A discrete state perspective of manipulator workspaces Vorstellungen von diskreten zuständen von manipulator-arbeitsräumen

The finite resolution of joint drives or sensors imparts a discrete nature to the joints of a manipulator. Because of this an arbitrary point in the workspace cannot be reached without error even in ideal mechanical environment. This paper investigates the effect of this discrete nature of the joints on the accuracy of performance of a manipulator and develops a method to select the joint states to reach a point with least error. It is shown that the configuration leading to least error cannot, in general, be found from configuration space, especially when there is large variation in the link lengths or joint resolutions or both. The anomaly becomes severe when the gross motion of the end-effector approaches the local resolution of the workspace. The paper also shows how to distinguish two workspaces which may be identical so far as the boundary points are concerned, taking the joint resolutions into account. Finally, the concepts have been extended to define continuous space global and local performance indices for general multi degree of freedom manipulators.

Adaptive significance of the Indian caste system: an ecological perspective

Indian society is an agglomeration of several thousand endogamous groups or castes each with a restricted geographical range and a hereditarily determine mode of subsistence. These reproductively isolated castes may be compared to biological species, and the society thought of as a biological community with each caste having its specific ecological niche. In this paper we examine the ecological-niche relationships of castes which are directly dependent on natural resources. Evidence is presented to show that castes living together in the same region had so organized their pattern of resource use as to avoid excessive intercaste competition for limiting resources. Furthermore, territorial division of the total range of the caste regulated intra-caste competition. Hence, a particular plant or animal resource in a given locality was used almost exclusively by a given lineage within a caste generation after generation. This favoured the cultural evolution of traditions ensuring sustainable use of natural resources. This must have contributed significantly to the stability of Indian caste society over several thousand years. The collapse of the base of natural resources and increasing monetarization of the economy has, however, destroyed the earlier complementarity between the different castes and led to increasing conflicts between them in recent years.

Instabilities of a compressible stratified fluid in horizontal sheared motion

The stability characteristics of a Helmholtz velocity profile in a stably stratified, compressible atmosphere in the presence of a lower boundary are studied. A jump in the Brunt–Väisälä frequency is introduced and the level at which this jump occurs is assumed to be different from the shear zone, to simulate sharp temperature discontinuities in the atmosphere. The results are compared with those of Pellacani, Tebaldi, and Tosi and Lindzen and Rosenthal. In the present configuration, new unstable modes with larger growth rates are found. The wavelengths of the most unstable gravity waves for the parameters pertaining to observed cases of clear air turbulence agree quite closely with the experimental values. Physics of Fluids is copyrighted by The American Institute of Physics

Classification and rating of strong-motion earthquake records

Ninety-two strong-motion earthquake records from the California region, U.S.A., have been statistically studied using principal component analysis in terms of twelve important standardized strong-motion characteristics. The first two principal components account for about 57 per cent of the total variance. Based on these two components the earthquake records are classified into nine groups in a two-dimensional principal component plane. Also a unidimensional engineering rating scale is proposed. The procedure can be used as an objective approach for classifying and rating future earthquakes.

The influence of the motion of a rotor grid on a stator grid

In this paper we have used the method of characteristics developed for two dimensional unsteady flow problems to study a simplified axial turbine problem. The system consists of two sets of blades —the guiding vanes which are fixed and the rotor blades which move perpendicular to these vanes. The initial undisturbed constant flow in the system is perturbed by introducing a small velocity normal to the rotor blades to simulate a slight constant inclination. The resulting perturbed flow is periodic after the first three cycles. We have studied the perturbed density distribution throughout the system during a period.

Stream power criterion and design of sand bed channels at incipient motion

The critical stream power criterion may be used to describe the incipient motion of cohesionless particles of plane sediment beds. The governing equation relating ``critical stream power'' to ``shear Reynolds number'' is developed by using the present experimental data as well as the data from several other sources. Simultaneously, a resistance equation, relating the ``particle Reynolds number'' to the``shear Reynolds number'' is developed for plane sediment beds in wide channels with little or no transport. By making use of these relations, a procedure is developed to design plane sediment beds such that any two of the four design variables, including particle size, energy/friction slope, flow depth, and discharge per unit width in the channel should be known to predict the remaining two variables. Finally, a straightforward design procedure using design tables/design curves and analytical methods is presented to solve six possible design problems.

Motion of a viscous fluid with suspended particles in a curved tube

In this paper we have discussed the motion of a viscous fluid with suspended particles through a curved tube of small curvature ratio. The system is treated as two separate interacting continua. Solutions for axial and secondary velocities are obtained in the form of asymptotic expansions in powers of Dean Number. The streamline pattern for the particulate phase reveals many interesting features. The influence of the particulate continium on the fluid is described by the parameter τ which depends on the density ratio of the two continua. The concentration distribution of the particles in a given cross section is determined. It is noticed that the particles move closer to the wall for certain values of the concentration and the density ratio.

I/O Device Virtualization in the multi-core era, a QoS perspective

In this paper, we propose an extension to the I/O device architecture, as recommended in the PCI-SIG IOV specification, for virtualizing network I/O devices. The aim is to enable fine-grained controls to a virtual machine on the I/O path of a shared device. The architecture allows native access of I/O devices to virtual machines and provides device level QoS hooks for controlling VM specific device usage. For evaluating the architecture we use layered queuing network (LQN) models. We implement the architecture and evaluate it using simulation techniques, on the LQN model, to demonstrate the benefits. With the architecture, the benefit for network I/O is 60% more than what can be expected on the existing architecture. Also, the proposed architecture improves scalability in terms of the number of virtual machines intending to share the I/O device.

Molecular motion in plastic crystals

Abstract is not available.

Unsteady Motion of a Stratified Rotating Viscous Fluid between Two Disks

Abstract is not available.

Peristaltic motion of a micropolar fluid

Peristaltic motion of a micropolar fluid is studied for small amplitudes of peristalic waves under low Reynolds number analysis. The effect of pressure gradient on the secondary motion reveals many interesting and useful results. The critical value of the pressure gradient ensuing the reversal effect in both velocity field and microrotation is evaluated and discussed.

Motion of a bore over a sloping beach: an approximate analytical approach

The motion of a bore over a sloping beach, earlier considered numerically by Keller, Levine & Whitham (1960), is studied by an approximate analytic technique. This technique is an extension of Whitham's (1958) approach for the propagation of shocks into a non-uniform medium. It gives the entire flow behind the bore and is shown to be equivalent to the theory of modulated simple waves of Varley, Ventakaraman & Cumberbatch (1971).

Steady motion of a rotating stratified fluid bounded by porous disks

Abstract is not available.

Understanding Protein Structure from a Percolation Perspective

Underlying the unique structures and diverse functions of proteins area vast range of amino-acid sequences and a highly limited number of folds taken up by the polypeptide backbone. By investigating the role of noncovalent connections at the backbone level and at the detailed side-chain level, we show that these unique structures emerge from interplay between random and selected features. Primarily, the protein structure network formed by these connections shows simple (bond) and higher order (clique) percolation behavior distinctly reminiscent of random network models. However, the clique percolation specific to the side-chain interaction network bears signatures unique to proteins characterized by a larger degree of connectivity than in random networks. These studies reflect some salient features of the manner in which amino acid sequences select the unique structure of proteins from the pool of a limited number of available folds.