An expert system approach to robot RIG controller design / Boubakeur Benzeltout (1987)

Public ISBD Titre : An expert system approach to robot RIG controller design Type de document : texte imprimé Auteurs : Boubakeur Benzeltout, Auteur ; P. Blanchfield, Directeur de thèse Editeur : Nottingham : University of Nottingham Année de publication : 1987 Importance : 140 f. Présentation : ill. Format : 30 cm. Note générale : Thèse de Doctorat : Électronique : Nottingham, University of Nottingham : 1987 Bibliogr. f. 144 - 158. - Annexes [110] f Langues : Anglais (eng) Mots-clés : Robot manipulators Software package Multi-robot cells Off-line programming Index. décimale : D002587 Résumé : The potential use robot manipulators lies in the area of low to medium batch production. However, to be competitive with other sophisticated devices, alresdy well established in the industrial world and successfully accepted by most manufacturers, these robotic devices have to meet their potential users' needs. These are mainly: - A very friendly programming environment that eliminates any risk of danger. - A help library for different tasks. - A self recovering system that can also reflect intelligent behaviour. This thesis describes the development of a software package for the off-line programming of manipulators, and the control of multi-robot cells, using an expert system approach, to respond to the above needs. Features emphasized in the design are: - Generation of plans of actions for robots without any requirement for expertise in computer programming. - Use of an interface made as friendly as possible. - Detection of operational errors through sensor monitoring. - Interpretation, in case of failure, of data generated by the system, to determine the cause. - Correction of errors, thus making the controller an autonomous system. - Learning from past mistakes allowing the system to behave "intelligently". An expert system approach to robot RIG controller design [texte imprimé] / Boubakeur Benzeltout, Auteur ; P. Blanchfield, Directeur de thèse . - Nottingham : University of Nottingham, 1987 . - 140 f. : ill. ; 30 cm. Thèse de Doctorat : Électronique : Nottingham, University of Nottingham : 1987 Bibliogr. f. 144 - 158. - Annexes [110] f Langues : Anglais (eng) Mots-clés : Robot manipulators Software package Multi-robot cells Off-line programming Index. décimale : D002587 Résumé : The potential use robot manipulators lies in the area of low to medium batch production. However, to be competitive with other sophisticated devices, alresdy well established in the industrial world and successfully accepted by most manufacturers, these robotic devices have to meet their potential users' needs. These are mainly: - A very friendly programming environment that eliminates any risk of danger. - A help library for different tasks. - A self recovering system that can also reflect intelligent behaviour. This thesis describes the development of a software package for the off-line programming of manipulators, and the control of multi-robot cells, using an expert system approach, to respond to the above needs. Features emphasized in the design are: - Generation of plans of actions for robots without any requirement for expertise in computer programming. - Use of an interface made as friendly as possible. - Detection of operational errors through sensor monitoring. - Interpretation, in case of failure, of data generated by the system, to determine the cause. - Correction of errors, thus making the controller an autonomous system. - Learning from past mistakes allowing the system to behave "intelligently".

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Analysis of the tapered waveguide / A. Belghoraf (1984) 

