Proposition of a Distributed Voronoi Partitioning Approach Enhanced with a Dispersion Phase for a Multirobot System

Author(s):  
Nourchene Ben Slimane ◽  
Moncef Tagina
Crystals ◽  
2020 ◽  
Vol 11 (1) ◽  
pp. 19
Author(s):  
Sergei N. Smetanin ◽  
Michal Jelínek ◽  
Dmitry P. Tereshchenko ◽  
Mikhail N. Ershkov ◽  
Václav Kubeček

We propose and study the conditions of zero-dispersion phase matching for parametric Raman interactions in birefringent crystals differing by anisotropy of zero-dispersion wavelength and allowing for the spectral tuning of the zero-dispersion phase-matching condition. We choose a highly birefringent crystal of calcite having a wide zero-dispersion anisotropy range for the demonstration of new effects of laser pulse shortening in parametric Raman lasers with spectrally tunable zero-dispersion phase matching. We demonstrate the anti-Stokes (1168 nm) and multi-Stokes (1629 nm) picosecond pulse shortening and self-separation of single 80-ps ultra-short pulse from the zero-dispersion phase-matched parametric Raman lasers that are based on the calcite crystal without using any electro-optical device.


2017 ◽  
Vol 50 (21) ◽  
pp. 8816-8826 ◽  
Author(s):  
Vaishnavi Gollanapalli ◽  
Anirudh Manthri ◽  
Uma K. Sankar ◽  
Mukta Tripathy

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Xuejing Lan ◽  
Zhenghao Wu ◽  
Wenbiao Xu ◽  
Guiyun Liu

This paper considers the region-based formation control for a swarm of robots with unknown nonlinear dynamics and disturbances. An adaptive neural network is designed to approximate the unknown nonlinear dynamics, and the desired formation shape is achieved by designing appropriate potential functions. Moreover, the collision avoidance, velocity consensus, and region tracking are all considered in the controller. The stability of the multirobot system has been demonstrated based on the Lyapunov theorem. Finally, three numerical simulations show the effectiveness of the proposed formation control scheme to deal with the narrow space, loss of robots, and formation merging problems.


Membranes ◽  
2020 ◽  
Vol 10 (6) ◽  
pp. 114 ◽  
Author(s):  
Fangmeng Sheng ◽  
Noor Ul Afsar ◽  
Yanran Zhu ◽  
Liang Ge ◽  
Tongwen Xu

The traditional ion-exchange membranes face the trade-off effect between the ion flux and perm-selectivity, which limits their application for selective ion separation. Herein, we amalgamated various amounts of the ZSM-5 with the polyvinyl alcohol as ions transport pathways to improve the permeability of monovalent cations and exclusively reject the divalent cations. The highest contents of ZSM-5 in the mixed matrix membranes (MMMs) can be extended up to 60 wt% while the MMMs with optimized content (50 wt%) achieved high perm-selectivity of 34.4 and 3.7 for H+/Zn2+ and Li+/Mg2+ systems, respectively. The obtained results are high in comparison with the commercial CSO membrane. The presence of cationic exchange sites in the ZSM-5 initiated the fast transport of proton, while the microporous crystalline morphology restricted the active transport of larger hydrated cations from the solutions. Moreover, the participating sites and porosity of ZSM-5 granted continuous channels for ions electromigration in order to give high limiting current density to the MMMs. The SEM analysis further exhibited that using ZSM-5 as conventional fillers, gave a uniform and homogenous formation to the membranes. However, the optimized amount of fillers and the assortment of a proper dispersion phase are two critical aspects and must be considered to avoid defects and agglomeration of these enhancers during the formation of membranes.


2012 ◽  
Vol 101 (8) ◽  
pp. 084101 ◽  
Author(s):  
Niyom Lue ◽  
Jeon Woong Kang ◽  
Timothy R. Hillman ◽  
Ramachandra R. Dasari ◽  
Zahid Yaqoob

Nafta-Gaz ◽  
2021 ◽  
Vol 77 (2) ◽  
pp. 127-135
Author(s):  
Rafał Kozdrach ◽  

The article presents the results of research on the influence the type of base oil in lubricating compositions has on the rheological parameters of selected lubricants. Vegetable, mineral, and synthetic dispersion phases were used to produce lubricating greases. The modified amorphous silica was used as the dispersed phase. However, as a modifying additive was used a substance containing the antioxidants, corrosion inhibitors, and EP/AW additives. The experiments on rheological properties were carried out using a Physica MCR 101 rotational rheometer (manufactured by Anton Paar), equipped with a diffusion air bearing and connected to a pneumatic supply – an oil-free Jun-Air compressor and air drying block. The device is equipped with a Peltier system for temperature control in the range of –20°C to 200°C and an external thermostatic VISCOTHERM V2 system, working in the temperature range of –20°C to 200°C. The rheometer control and measurement data analysis were performed using Rheoplus software. The tests were carried out using a cone-plate measuring system with a shear rate range of 0.01–100 s-1 at 20°C for lubricating compositions prepared on various oil bases. To evaluate the value of rheological parameters, the results of tests of the dependence between shear stress and shear rate (flow curves) were used. For the theoretical determined on the flow curves, the following rheological models were used: Bingham, Herschel–Bulkley, Casson, and Tscheuschner. The values of the shear stress (yield point) in depending on the type of dispersion phase has changed. This proves that the use of a base oil with the appropriate functional properties does not weaken, but reinforces the spatial structure of a lubricating grease. It has an important meaning when selecting construction parameters when designing a central lubrication system with grease made from a vegetable oil base (Abyssinian oil). The rheological properties of the lubricating grease are influenced by the type of base oil and thickener, any additives in the grease, the production technology of the grease, and the conditions in which it is used. The tests revealed an important influence of the base oil on the rheological parameters that describe the behaviour of lubricating compositions subjected to stresses and strains in a lubricating system.


1993 ◽  
Vol 32 (S2) ◽  
pp. 505 ◽  
Author(s):  
Xiaohai Cai ◽  
Kunquan Lu ◽  
Youchang Xie ◽  
Xianping Xu ◽  
Youqi Tang ◽  
...  
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