The paper addresses the Kinematic analysis and simulation of 6 D.O.F. of robot for industrial applications. An alternative design of a six-degrees-of-freedom manipulator based on the concept of an in-parallel actuated mechanism is presented. The basic kinematic equations for use of the manipulator are derived and the influences of the physical constraints on the range of motion in the practical design are discussed. We use robo analyzer software for determining the simulation results. Several possible applications which include the in-parallel mechanism as part of the manipulation system are suggested, and we determine D.H.Parameters for design.

[1] On the design of workspaces of serial mechanisms by S. Brezovnik1University of Maribor
[2] F. Zacharias, C. Borst, and G. Hirzinger, "Capturing robot workspace structure: representing robotcapabilities," in Proceeding of the 2007 IEEE/RSJInternational conference on intelligent robots andsystems, San Diego, USA, 2007.
[3] A Walk-Through Programmed Robot for Welding in Shipyards.Marcelo H.ANG Jr*,Wei Lin* and Ser-yong Lim*.
[4] K. Gotlih et al., "Velocity anisotropy of an industrialrobot," Robotics and Computer-IntegratedManufacturing, vol. Available online 9 September,September 2010.
[5] J. Angeles, Fundamentals of robotic mechanicalsystems: theory, methods, and algorithms, 2nd ed.New York: Springer, cop., 2003.
[6] M. Ceccarelli, Mechanism and Machine Theory.,1996.
[7] K. Gotlih, "Robot placement in a production cell," inProceedings of the 5th Vienna Symposium onMathematical Modelling, Vienna, 2006

In this study the temporal effect of speaking rate and focus is analyzed. The test syllables are /pi, pa, pu/, which are embedded in disyllabic words, and the subjects are eight native speakers of standard Chinese. Consonantal VOT and vowel duration, together with duration of the preceding and following segments, are analyzed. It is found that the effect of speaking rate is significant for vowel duration and consonantal VOT of the key syllable, and for the duration of the preceding and following segments. The effect of focus is also significant. Focal lengthening is obvious for vowel duration and consonantal VOT, and it can also spill out to the following segments.

KEYWORDS : Duration, focus, speaking rate, VOT, vowel

[1] L. E. Volaitis and J. L. Miller, "Phonetic prototypes: influence of place of articulation and speaking rate on the internal structure of voicing categories," Journal of the Acoustical Society of America, 92, pp. 723-735, 1992.
[2] Miller, J. L., Green, K. P. and Reeves, A. "Speaking rate and segments: a look at the relation between speech production and speech perception for the voicing contrast," Phonetica, 43, 106-115, 1986.
[3] Crystal, T. H. and House, A. S. "Articulation rate and the duration of syllables and stress groups in connected speech," Journal of the Acoustical Society of America, 88(1), 101– 12, 1990.
[4] Eefting, W. "Production and perception of temporal variation: an explorative study," In OTS Yearbook, pp. 13–38. Research Institute for Language and Speech: University of Utrecht, 1990.
[5] M. Heldner and E. Strangert, "Temporal effects of focus in Swedish," Journal of Phonetics, 29, pp. 329-361, 2001.
[6] T. Cambier-Langeveld and A. Turk, "A cross-linguistic study of accentual lengthening: Dutch vs. English," Journal of Phonetics, 27, pp. 255–280, 1999.

Next generation communications will offer a broad range of services accessible to users any place at any time. Vertical handoff is the rudimentary requirement of the convergence of distinct access technologies. The dream is that users will not be joined down to a long-term contract with one lone operator and will rather than be adept to dynamically choose access provision on a per call basis. The evolving comparable marketplace will supply a alternative of access networks in any granted location, each offering distinct network technologies with varying characteristics to transport the user's communications application. Most existing upright handoff conclusion schemes are designed to rendezvous individual desires that may not achieve a good scheme presentation. In this paper a smart approach and network selection conclusion scheme is used. The understanding is founded on the fuzzy reasoning approach that chooses the best available network.

KEYWORDS : Vertical Handoff decision, Events and Triggers, Fuzzy logic, Fuzzification, Crisp value

[1] A. Bhuvaneswari and Dr. E. George Dharma Prakash Raj ," An Overview of Vertical Handoff Decision Making Algorithms", I. J. Computer Network and Information Security, 2012, 9, 55-62.
[2] W.Wu, N.Banerjee, K. Basu, and S. K. Das, "SIP-Based Vertical Handoff between WWANs and WLANs," IEEE Wireless Communications, vol. 12, no. 3, pp. 66–72, 2005.
[3] H. Badis and K. Al-Agha, "Fast and Efficient Vertical Handoffs In Wireless Overlay Networks," in Proceedings of IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC '04), vol. 3, pp. 1968–1972, Barcelona, Spain, September 2004.
[4] J. Tourrilhes and C. Carter, "P-Handoff: A Protocol for Fine-Grained Peer-To-Peer Vertical Handoff," in Proceedings of the 13th IEEE International Symposium on Personal, Indoor, and Mobile Radio Communications (PIMRC '02), vol. 2, pp. 966971, Lisbon, Portugal, September 2002.

