Trajectory optimization of a walking mechanism having revolute joints with clearance using ANFIS approach

Clearance as a real joint characteristic leads to deviation from desired trajectory in articulated mechanisms. This phenomenon makes the kinematic and dynamic performances of the mechanism worse. In this study, kinematic analysis of a Jansen’s mechanism used in a walking machine is performed. The model mechanism having two revolute joints with clearance is investigated for the trajectory analysis of the output link. It is clear that the mechanism’s trajectory is very sensitive to the clearance joint characteristics even if the clearance size is small. The adaptive network-based fuzzy inference system (ANFIS) is used to model the characteristics of joints with clearance. By using the suitable design variables and constraints, minimization of the trajectory errors arising from clearance is considered as an optimization problem. Optimization techniques are used to solve this problem for adjusting the optimum values of design variables. The obtained link dimensions show the success of the proposed modeling and optimization approach.     

Photoreflection and photoconduction spectra of CdS crystals: Excitons in the electric fields of surface states

The exciton photoreflection spectra of CdS crystals are studied. It is found that the form of the exciton photoreflection spectrum is determined by a Stark shift of the exciton energy in the electric field of surface states. The dependences of the exciton photoreflection spectrum on temperature on the intensity and wavelength of the modulating radiation, and on the processes by which the photoreflection signal relaxes is determined. An energy scheme is proposed for the surface states which explains the observed effects of photoinduced changes in the surface field. A correlation is established between the exciton photoreflection spectrum and the form of the fine structure in the photoconductivity. Fiz. Tverd. Tela (St. Petersburg) 40, 875–876 (May 1998)     

Casimir-Lifshitz quantum state of superhydrophobic black-silicon surfaces manufactured by a metal-assisted hierarchical nano-microtexturing process

We investigated superhydrophobic Si nanosurfaces similar to the lotus leaf by performing a hierarchical nanotexturing process on micropyramidal Si surfaces. The process was carried out using a metal-assisted chemical etching process based upon the deposition of Ag nanoparticles. The hierarchical micro-nanosurfaces showed a superhydrophobic character with contact angles of approximately 134～150°. The photon tunnelling also provides a strong light absorption as a black Si. The surface-light emission from broad and sharp photoluminescence was observed in the wavelength ranges of 414.7～440 and 509～516.2?nm. The field-induced tunnelling current on nanosurface shows the formation of quantum surface states. From the analyses of Casimir-Lifshitz quantum state of a photon in vacuum, the superhydrophobic behaviour of water droplet is closely related to the nanosurface and the nanoporous cavity shows the absorption of terahertz energy. Si nanosurface shows the broadband absorption in the spectral range of 800～900 cm^?1 corresponding to the energy range of 99.2～111.6?meV with 24～27 THz.     

238U and 222Rn activity concentrations and total radioactivity levels in lake waters

The concentrations and distributions of natural radioactivity, uranium and radon in lake waters from around Van, Turkey were investigated with an aim of evaluating the environmental radioactivity. Fourteen lake waters were collected from different six lakes around Van (Turkey) to determine ²³⁸U, ²²²Rn and total alpha and total beta distributions in 2009. The total α and total β activities were counted by using α/β counter of the multi-detector low background system (PIC-MPC-9604) and the ²³⁸U concentrations were determined by inductively coupled plasma-mass spectrometry (Thermo Scientific Element 2) and radon concentrations were measured with the solid state nuclear track detector technique. The activity concentrations ranging from ND to 0.039 Bq L^?1 and from 0.026 to 3.728 Bq L^?1 for total alpha and beta, respectively, and uranium concentrations ranging from 0.083 to 3.078 μg L^?1, and radon concentrations varying between 47.80 and 354.86 Bq m^?3 were observed in the lake waters.     

Advance selling to strategic consumers

Advance selling of goods and services is a form of separating purchase from consumption. It is often employed when consumers are uncertain about their consumption utilities until a short time period before consumption. A book to be released, a concert to attend, or a cruise to take are some examples. Invariably, in consumers’ mind inventory availability (of copies, seats, or rooms) is a concern. In this paper we study a retailer’s inventory and pricing decisions in an advance selling scenario that involves consumers who are strategic. Some consumers not only consider advance and spot prices, but also the uncertainty in future availability of the product (during the spot period) and in their consumption utility from it. We characterize the optimal inventory management and pricing policies, and discuss several interesting aspects of the solution. For example, it can be optimal for the retailer to limit advance sales even if there is more demand for it, and it can be optimal for the retailer to limit its inventory even though there is more capacity to keep it, but not both.     

Normal subgroups of finite groups and formations with normalizer conditions

The structure of a normal subgroupK of a finite groupG is studied under the condition that nontrivial intersections ofK with maximal subgroups ofG belong to an arbitrary formation with normalizer condition. Translated fromMatematicheskie Zametki, Vol. 66, No. 6, pp. 867–870, December, 1999.     

An Analytical Model of Porosity–Permeability for Porous and Fractured Media

The classic Kozeny–Carman equation (KC) uses parameters that are empirically based or not readily measureable for predicting the permeability of unfractured porous media. Numerous published KC modifications share this disadvantage, which potentially limits the range of conditions under which the equations are applicable. It is not straightforward to formulate non-empirical general approaches due to the challenges of representing complex pore and fracture networks. Fractal-based expressions are increasingly popular in this regard, but have not yet been applied accurately and without empirical constants to estimating rock permeability. This study introduces a general non-empirical analytical KC-type expression for predicting matrix and fracture permeability during single-phase flow. It uses fractal methods to characterize geometric factors such as pore connectivity, non-uniform grain or crystal size distribution, pore arrangement, and fracture distribution in relation to pore distribution. Advances include (i) modification of the fractal approach used by Yu and coworkers for industrial applications to formulate KC-type expressions that are consistent with pore size observations on rocks. (ii) Consideration of cross-flow between pores that adhere to a fractal size distribution. (iii) Extension of the classic KC equation to fractured media absent empirical constants, a particular contribution of the study. Predictions based on the novel expression correspond well to measured matrix and fracture permeability data from natural sandstone and carbonate rocks, although the currently available dataset for fractures is sparse. The correspondence between model calculation results and matrix data is better than for existing models.