scholarly journals A Modified Cooperative A* Algorithm for the Simultaneous Motion of Multiple Microparts on a “Smart Platform” with Electrostatic Fields

Micromachines ◽  
2018 ◽  
Vol 9 (11) ◽  
pp. 548 ◽  
Author(s):  
Georgia Kritikou ◽  
Nikos Lamprianidis ◽  
Nikos Aspragathos
Keyword(s):  
Configuration Space ◽  
Electrostatic Forces ◽  
A Algorithm ◽  
Electrostatic Fields ◽  
Electrostatic Phenomena

In this article, a method for microparts parallel manipulation with electrostatic forces, applied by conductive electrodes embedded on a Programmable “Smart Platform”, is introduced. The design of the platform and the layout of the electrodes underneath the rectangular microparts with respect to the platform’s geometry are presented. The electrostatic phenomena that result to the electrostatic forces applied to the microparts by the activated electrodes of the “Smart Platform” are studied in detail. Algorithms for the activation of the platform’s electrodes for the motion of the rectangular microparts are introduced and their motion is simulated. The Configuration-Space (C-Space) of the microparts on the “Smart Platform” is defined taking into account the static obstacles that are placed on the platform and the rest of moving microparts. Considering the layout of the platform, the activation algorithms, the motion and the C-Space of the microparts, a modified A* algorithm is proposed and the best path for every moving rectangular micropart on the “Smart Platform”, is computed with respect to time. Simulated experiments are presented to demonstrate the effectiveness of the proposed approach and the results are discussed.

scholarly journals First direct electron and ion fluid computation of high electrostatic fields in dense inhomogeneous plasmas with subsequent nonlinear laser interaction

1983 ◽  
Vol 1 (3) ◽  
pp. 283-304 ◽  
Author(s):  
P. Lalousis ◽  
H. Hora
Keyword(s):  
Inhomogeneous Plasma ◽  
Large Computer ◽  
Coulomb Collisions ◽  
Electrostatic Fields ◽  
Computer Calculations ◽  
Hydrodynamic Study ◽  
Electrostatic Phenomena ◽  
Short Time ◽  
First Time ◽  
The Waves

Computer calculations have been made for a plasma composed of electron and ion fluids, with the electrostatic field as an additional variable described by Poisson's equation, allowing for the first time a hydrodynamic study of the electrostatic phenomena in plasmas, where very short time steps, large computer capacity and special numerical procedures were used. The numerically observed oscillations of the fields and electron fluid and the waves and their damping by collisions have been evaluated and an analytical model has been derived to study damping by Coulomb collisions. The magnitudes of the electrostatic fields in inhomogeneous plasma have been evaluated as functions of temperature and density gradient. For laser irradiation of 1016W/cm2, including nonlinear forces with the complete intensity dependent (nonlinear) optical response for heating and dielectric force effects, electrostatic fields exceeding 108V/cm are generated.

scholarly journals Capturing the dynamic target by the robot manipulator in high-dimensional configuration space map

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093944
Author(s):  
Jiali Pi ◽  
Weiming Zhang ◽  
Shifu Zhang ◽  
Chunming Pi ◽  
Changhua Xie
Keyword(s):  
Configuration Space ◽  
Physical Modeling ◽  
Robot Manipulator ◽  
Dimensional Space ◽  
High Dimensional ◽  
A Algorithm ◽  
Cartesian Space ◽  
Dynamic Target ◽  
Target Capturing ◽  
Traditional Approaches

In robotics, the tough problem about the dynamic target capturing consists of tracking the target by the robot manipulator and grasping the target by the robot finger. For the sake of space, this article deals with only the first problem, tracking the dynamic target by the robot manipulator. The traditional approaches of capturing the dynamic target may work well when they are employed in low-dimensional space by reinforcement learning or physical modeling. However, they fail to work well in high-dimensional space. The traditional approaches have four limitations with respect to Cartesian space, configuration space, reinforcement learning, and physical modeling. To overcome these limitations, this article implements improved dynamic A* algorithm in high-dimensional configuration space map to capture the target. First, a space injection model injects the collision detection and target position from the Cartesian space into the configuration space to construct a high-dimensional map. Then, the target capturing method including the improved dynamic A* algorithm is applied on the map to track and capture the target. Finally, the experiment performed in time-varying environment and the dynamic target achieves a reliable result. This article has proposed an approach that makes the robot manipulator motion planning more accurate in high-dimensional dynamic configuration space. This approach enables the multi-joint manipulator to avoid the obstacle while tracking the target in high-dimensional configuration space. It takes the advantages of heuristic algorithms in the process of target capturing method designing. It adds precision and speed to target tracking. The success of the approach may apply to any industrial robot tracking target, surgical operation, and space probes. And, it may lay a solid foundation for dynamics control with a scope for future investigations.

