Earticle

This paper features the kinematic analysis of a SCORBOT-ER Vplus robot arm which is used for doing successful robotic manipulation task in its workspace. The SCORBOT-ER Vplus is a 5-dof vertical articulated robot and all the joints are revolute [1]. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study along with 4x4 homogeneous matrix. SCORBOT-ER Vplus is a dependable and safe robotic system designed for laboratory and training applications. This versatile system allows students to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB 8.0 is used to solve this mathematical model for a set of joint parameter.

The ultrasonic velocity, density and refractive indices have been measured for systems at 303.15, 308.15, 313.15, 318.15 and 323.15 K. From the experimental data adiabatic compressibility (βs), intermolecular free length (Lf), internal pressure (π), acoustic impedance (Z), molar refraction (Rm), Polarisability, (αp), thermal expansion coefficient (α), Rao’s molar sound function (R), solvation number (Sn) , Relative Association Parameter (RA) have been computed. Excess properties are fitted to Redlich-kister polynomial equation to obtain binary coefficients and the standard errors with main thrust of the study is to correlate the excess properties and the relevant interactions parameters with the nature of molecular interactions between the mixing components at different temperatures. Lorentz–Lorenz equation and Eykman equations are used to estimate thermal expansion coefficient of the systems from their respective experimental densities and refractive indices. The knowledge of refractive index (n), molar refraction (Rm), thermal expansion coefficient (α) and polarizability (αp) are useful for predicting many physico-chemical properties of solutions.

The probability of detection and the accuracy of a measurement are determined by the available SNR ratio and hence by the energy used for illuminating the target. Also, increasing the rate of illumination of a target allows obtaining less uncertain predictions. A high energy burst and a high illumination rate are desirable from the tracker's accuracy point of view. However they negatively affect the transmitter beam occupancy budget and therefore they are undesirable from the point of view of the radar's ability to deal with multiple targets. Hence, tracker parameters (including track illumination rate and dwell-time or burst energy) should be designed to satisfy a double objective such as minimum beam occupancy, which will give maximum efficiency in the use of radar's energy and maximum beam scheduling effectiveness (shorter pulses, reduced dwell-time)-desired tracking accuracy. In this paper we presented a new approach to optimally select both the energy of the tracking waveforms and the track sampling rates which jointly minimize occupancy and satisfy angular accuracy requirements for a MFR with an tracking filter.

The Digital Home technology and standards are evolving towards an integrated electronic home system. This evolution will facilitate accessibility of data and information from various sources around the world to our home. The technology will also enable the automatic or semi-automatic control of lighting, climate doors and windows, and security, surveillance systems and control of other sundry devices in the home including entertainment systems. The implication of these trends to the developing country and their economies are numerous and far-reaching. This paper examines the various issues and challenges of the digital home concept in the developing economies of the world.