Public ISBD Titre : Analysis of the tapered waveguide Type de document : texte imprimé Auteurs : A. Belghoraf, Auteur ; R. L. Beurle, Directeur de thèse Editeur : Nottingham : University of Nottingham Année de publication : 1984 Importance : 110 f. Présentation : ill. Format : 27 cm. Note générale : Thèse de Doctorat : Électronique : Angleterre, University of Nottingham : 1984 Bibliogr. f. 130 - 132 . - Annexe f. 111 - 129 Langues : Anglais (eng) Mots-clés : Tapered waveguide problems Plane wave spectral analysis Intrinsic mode theory Parabolic equation method Index. décimale : D003484 Résumé : This thesis describes analytical and numerical investigations of tapered waveguide problems, for intergrated optics applications. A plane wave spectral analysis, models the propagation process of the tapered waveguide and introduces the concept of an Intrinsic spectral Integral, which turns out to be in good agreement with calculation in terms of Adiabatic modes. This allows us to extend the Intrinsic mode concept beyond the singularity where the Adiabatic mode concept breaks down. In this sense, the implementation of the resulting spectral formulation, for the case of homogeneous media, contains all information pertinent to the modal propagation mechanism, inside and outside the tapered waveguide; before and after the singularity caused by cut off of the Adiabatic mode. The thesis is mainly concerned with implementing the Intrinsic mode theory as a numerical computational tool. In this respect, very good agreement is demonstrated between this model and calculations performed numerically using the parabolic equation method. On the other hand, the new model contains far greater physical and analytical possibilities than previous methods. Analysis of the tapered waveguide [texte imprimé] / A. Belghoraf, Auteur ; R. L. Beurle, Directeur de thèse . - Nottingham : University of Nottingham, 1984 . - 110 f. : ill. ; 27 cm. Thèse de Doctorat : Électronique : Angleterre, University of Nottingham : 1984 Bibliogr. f. 130 - 132 . - Annexe f. 111 - 129 Langues : Anglais (eng) Mots-clés : Tapered waveguide problems Plane wave spectral analysis Intrinsic mode theory Parabolic equation method Index. décimale : D003484 Résumé : This thesis describes analytical and numerical investigations of tapered waveguide problems, for intergrated optics applications. A plane wave spectral analysis, models the propagation process of the tapered waveguide and introduces the concept of an Intrinsic spectral Integral, which turns out to be in good agreement with calculation in terms of Adiabatic modes. This allows us to extend the Intrinsic mode concept beyond the singularity where the Adiabatic mode concept breaks down. In this sense, the implementation of the resulting spectral formulation, for the case of homogeneous media, contains all information pertinent to the modal propagation mechanism, inside and outside the tapered waveguide; before and after the singularity caused by cut off of the Adiabatic mode. The thesis is mainly concerned with implementing the Intrinsic mode theory as a numerical computational tool. In this respect, very good agreement is demonstrated between this model and calculations performed numerically using the parabolic equation method. On the other hand, the new model contains far greater physical and analytical possibilities than previous methods.

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Discharge coefficient of film cooling holes / Saad Benmansour (1981) 

