A geometric approach for determining inner and exterior boundaries of workspaces of planar manipulators

In this paper a method to determine the internal and external boundaries of planar workspaces, represented with an ordered set of points, is presented. The sequence of points are grouped and can be interpreted to form a sequence of curves. Three successive curves are used for determining the instantaneous center of rotation for the second one of them. The two extremal points on the curve with respect to the instantaneous center are recognized as singular points. The chronological ordering of these singular points is used to generate the two envelope curves, which are potentially intersecting. Methods have been presented in the paper for the determination of the workspace boundary from the envelope curves. Strategies to deal with the manipulators with joint limits and various degenerate situations have also been discussed. The computational steps being completely geometric, the method does not require the knowledge about the manipulator's kinematics. Hence, it can be used for the workspace of arbitrary planar manipulators. A number of illustrative examples demonstrate the efficacy of the proposed method.

Inverted slot-mode slow-wave structures for traveling-wave tubes

The dispersion and impedance characteristics of an inverted slot-mode (ISM) slow-wave structure computed by three different techniques, i.e., an analytical model based on a periodic quasi-TEM approach, an equivalent-circuit model, and 3-D electromagnetic simulation are obtained and compared. The comparison was carried out for three different slot-mode structures at S-, C-, and X-bands. The approach was also validated with experimental measurements on a practical X-band ISM traveling-wave tube. The design of ferruleless ISM slow-wave structures, both in circular and rectangular formats, has also been proposed and the predicted dispersion characteristics for these two geometries are compared with 3-D simulation and cold-test measurements. The impedance characteristics for all three designs are also compared.

Free convection heat transfer in vertical annuli

Free convection heat transfer in vertical concentric, cylindrical annuli is investigated analytically and experimentally. The approximate double boundary layer model used by Emery and Chu for the case of vertical parallel plates is extended to the present case in obtaining heat transfer correlations in laminar free convection. Different correlations for the inner cylinder depending on the radius to the length ratio of the inner cylinder and the Rayleigh number, were used in the derivation of correlations for the annuli. The results for the case of short cylinders inside tubes are in agreement (within about 10 per cent) with the existing correlations. For other cases, namely long cylinders in annuli and wires in annuli, experiments conducted show the agreement of the analysis with experiments.

Analysis of Ridge-Loaded Folded-Waveguide Slow-Wave Structures for Broadband Traveling-Wave Tubes

An E-plane serpentine folded-waveguide slow-wave structure with ridge loading on one of its broad walls is proposed for broadband traveling-wave tubes (TWTs) and studied using a simple quasi-transverse-electromagnetic analysis for the dispersion and interaction impedance characteristics, including the effects of the beam-hole discontinuity. The results are validated against cold test measurements, an approximate transmission-line parametric analysis, an equivalent circuit analysis, and 3-D electromagnetic modeling using CST Microwave Studio. The effect of the structure parameters on widening the bandwidth of a TWT is also studied.

Radioimmunoassay of polypeptide hormones using immunochemically coated plastic tubes

A method has been developed for immobilisation of antisera on fresh plastic tubes through an immunochemical bridge. This type of immobilisation has been shown to be more consistent than direct adsorption on plastic. Such immunochemically coated antisera on plastic tube has been used in the development of a noncentrifugation radioimmunoassay. This assay system has been found to be technically as sound as the conventional method.

Steady flow of couple stress fluid through tubes of slowly varying cross-sections--application to blood flows

Steady laminar flow of a non-Newtonian fluid based on couple stress fluid theory, through narrow tubes of varying cross-sections has been studied theoretically. Asymptotic solutions are obtained for the basic equations and the expressions for the velocity field and the wall shear stress are derived for a general cross-section. Computation and discussions are carried out for the geometries which occur in the context of physiological flows or in particular blood flows. The tapered tubes and constricted tubes are of special importance. It is observed that increase in certain parameters results in erratic flow behaviour proximal to the constricted areas which is further enhanced by the increase in the geometric parameters. This elucidates the implications of the flow in the development of vascular lesions.

Low reynolds number flow of a dilute suspension in slowly varying tubes

We have discussed here the flow of a dilute suspension of rigid particles in Newtonian fluid in slowly varying tubes characterized by a small parameter ε. Solutions are presented in the form of asymptotic expansions in powers of ε. The effect of the suspension on the fluid is described by two parameters β and γ which depend on the volume fraction of the particles which we assume to be small. It is found that the presence of the particles accelerate the process of eddy formation near the constriction and shifts the point of separation.

