Ball, JE & Williams, BJ 1984, 'Characteristic schemes using fixed spatial grids.'.
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Characteristic schemes for the solution of the Saint Venant equations for unsteady flow in a fixed bed prismatic open channel without lateral inflow were examined. The study was restricted to schemes using a fixed spatial grid requiring interpolation between the characteristics and the grid. Five solution techniques which differed in their interpolation procedure and order of finite difference approximation were developed. The accuracy of the water level and flow rate predicted by each solution technique for different grid spacing were compared and mass balances were computed for each technique. (A)
Debroy, A, Nandy Mazumdar, S, Barua, PD & Mahajan, MP 1984, 'Desulfurization of N,N′-Diarylthioureas by Lead Tetraacetate Oxidation', Bulletin of the Chemical Society of Japan, vol. 57, no. 1, pp. 315-316.
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Abstract Lead tetraacetate oxidation of N,N′-diarylthioureas in refluxing dichloromethane and pyridine gave the corresponding N,N′-diarylureas. Sulfur was isolated during each oxidation reaction.
Hoang, D & Ng, M 1984, 'Optimal smoother for discrete time point processes with finite-state Markov rate (Corresp.)', IEEE Transactions on Information Theory, vol. 30, no. 2, pp. 425-429.
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A closed-form optimal nonlinear smoothing algorithm is derived for estimation of signal that is indirectly observed through a discrete time point process (DTPP). A finite-state Markov signal influences the rate of the point process. The smoothers obtained are simple, recursive, and finite dimensional. An illustrative example of the derived estimation scheme is presented. © 1983 IEEE
Miyanaga, Y, Miki, N & Nagai, N 1984, 'ARMA digital lattice filter based on a linear prediction theory', Electronics and Communications in Japan (Part I: Communications), vol. 67, no. 10, pp. 30-38.
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AbstractThis paper proposes some elementary sections of an ARMA lattice filter. an ARMA lattice filter with an arbitrary AR order and an arbitrary MA order is presented. A conventional ARMA lattice filter has already been constructed by a method used to develop an AR lattice filter to a 2‐dimensional filter. Therefore the conventional filter is not suitable for a filter realization when an AR order and an MA order differ from each other, and for the design of a minimum realized ARMA model. the most important characteristic of lattice filters is an orthogonality between every prediction error calculated at each elementary section. Employing this characteristic, we employ the AR lattice filter in a speech analysis, synthesis, an equalizer, and so on. It is shown that the proposed ARMA lattice filter satisfies an orthogonality. Furthermore, the ARMA lattice inverse filter which is an analyzer for an observed waveform and the ARMA lattice filter which is a synthesizer for the waveform are presented.
Song, SM, Vohnout, VJ, Waldron, KJ & Kinzel, GL 1984, 'Computer-aided design of a leg for an energy efficient walking machine', Mechanism and Machine Theory, vol. 19, no. 1, pp. 17-24.
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Svirezhev, YM, Krysanova, VP & Voinov, AA 1984, 'Mathematical modelling of a fish pond ecosystem', Ecological Modelling, vol. 21, no. 4, pp. 315-337.
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Vigneswaran, S & Thiyagaram, M 1984, 'Application of filtration theories to ground water recharge problems', Water, Air, and Soil Pollution, vol. 22, no. 4, pp. 417-428.
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A mathematical model is formulated for filtration of different flow conditions (radial flow, spherical flow and combined radial and vertical downwards flow) from O'Melia's model for deep bed filtration. The simple ground water recharge problems with the above mentioned flow conditions are also presented. The radial flow mathematical model was verified using bench-scale radial flow experiments. The removal efficiency and headless in spherical flow and combined radial - vertical downwards flow models with equal bed volume were simulated. © 1984 D. Reidel Publishing Company.
Vigneswaran, S, Visvanathan, C & Ben Aim, R 1984, 'Optimization of sand recycle rate in mobile bed filtration', Effluent & Water Treatment Journal, vol. 24, no. 12, pp. 457-460.
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Rapid sand filters have been used as a final clarifying step in municipal water treatment plants since the early 1900's. The mobile-bed deep filter process uses compressed air to lift and separate retained particles in the sand. Although reports indicate that this type of filter operates continuously without any problem, sand recycling was found to be an energy consuming process. It is therefore essential to optimize the sand recycle rate. In this study the optimum recycle rate for a particular filtration rate was estimated from the 'filter clogging front theory' using fixed bed experimental results.