Public ISBD Titre : Discharge coefficient of film cooling holes Type de document : texte imprimé Auteurs : Saad Benmansour, Auteur ; N. Hay, Directeur de thèse ; D. Lampard, Directeur de thèse Editeur : Nottingham : University of Nottingham Année de publication : 1981 Importance : 208 f. Présentation : ill. Format : 30 cm. Note générale : Mémoire de Master : Génie Mécanique : Royaume-Uni, University of Nottingham : 1981 Bibliogr. f. 138-143. - Annexes f. 144-208 Langues : Anglais (eng) Mots-clés : Film cooling holes Jet engines Discharge coefficient Index. décimale : Ms00281 Résumé : Film cooling is a method of protecting a surface which is exposed to a hot gas flow by covering it with a film of cold gas. The coolant film is injected through rows of holes in the cooled surface. The most important application of this method is its use in cooling turbine blades and nozzle guide vanes in jet engines, which are subjected to very hot flows from the engine combustion chambers. It is shown that there is a lack of information about the behaviour of the discharge coefficient of holes and also about the effects on it of the various possible parameters investigated. The work presented here, was conducted in a specially constructed isothermal rig, to determine which are the parameters having a strong effect on the discharge coefficient of film cooling holes. The flow direction in the coolant channel was considered parallel to the mainstream flow, such as encountered in nozzle guide vanes and perpendicular to the mainstream such as in the rotor blade situation. The flow parameters covered in both configurations were the mainstream mach number M ͚, ranging from 0.0 to 0.5 the coolant mach number Mc, ranging from 0.0 to 0.4 and the pressure ratio Pc⁺/P ͚ from 1.0 to 2.0. The Reynolds number in the holes was kept around 0.6 x 10⁵. The geometric parameters varied, were α the angle of inclination of the holes, between 30° and 90°, and the length to diameter ratio L/D between 2 and 6. The results showed that the discharge coefficient was mainly affected by the pressure ratio Pc⁺/P ͚ and the coolant mach number Mc. For a pressure ratio up to 1.5, the discharge coefficient decreased by about 25% when Mc increased from 0.0 to 0.4 for both flow configurations and α = 30° and 90°. For higher values of pressure ratio, Cd remains approximately constant, except for α = 30° in the parallel flow configuration, in which Cd increased by up to 30% in all the range of pressure ratio (1.05 -> 2.0). The effect of the length to diameter ratio L/D was negligible in the range considered 2 Discharge coefficient of film cooling holes [texte imprimé] / Saad Benmansour, Auteur ; N. Hay, Directeur de thèse ; D. Lampard, Directeur de thèse . - Nottingham : University of Nottingham, 1981 . - 208 f. : ill. ; 30 cm. Mémoire de Master : Génie Mécanique : Royaume-Uni, University of Nottingham : 1981 Bibliogr. f. 138-143. - Annexes f. 144-208 Langues : Anglais (eng) Mots-clés : Film cooling holes Jet engines Discharge coefficient Index. décimale : Ms00281 Résumé : Film cooling is a method of protecting a surface which is exposed to a hot gas flow by covering it with a film of cold gas. The coolant film is injected through rows of holes in the cooled surface. The most important application of this method is its use in cooling turbine blades and nozzle guide vanes in jet engines, which are subjected to very hot flows from the engine combustion chambers. It is shown that there is a lack of information about the behaviour of the discharge coefficient of holes and also about the effects on it of the various possible parameters investigated. The work presented here, was conducted in a specially constructed isothermal rig, to determine which are the parameters having a strong effect on the discharge coefficient of film cooling holes. The flow direction in the coolant channel was considered parallel to the mainstream flow, such as encountered in nozzle guide vanes and perpendicular to the mainstream such as in the rotor blade situation. The flow parameters covered in both configurations were the mainstream mach number M ͚, ranging from 0.0 to 0.5 the coolant mach number Mc, ranging from 0.0 to 0.4 and the pressure ratio Pc⁺/P ͚ from 1.0 to 2.0. The Reynolds number in the holes was kept around 0.6 x 10⁵. The geometric parameters varied, were α the angle of inclination of the holes, between 30° and 90°, and the length to diameter ratio L/D between 2 and 6. The results showed that the discharge coefficient was mainly affected by the pressure ratio Pc⁺/P ͚ and the coolant mach number Mc. For a pressure ratio up to 1.5, the discharge coefficient decreased by about 25% when Mc increased from 0.0 to 0.4 for both flow configurations and α = 30° and 90°. For higher values of pressure ratio, Cd remains approximately constant, except for α = 30° in the parallel flow configuration, in which Cd increased by up to 30% in all the range of pressure ratio (1.05 -> 2.0). The effect of the length to diameter ratio L/D was negligible in the range considered 2

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Experimental data plotter / Boubakeur Benzeltout (1984) 

Public ISBD Titre : Experimental data plotter Type de document : texte imprimé Auteurs : Boubakeur Benzeltout, Auteur ; B. Wilson, Directeur de thèse Editeur : Nottingham : University of Nottingham Année de publication : 1984 Importance : 80 f. Présentation : ill. Format : 27 cm. Note générale : Mémoire de Master : Electronique : Nottingham, University of Nottingham : 1984 Annexe f. 81 - 93 . Bibliogr. f. 94 Langues : Anglais (eng) Mots-clés : Microcomputer Analogue X-Y recorder Cubic splines Polynominal interpolation Index. décimale : Ms00284 Résumé : The design of an interface between a microcomputer and an analogue X-Y recorder is described in detail. Given a set of experimental data points the line of best fit is generated by a Fortran routine using cubic splines to calculate the intermediate values. An assembly language routine is used to draw the axes, scale them, and then to draw the curve using the previously calculated intermediate values. Comments on both routines and their use are included. Experimental data plotter [texte imprimé] / Boubakeur Benzeltout, Auteur ; B. Wilson, Directeur de thèse . - Nottingham : University of Nottingham, 1984 . - 80 f. : ill. ; 27 cm. Mémoire de Master : Electronique : Nottingham, University of Nottingham : 1984 Annexe f. 81 - 93 . Bibliogr. f. 94 Langues : Anglais (eng) Mots-clés : Microcomputer Analogue X-Y recorder Cubic splines Polynominal interpolation Index. décimale : Ms00284 Résumé : The design of an interface between a microcomputer and an analogue X-Y recorder is described in detail. Given a set of experimental data points the line of best fit is generated by a Fortran routine using cubic splines to calculate the intermediate values. An assembly language routine is used to draw the axes, scale them, and then to draw the curve using the previously calculated intermediate values. Comments on both routines and their use are included.