Interaction of flux tubes with sound waves

The Landau damping of sound waves in a plasma consisting of ensemble of magnetic flux tubes is discussed. It is shown that sound waves cannot be Landau damped in general but under certain restricted conditions on plasma parameters the possibility of absorption of these waves can exist. The possibility of radiative damping of the acoustic waves along the magnetic filaments is also discussed. It appears that the most plausible mechanism of damping of sound waves in a plasma consisting of magnetic filaments can be due to scattering of a sound wave by the filaments.

Effect of Turbulence on Emerging Magnetic Flux Tubes in the Convection Zone

Working under the hypothesis that magnetic flux in the sun is generated at the bottom of the convection zone, Choudhuri and Gilman (1987; Astrophys. J. 316, 788) found that a magnetic flux tube symmetric around the rotation axis, when released at the bottom of the convection zone, gets deflected by the Coriolis force and tends to move parallel to the rotation axis as it rises in the convection zone. As a result, all the flux emerges at rather high latitudes and the flux observed at the typical sunspot latitudes remains unexplained. Choudhuri (1989; Solar Physics, in press) finds that non-axisymmetric perturbations too cannot subdue the Coriolis force. In this paper, we no longer treat the convection zone to be passive as in the previous papers, but we consider the role of turbulence in the convection zone in inhibiting the Coriolis force. The interaction of the flux tubes with the turbulence is treated in a phenomenological way as follows: (1) Large scale turbulence on the scale of giant cells can physically drag the tubes outwards, thus pulling the flux towards lower latitudes by dominating over the Coriolis force. (2) Small scale turbulence of the size of the tubes can exchange angular momentum with the tube, thus suppressing the growth of the Coriolis force and making the tubes emerge at lower latitudes. Numerical simulations show that the giant cells can drag the tubes and make them emerge at lower latitufes only if the velocities within the giant cells are unrealistically large of if the radii of the flux tubes are as small as 10 km. However, small scale turbulence can successfully suppress the growth of the Coriolis force if the tubes have radii smaller than about 300 km which may not be unreasonable. Such flux tubes can then emerge at low latitudes where sunspots are seen.

Implications of rapid footpoint motions of photospheric flux tubes for coronal heating

Some recent observations at Pic-du-Midi (Mulleret al., 1992a) suggest that the photospheric footpoints of coronal magnetic field lines occasionally move rapidly with typical velocities of the order 3 km s–1 for about 3 or 4 min. We argue that such occasional rapid footpoint motions could have a profound impact on the heating of the quiet corona. Qualitative estimates indicate that these occasional rapid motions can account for the entire energy flux needed to heat the quiet corona. We therefore carry out a mathematical analysis to study in detail the response of a vertical thin flux tube to photospheric footpoint motions in terms of a superposition of linear kink modes for an isothermal atmosphere. We find the resulting total energy that is asymptotically injected into an isothermal atmosphere (i.e., an atmosphere without any back reflection). By using typical parameter values for fast and slow footpoint motions, we show that, even if the footpoints spend only 2.5% of the time undergoing rapid motions, still these rapid motions could be more efficient in transporting energy to the corona than the slow motions that take place most of the time.

A note on the effect of wall compliance on lowest?order mode propagation in fluid?filled/submerged impedance tubes

Wave propagation in fluid?filled/submerged tubes is of interest in large HVAC ducts, and also in understanding and interpreting the experimental results obtained from fluid?filled impedance tubes. Based on the closed form analytical solution of the coupled wave equations, an eigenequation, which is the determinant of an 8×8 matrix, is derived and solved to obtain the axial wave number of the lowest?order longitudinal modes for cylindrical ducts of various diameter and wall thickness. The dispersion behavior of the wave motion is analyzed. It is observed that the larger the diameter of the duct and/or the smaller its wall thickness, the more flexible the impedance tube leading to more coupling between the waves in the elastic media. Also, it is shown that the wave motion in water?filled ducts submerged in water exhibits anomalous dispersion behavior. The axial attenuation characteristics of plane waves along water?filled tubes submerged in water or air are also investigated. Finally, investigations on the sound intensity level difference characteristics of the wall of the air?filled tubes are reported.

Leak Detection In Pressure Tubes Of A Pressurized Heavy-Water Reactor By Acoustic-Emission Technique

Leak detection in the fuel channels is one of the challenging problems during the in-service inspection (ISI) of Pressurised Heavy Water Reactors (PHWRs). In this paper, the use of an acoustic emission (AE) technique together with AE signal analysis is described, to detect a leak that was ncountered in one (or more) of the 306 fuel channels of the Madras Atomic Power Station (PHWR), Unit I. The paper describes the problems encountered during the ISI, the experimental methods adopted and the results obtained. Results obtained using acoustic emission signal analysis are compared with those obtained from other leak detection methods used in such cases.