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Ion Irradiation is a technologically important technique to modify the surfaces. We have investigated the patterning of InP(111) surfaces by low energy (3 keV) as well as high energy (1.5 Mev) ion beams. After low energy ion irradiation, surfaces exhibit well defined nano dots which ripen at initial stages but exhibit fragmentations at high fluences. The surface rms, at both the energies, displays a similar behaviour of initially increasing with increasing fluences but decreasing for higher fluences. The studies show some common features at these low and high energies, like the smoothening of surface beyond the a/c transition.

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In this paper, a bond graph model of a mobile robot with four Mecanum wheels is developed to extract a dynamic model of the robot. This is achieved using the BG_V21 tool box of MATLAB. The dynamic model thus obtained is used to derive the control law for trajectory tracking by the robot. There are two control algorithms that are used, namely, the flatness-based controller and the backstepping controller. From the simulation results, it is evident that the extracted dynamic model of the robot is accurate. Moreover, the flatness-based controller proved to have the upper hand in performance over the backstepping controller.

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Visible light active MgO/g-C3N4 composites for 4-nitrophenol degradation and selective oxidation of benzyl alcohol.