradation of dimethoate was systematically studied. The degradation was monitored using high performance liquid chromatography (HPLC) analysis and total organic carbon (TOC) measurements as a function of irradiation time, to see the change in concentration of dimethoate and mineralization, respectively. Complete degradation of dimethoate was achieved under TiO2 optimum loading of 4 g/L at an UV irradiation time of 180 min. Increase in the lamp intensity, catalyst loading and number of bilayers increased the rate of degradation. At a pH of 4.62, complete degradation of dimethoate was observed. The degradation efficiency decreased with increase in initial dimethoate concentration. The degradation byproducts were analyzed and confirmed by gas chromatography-mass spectra (GC-MS). Toxicity of the irradiated samples was measured using the luminescence of bacteria Vibrio fischeri after 30 min of incubation and the results showed more toxicity than the parent compound. Catalyst reusability studies revealed that the fabricated thin films could be repeatedly used for up to ten times without affecting the photocatalytic activity of the films. The findings of the present study are very useful for the treatment of wastewaters contaminated with pesticides. (C) 2011 Elsevier B.V. All rights reserved.

Determinant: Old algorithms, new insights (Extended Abstract)

In this paper we approach the problem of computing the characteristic polynomial of a matrix from the combinatorial viewpoint. We present several combinatorial characterizations of the coefficients of the characteristic polynomial, in terms of walks and closed walks of different kinds in the underlying graph. We develop algorithms based on these characterizations, and show that they tally with well-known algorithms arrived at independently from considerations in linear algebra.

Synthesis of configurable architectures for DSP algorithms

ASICs offer the best realization of DSP algorithms in terms of performance, but the cost is prohibitive, especially when the volumes involved are low. However, if the architecture synthesis trajectory for such algorithms is such that the target architecture can be identified as an interconnection of elementary parameterized computational structures, then it is possible to attain a close match, both in terms of performance and power with respect to an ASIC, for any algorithmic parameters of the given algorithm. Such an architecture is weakly programmable (configurable) and can be viewed as an application specific instruction-set processor (ASIP). In this work, we present a methodology to synthesize ASIPs for DSP algorithms.

Performance evaluation of neural network algorithms for multisensor data fusion in an airborne track while scan radar

This paper deals with the solution to the problem of multisensor data fusion for a single target scenario as detected by an airborne track-while-scan radar. The details of a neural network implementation, various training algorithms based on standard backpropagation, and the results of training and testing the neural network are presented. The promising capabilities of RPROP algorithm for multisensor data fusion for various parameters are shown in comparison to other adaptive techniques

Space vector based bus clamped PWM algorithms for three level inverters: implementation, performance analysis and application considerations

This paper describes the different types of space vector based bus clamped PWM algorithms for three level inverters. A novel bus clamp PWM algorithm for low modulation indices region is also presented. The principles and switching sequences of all the types of bus clamped algorithms for high switching frequency are presented. Synchronized version of the PWM sequences for high power applications where switching frequency is low is also presented. The implementation details on DSP based digital controller and experimental results are presented. The THD of the output waveforms is studied for the entire operating region and is compared with the conventional space vector PWM technique. The bus clamped techniques can be used to reduce the switching losses or to improve the output voltage quality or both.. Different issues dominate depending on the type of application and power rating of the inverters. The results presented in this paper can be used for judicious use of the PWM techniques, which result in improved system efficiency and performance.

A unified view of the Apriori-based algorithms for frequent episode discovery

Frequent episode discovery framework is a popular framework in temporal data mining with many applications. Over the years, many different notions of frequencies of episodes have been proposed along with different algorithms for episode discovery. In this paper, we present a unified view of all the apriori-based discoverymethods for serial episodes under these different notions of frequencies. Specifically, we present a unified view of the various frequency counting algorithms. We propose a generic counting algorithm such that all current algorithms are special cases of it. This unified view allows one to gain insights into different frequencies, and we present quantitative relationships among different frequencies.Our unified view also helps in obtaining correctness proofs for various counting algorithms as we show here. It also aids in understanding and obtaining the anti-monotonicity properties satisfied by the various frequencies, the properties exploited by the candidate generation step of any apriori-based method. We also point out how our unified view of counting helps to consider generalization of the algorithm to count episodes with general partial orders.

Fast algorithms for frequent episode discovery in event sequences

In this paper we consider the process of discovering frequent episodes in event sequences. The most computationally intensive part of this process is that of counting the frequencies of a set of candidate episodes. We present two new frequency counting algorithms for speeding up this part. These, referred to as non-overlapping and non-inteleaved frequency counts, are based on directly counting suitable subsets of the occurrences of an episode. Hence they are different from the frequency counts of Mannila et al [1], where they count the number of windows in which the episode occurs. Our new frequency counts offer a speed-up factor of 7 or more on real and synthetic datasets. We also show how the new frequency counts can be used when the events in episodes have time-durations as well.

A Laboratory Analysis of Plasma Based Hybrid Techniques for Treating Engine Exhaust

A detailed study on the removal of pollutants (NOx, aldehydes and CO) from the exhaust of a stationary diesel engine is carried out using barrier discharge hybrid plasma techniques. The objective of the study is to make a comparative analysis. For this purpose, the exhaust treatment was carried out in two stages. In the first stage, the exhaust was treated with plasma process and plasma-adsorbent hybrid process. The effectiveness of the two processes with regard to NOx removal and by-product reduction was discussed. In the second stage, the exhaust was treated by plasma and plasma-catalyst hybrid process. The effectiveness of the two processes with regard to pollutants (NOx, CO) removal and by-product reduction was analyzed. Finally, a comprehensive comparison of different techniques has been made and feasible plasma based hybrid techniques for stationary and non-stationary engine exhaust treatments were proposed.