A quasi-velocity-based nonlinear controller for rigid manipulators

The problem of position control in the operational space of a robot manipulator is addressed in the paper. The proposed controller is based on equations of motion expressed in terms of normalized generalized velocity components (NGVC) which result from decomposition of the manipulator inertia matrix. The sufficient conditions for global exponential stability of the system under the controller are given. It is shown that using the controller an further insight into the system dynamics is possible. The proposed control algorithm is tested via simulation on a spatial manipulator with three degrees of freedom.     

Pressure drop and friction factor of steady and oscillating flows in open-cell porous media

Open-cell metal foams are often used in heat exchangers and absorption equipment because they exhibit large specific surface area and present tortuous coolant flow paths. However, published research works on the characteristics of fluid flow in metal foams are relatively scarce, especially for the flow oscillation condition. The present experimental investigation attempts to uncover the behavior of steady and oscillating flows through metal foams with a tetrakaidecahedron structure. In the experiments, steady flow was supplied by an auto-balance compressor and flow oscillation was provided by an oscillating flow generator. The pressure drop and velocity were measured by the differential pressure transducer and hot-wire sensor, respectively. The friction factor of steady flow in metal foam channel was analyzed through the permeability and inertia coefficient of the porous medium. The results show that flow resistance in the metal foams increases with increasing form coefficient and decreasing permeability. The empirical equation obtained by the present study indicates that the maximum friction factor of oscillating flow through the tested aluminum foams with specific structure is governed by the hydraulic ligament diameter-based kinetic Reynolds number and the dimensionless flow amplitude.     

Non-Darcian Forced Convection Flow of Viscous Dissipating Fluid over a Flat Plate Embedded in a Porous Medium

In this study, laminar boundary layer flow over a flat plate embedded in a fluid-saturated porous medium in the presence of viscous dissipation, inertia effect and suction/injection is analyzed using the Keller box finite difference method. The flat plate is assumed to be held at constant temperature. The non-Darcian effects of convection, boundary and inertia are considered. Results for the local heat transfer parameter and the local skin friction parameter as well as the velocity and temperature profiles are presented for various values of the governing parameters. The non-Darcian effects are shown to decrease the velocity and to increase the temperature. It is also shown that the local heat transfer parameter and the local skin friction parameter increase due to suction of fluid while injection reverses this trend. It is disclosed that the effect of the viscous dissipation for negative values of Ec (T _w < T _∞) is to enhance the heat transfer coefficient while the opposite is true for positive values of Ec (T _w > T _∞). The results are compared with those available in the existing literature and an excellent agreement is obtained.     

An Accelerated Algorithm Involving Quasi-$\phi$-Nonexpansive Operators for Solving Split Problems

In this paper, an algorithm of inertial type for approximating solutions of split equality fixed point problems involving quasi-$\phi$-nonexpansive maps is proposed and studied in the setting of certain real Banach spaces. Weak and strong convergence theorems are proved under some conditions. Some applications of the theorems are presented. The results presented extend and improve some existing results. Finally, some numerical illustrations are presented to support our theorems and their applications.