Voinov, AA & Svirezhev, YM 1984, 'A minimal model of eutrophication in freshwater ecosystems', Ecological Modelling, vol. 23, no. 4, pp. 277-292.
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Waldron, KJ, Vohnout, VJ, Pery, A & McGhee, RB 1984, 'Configuration Design of the Adaptive Suspension Vehicle', The International Journal of Robotics Research, vol. 3, no. 2, pp. 37-48.
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The selection of vehicle and leg configuration and of power transmission and actuation system configuration for the adaptive suspension vehicle ( ASV) are discussed. The ASV will be a proof-of-concept prototype of a proposed class of transportation vehicles for use in terrain that is not passable for conventional vehicles. It uses a legged locomotion princi ple. The machine will not be an autonomous 'robot, ' in the sense that it will carry an operator. It will, however, have a very high level of machine intelligence and environmental sensing capability. Much of the technology involved is unique and has potential for application to future robot systems. In this paper, major aspects of the vehicle and leg geometry, the on-board processing configuration, and the hydrostatic power transmission system are discussed.
Ball, JE & Williams, BJ 1970, 'CHARACTERISTIC SCHEMES USING FIXED SPATIAL GRIDS.', National Conference Publication - Institution of Engineers, Australia, I.E.Aust. Nat. Conf. Pub. No. 84/7, Barton, Adelaide, Australia, pp. 24-28.
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Characteristic schemes for the solution of the Saint Venant equations for unsteady flow in a fixed-bed prismatic open channel without lateral inflow were examined. The study was restricted to schemes using a fixed spatial grid requiring interpolation between the characteristics and the grid. Five solution techniques which differed in their interpolation procedure and order of finite difference approximation were developed. The accuracy of the water level and flow rate predicted by each solution technique for different grid spacings were compared and mass balances were computed for each technique.
Graham, LB & Hadgraft, RG 1970, 'FARM DAM CHANNEL BYWASHES.', National Conference Publication - Institution of Engineers, Australia, pp. 348-352.
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Channel bywashes are side discharge channel spillways, which provide an alternative to conventional farm dam bywashes on steep sites, or where hydraulic problems of very wide bywash outlet widths occur. They do not, however, offer a means of significantly reducing the width of return slope required for a particular project. Analysis of channel bywash flow requires an iterative step solution, using either a computer or powerful programmable calculator. The engineer must judge whether a conventional bywash or channel bywash is appropriate in a particular circumstance.
Roper, H, Baweja, D & Kirkby, G 1970, 'TOWARDS A QUANTITATIVE MEASURE OF DURABILITY OF CONCRETE STRUCTURAL MEMBERS.', Publication SP - American Concrete Institute, pp. 639-658.
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Brief consideration is given to the uses of a quantitative measure of durability of concrete structural members. A classification scheme of structures, elements, and causes and effects is reviewed by the use of examples. Any quantitative measure of durability of in-situ structural members must be based on data gathered using non-destructive test methods. For any phenomenon such as cracking, corrosion or spalling which influences durability, three factors must be considered, a method of measurement of the phenomenon, the intensity of the phenomenon, and its distribution over the observed area.
Tai Ming, J & Waldron, KJ 1970, 'GEOMETRIC DESIGN OF MANIPULATORS USING INTERACTIVE COMPUTER GRAPHICS.', v II, pp. 949-954.
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A study of numerical workspace delineation for industrial robot geometries is described. The programs developed have several unique features. A powerful new technique for computation of volumes and other workspace properties has been implemented. Intersections between the manipulator workspace and those of other devices are explored. A capability for studying the portions of the workspace with the hand in a specified orientation is also incorporated. The program is implemented on an interactive graphic system.
Waldron, KJ, Wang, SL & Bolin, SJ 1970, 'STUDY OF THE JACOBIAN MATRIX OF SERIAL MANIPULATORS.', American Society of Mechanical Engineers (Paper).
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Inversion of the Jacobian matrix is the critical step in rate decomposition which is used to solve the so-called 'inverse kinematics' problem of robotics. This is the problem of achieving a coordinated motion relative to the fixed reference frame. A general methodology is presented for formulation and manipulation of the Jacobian matrix. The formulation is closely tied to the geometry of the system and lends itself to simplification using appropriate coordinate transformations. This is of great importance since it gives a systematic approach to the derivation of efficient, analytical inverses. The method is also applied to the examination of geometrically singular positions. Several important general results relating to the structure of the singularity field are deducible from the structure of the algebraic system.