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Human gene mapping using the polymerase chain reaction / Malika Nebbali (1992) 

Public ISBD Titre : Human gene mapping using the polymerase chain reaction Type de document : texte imprimé Auteurs : Malika Nebbali, Auteur ; Stuart Brown, Directeur de thèse Editeur : Nottingham : University of Nottingham Année de publication : 1992 Importance : 153 f. Présentation : ill. Format : 30 cm. Note générale : Thèse de Doctorat : Génie Chimique : Angleterre, University of Nottingham : 1992 Bibliogr. f. 154 - 167 . - Annexe [3] f Langues : Anglais (eng) Mots-clés : Gene mapping Hybridisation techniques DNA polymorphism Polymerase chain reaction methods Chemical carcinogenesis Chromatographic techniques Immunological methods Index. décimale : D001492 Résumé : There has been strong association between cigarette smoking and the incidence of lung cancer. Cigarette smoke is a rich source of PAH and it has been reported that high AHH activities in individuals makes them at high risk to lung cancer if they smoke cigarettes. In previous work a gene necessary for AHH induction was found to segregate with chromosome 2 markers; MDH-1, IDH-1 and ACP in human x mouse hybrid cells and was mapped to 2q31 --> 2pter. However a hybrid subclone containing a small deletion 2p25 --> 2pter which did not express MDH-1, ACP-1 or AHH was isolated. This could mean that the genes for these enzymes were actually missing from the chromosome and thus are located in the small deleted region. It is also possible that they are present elsewhere on the chromosome byt in an inactive form. Whichever explanation was true mapping of the three enzymes was of interest and MDH-1 was chosen as the enzyme to be mapped. Mapping of MDH-1 would strongly suggest that the genes for the other two enzymes were located in the same region. Since no data was available concerning the human MDH-1 gene, a strategy was designed in which MDH-1 was to be purified to homogeneity from red blood cells and the purified protein was to used to raise antibodies in rabbits. The aim then was to isolate the MDH-1 gene by immunological screening of a human λgt11 cDNA expression library. The gene would be subsquently used as a probe in in-situ hybridization techniques. MDH-1 was purified from human red blood cells using polyethylene glycol fractionation. The activity precipitated between 8 and 16%. Solubilised protein was separated by DEAE-cellulose and agarose affinity chromatography. Homogeneous enzyme was prepared by removing the contaminating proteins by FPLC using a Superose 12 gel filtration column. A 5500 fold purification was achieved. The purified preparation, had a molecular weight of approximatly 76000 and 38000 after sodium dodecyl sulphate gel electrophoresis. Thus, the enzyme is composed of two subunits of equal molecular weight. Antibodies were raised by injecting a rabbit with the agarose affinity fraction, but failed to detect the gene of interest after immunological screening of a human placental cDNA expression library. A second strategy was designed which involved sequencing peptides generated from the pure protein. The data obtained was used to sythesize oligonucleotides which served as primers for the amplification of specific regions of DNA from the MDH-1 gene via the polymerase chain reaction (PCR). Four peptides were produced by cyanogen bromide cleavage, purified using HPLC and sesuenced. It was found that the enzyme is highly homologous to the mouse enzyme as only one major difference was apparent at residue 288 where leucine was replaced by phenyalanine in humans. Three oligonucleotides called, 21, 31 and 30 mers respectively were synthesized P₄ and P₅ were used in PCRs for the amplification of specific regions of the MDH-1 gene which corresponded to 872 bp and 708 bp in length for the mouse and human genomic DNA respectively. The 708 bp product was purified from the agarose gel and was subjected to direct DNA sequencing. Comparison of the data obtained with the known mouse MDH-1 gene sequence strongly suggested the 708 bp band being amplified was human MDH-1. The fact that the amplification of human and mouse genomic DNA yielded products of different size had a major impact on future work. It was realised that it would not be necessary to carry out in-situ hybridisation to dorectly test for the presence or absence of the MDH-1 gene in hybrid cells. PCR alone would be able to give the desired results in a fraction of the time. Human gene mapping using the polymerase chain reaction [texte imprimé] / Malika Nebbali, Auteur ; Stuart Brown, Directeur de thèse . - Nottingham : University of Nottingham, 1992 . - 