On the Rotation of Dielectrics in Electrostatic Fields and Related Phenomena

1931 ◽  
Vol 27 (1) ◽  
pp. 91-102 ◽  
Author(s):  
L. G. Vedy
Keyword(s):  
Surface Charge ◽  
The Body ◽  
Electrical Machine ◽  
Dielectric Body ◽  
Electrostatic Fields ◽  
Conducting Coating ◽  
Rate Of Decay ◽  
A Chain ◽  
Electrostatic Phenomena ◽  
Similar Explanation

The rotation of a dielectric covered body, suspended between the poles of a Wimshurst machine, is investigated and found to be due to the accumulation of charge on the surface of the body, under the action of the brush discharge, and to the subsequent electrostatic repulsion of this charge. It is shown theoretically, in an appendix, that the rate of rotation is governed by the rate of decay of the surface charge, and is a maximum for a certain value of this rate of decay. The rotation of a chain hanging from an electrical machine into the dielectric layer of a Leyden jar (the inner conducting coating being removed) and similar electrostatic experiments are described, and shown to be due also to the superficial charging of a dielectric body, body, and depends upon the rate of decay of this surface charge. A similar explanation is shown to account for some other electrostatic phenomena.

scholarly journals Vlasov-Poisson-Poisson equations, critical mass and kordylewski clouds

2019 ◽  
Vol 485 (3) ◽  
pp. 276-280 ◽  
Author(s):  
V. V. Vedenyapin ◽  
T. V. Salnikova ◽  
S. Ya. Stepanov
Keyword(s):  
Poisson Equation ◽  
Nonlinear Equations ◽  
Critical Mass ◽  
Charged Particles ◽  
Stationary Solutions ◽  
Libration Points ◽  
Electrostatic Forces ◽  
Poisson Equations ◽  
Electrostatic Fields ◽  
Triangular Libration Points

A derivation of the Vlasov-Poisson-Poisson equation is proposed for studying stationary solutions of a system of gravitating charged particles in vicinity of triangular libration points (Kordylevsky cloud). Stationary solutions are sought as functions of integrals, which leads to elliptic nonlinear equations for the potentials of the gravitational and electrostatic fields. This gives a critical mass: for bodies with large masses dominates gravitation forces, and for bodies with smaller masses - electrostatic forces.

FIELD EVAPORATION OF n-Ge (111) IN HYDROGEN AND DECOMPOSITION OF GeH4 IN HIGH ELECTROSTATIC FIELDS

1989 ◽  
Vol 50 (C8) ◽  
pp. C8-135-C8-140
Author(s):  
C. MAINKA ◽  
W. DRACHSEL ◽  
J. H. BLOCK ◽  
G. KOZLOWSKI
Keyword(s):  
Field Evaporation ◽  
Electrostatic Fields

Electrostatic Forces on the Surface of Metals as Measured by Atomic Force Microscopy

2000 ◽  
Vol 10 (1-2) ◽  
pp. 15
Author(s):  
Eugene Sprague ◽  
Julio C. Palmaz ◽  
Cristina Simon ◽  
Aaron Watson
Keyword(s):  
Atomic Force Microscopy ◽  
Electrostatic Forces ◽  
Force Microscopy ◽  
Atomic Force

Best Neighbor Heuristic Search for Finding Minimum Paths in Transportation Networks

1998 ◽  
Vol 1651 (1) ◽  
pp. 48-52 ◽  
Author(s):  
Jeffrey L. Adler
Keyword(s):  
Heuristic Search ◽  
Transportation Networks ◽  
Transportation Network ◽  
Search Problems ◽  
A Algorithm ◽  
Running Time ◽  
Search Effort ◽  
Wide Range ◽  
Path Search ◽  
Sparse Networks

For a wide range of transportation network path search problems, the A* heuristic significantly reduces both search effort and running time when compared to basic label-setting algorithms. The motivation for this research was to determine if additional savings could be attained by further experimenting with refinements to the A* approach. We propose a best neighbor heuristic improvement to the A* algorithm that yields additional benefits by significantly reducing the search effort on sparse networks. The level of reduction in running time improves as the average outdegree of the network decreases and the number of paths sought increases.

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