The quality of the Electrical power is effected by many factors like harmonic contamination, due to non-linear loads, such as large thyristor power converters, rectifiers, voltage and current flickering due to arc in arc furnaces, sag and swell due to the switching of the loads etc. One of the many solutions is the use of a combined system of shunt and active series filters like unified power quality conditioner (UPQC) This device combines a shunt active filter together with a series active filter in a back to back configuration, to simultaneously compensate the supply voltage and the load current or to mitigate any type of voltage and current fluctuations and power factor correction in a power distribution network.In this paper a novel design of UPQS is proposed which is composed of the DC/DC converter and the storage device connected to the DC link of UPQS for balancing the voltage interruption. Computer simulation by MATLAB/ SIMULINK has been used to support the developed concept.

KEY WORD: Universal Power Quality Conditioning System (UPQS), voltage interruption, DC/DC converter, super-capacitor.

[1] L.H.Tey,P.L.So and Y.C.Chu,Unified power QualityConditionar for improveing power Quality Using ANN withHysterisis Control, IEEE Tran. Power Electronics, vol. 9,no.3, May 1994, pp. 1441-1446.
[2] Hirofumi Akagi, Trends in Active Power Line Conditioners,IEEE Tran. Power Electronics, vol. 9, no.3, May 1994, pp.263-268.
[3] Janko Nastran, Rafael Cajhen, MatijaSeliger, and PeterJereb, Active Power Filter for Nonlinear AC Loads, IEEETrans. Power Electronics, vol.9, no.1, Jan. 1994, pp. 92-96.
[4] E. Destobbeleer and L.Protin, On the Detection of LoadActive Currents for Active Filter Control, IEEE Trans.Power Electronics, vol. 11, no.6, Nov. 1996, pp. 768-775.
[5] Mauricio Aredes, Jorgen Hafner, and Klemens Hermann,Three-Phase Four-Wire Shunt Active Filter ControlStrategies, IEEE Trans. Power Electronics, vol.12, no.2,Mar. 1997, pp. 311-318.
[6] Hideaki Fujita and Hirofumi Akagi, the Unified PowerQuality Conditioner: The Integration of Series- andShunt- Active Filters, IEEE Tran. Power Electronics,vol. 13, no.2, Mar. 1998, pp.315-322
[7] Fang ZhengPeng, George W. Ott Jr., and Donald J.Adams,"Harmonic and Reactive Power Compensation Basedon the Generalized Instantaneous Reactive PowerTheory for Three-Phase Four-Wire Systems, IEEETrans,Power Electronics, vol.13, no.6, Nov. 1998,pp. 1174-1181.

The present experimental study deals with natural convection through vertical cylinder .The experimental set up is designed and used to study the natural convection phenomenon from vertical cylinder in terms of average heat transfer coefficient. Also practical local heat transfer coefficient along the length of cylinder is determined experimentally and is compared with theoretical value obtained by using appropriate governing equations .The set up consist of brass cylinder of length 450mm and outside diameter 32mm with air as a working fluid. The results indicate the temperature variation along the length of cylinder and the comparative study of theoretically and practically obtain local heat transfer coefficient.

KEYWORDS: Natural convection, Vertical cylinder, Boundary layer, local heat transfer coefficient

[1] Y.A.Cengel, Heat And Mass Transfer, A Practical Approach(Tata McGraw-Hill Publication, New Delhi)
[2] D.G. Bahraini, L. Davidson, R.Karlsson,Natural Convection Heat Transfer In Vertical Shell And Tube, Chalmers University Of Technology ,Goteborg, Sweden, December 2002
[3] L.J.Crane, Natural Convection On Vertical Cylinder at Very High Prandtl Numbers, Journal Of Engineering Mathematics,10(2),1976, 115-124. [4] C. O. Popiel, Free convection heat transfer from vertical slender cylinder, Heat Transfer Engineering,29(6),2008,521-536. [5] Hari P. Rani, Chang Y. Kim,A numerical study on unsteady natural convection of air with variable viscosity over an isothermal vertical cylinder, Korean J. Chem. Eng 27(3),2010,759-765.

This work presents a sub-module power management system for large-scale photovoltaic systems. Individual 'micro-converters' configure across strings of PV cells at terminals normally connected to bypass diodes. The converters enforce set voltage ratios among adjacent strings of cells, mitigating power loss due to shading, factory and lifetime variation, and other sources of mismatch. The balancing function extends to multiple series-connected PV modules through a dual-core cable and connector, enabling high-voltage operation with active and passive components exposed to only a fraction of total system voltage. Converters are based on a resonant switched-capacitor standard switching cell. The module-integrated converter achieves conversion efficiency over 99% for a wide range of mismatch scenarios and insertion loss below 0.1 %.

KEY WORDS: switched capacitor, photovoltaic energy, DC-DC maximum power point tracking (MPPT)

[1] T. Esram, P. Krein, B. Kuhn, R. Balog, P. Chapman, "Power Electronics Needs for Achieving Grid-Parity Solar Energy Costs," IEEE Energy 2030 Conf., Nov. 2008, pp. I – 5.
[2] A. Reis, N. Coleman, M. Marshall, P. Lehman, c.E. Chamberlin, "Comparison of PV module performance before and after II-years of field exposure," IEEE Photovoltaic Specialists Conference, May 2002. pp. 1432 – 1435.
[3] S. B. Kjaer, 1.K. Pedersen, F. Blaabjerg, "A Review of Single-phase grid-connected inverters for photovoltaic modules," IEEE Transactions on Industry Applications, Volume 41, Issue 5, Sept.Oct. 2005 Page(s): 1292 – 1306.
[4] G. Walker, P. Semia, "Cascaded DC-DC converter connection of photovoltaic modules," IEEE Trans. Power Elec., Vol. 19, No. 4, July 2004 pp. 1130 - 1139