153 f. : ill. ; 30 cm. Thèse de Doctorat : Génie Chimique : Angleterre, University of Nottingham : 1992 Bibliogr. f. 154 - 167 . - Annexe [3] f Langues : Anglais (eng) Mots-clés : Gene mapping Hybridisation techniques DNA polymorphism Polymerase chain reaction methods Chemical carcinogenesis Chromatographic techniques Immunological methods Index. décimale : D001492 Résumé : There has been strong association between cigarette smoking and the incidence of lung cancer. Cigarette smoke is a rich source of PAH and it has been reported that high AHH activities in individuals makes them at high risk to lung cancer if they smoke cigarettes. In previous work a gene necessary for AHH induction was found to segregate with chromosome 2 markers; MDH-1, IDH-1 and ACP in human x mouse hybrid cells and was mapped to 2q31 --> 2pter. However a hybrid subclone containing a small deletion 2p25 --> 2pter which did not express MDH-1, ACP-1 or AHH was isolated. This could mean that the genes for these enzymes were actually missing from the chromosome and thus are located in the small deleted region. It is also possible that they are present elsewhere on the chromosome byt in an inactive form. Whichever explanation was true mapping of the three enzymes was of interest and MDH-1 was chosen as the enzyme to be mapped. Mapping of MDH-1 would strongly suggest that the genes for the other two enzymes were located in the same region. Since no data was available concerning the human MDH-1 gene, a strategy was designed in which MDH-1 was to be purified to homogeneity from red blood cells and the purified protein was to used to raise antibodies in rabbits. The aim then was to isolate the MDH-1 gene by immunological screening of a human λgt11 cDNA expression library. The gene would be subsquently used as a probe in in-situ hybridization techniques. MDH-1 was purified from human red blood cells using polyethylene glycol fractionation. The activity precipitated between 8 and 16%. Solubilised protein was separated by DEAE-cellulose and agarose affinity chromatography. Homogeneous enzyme was prepared by removing the contaminating proteins by FPLC using a Superose 12 gel filtration column. A 5500 fold purification was achieved. The purified preparation, had a molecular weight of approximatly 76000 and 38000 after sodium dodecyl sulphate gel electrophoresis. Thus, the enzyme is composed of two subunits of equal molecular weight. Antibodies were raised by injecting a rabbit with the agarose affinity fraction, but failed to detect the gene of interest after immunological screening of a human placental cDNA expression library. A second strategy was designed which involved sequencing peptides generated from the pure protein. The data obtained was used to sythesize oligonucleotides which served as primers for the amplification of specific regions of DNA from the MDH-1 gene via the polymerase chain reaction (PCR). Four peptides were produced by cyanogen bromide cleavage, purified using HPLC and sesuenced. It was found that the enzyme is highly homologous to the mouse enzyme as only one major difference was apparent at residue 288 where leucine was replaced by phenyalanine in humans. Three oligonucleotides called, 21, 31 and 30 mers respectively were synthesized P₄ and P₅ were used in PCRs for the amplification of specific regions of the MDH-1 gene which corresponded to 872 bp and 708 bp in length for the mouse and human genomic DNA respectively. The 708 bp product was purified from the agarose gel and was subjected to direct DNA sequencing. Comparison of the data obtained with the known mouse MDH-1 gene sequence strongly suggested the 708 bp band being amplified was human MDH-1. The fact that the amplification of human and mouse genomic DNA yielded products of different size had a major impact on future work. It was realised that it would not be necessary to carry out in-situ hybridisation to dorectly test for the presence or absence of the MDH-1 gene in hybrid cells. PCR alone would be able to give the desired results in a fraction of the time.

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Microbial responses to surfactants / Leila Laouar (1993) 

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Optical local area network feturing a variable output power transmitter / A. Boudghene Stambouli (1985) 

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Portable equipment for monitoring and recording human postures / B. Mehenni (1984) 

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A speech message store and readout system using a delta modulation technique / Meliani, Hamza (1983) 

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