Kinematic Design of a 6-DOF Parallel Manipulator with Decoupled Translation and Rotation

A new three-limb, six-degree-of-freedom (DOF) parallel manipulator (PM), termed a selectively actuated PM (SA-PM), is proposed. The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion, depending on the types of the actuation (rotary or linear) chosen for the actuators. The manipulator architecture completely decouples translation and rotation of the end-effector for individual control. The structure synthesis of SA-PM is achieved using the line geometry. Singularity analysis shows that the SA-PM is an isotropic translation PM when all the actuators are in linear mode. Because of the decoupled motion structure, a decomposition method is applied for both the displacement analysis and dimension optimization. With the index of maximal workspace satisfying given global conditioning requirements, the geometrical parameters are optimized. As a result, the translational workspace is a cube, and the orientation workspace is nearly unlimited.

Ionography of Submicron Foils and Nanostructures Using Ion Flow Generated in FS-Laser Cluster Plasma

A novel type of submicron ion radiography designed to image low-contrast objects, including nanofoils, membranes and biological structures, is proposed. It is based on femtosecond-laser-driven-cluster- plasma source of multicharged ions and polymer dosimeter film CR-39. The intense isotropic ion flow was produced by femtosecond Ti:Sa laser pulses with intensity similar to 4x10(17) W/cm(2) absorbed in the supersonic jet of the mixed He and CO2 gases. Two Focusing Spectrometers with Spatial Resolution (FSSR) were used to measure X-ray spectra of H-and He-like multicharged oxygen ions. The spectra testify that ions with energy more than 300 keV were radiated in different directions from the plasma source. High contrast ion radiography images were obtained for 2000 dpi metal mesh, 1 mu m polypropylene and 100 nm Zr foils as well as for the different biological objects. Images were recorded on a 1 mm thick CR-39 detector, placed in contact with back surface of the imaged samples at the distances 140 -160 mm from the ion source. The spatial resolution of the image no worse than 600 nm was provided. A difference in object thickness of 100 nm was very well resolved for both Zr and polymer foils. The ion radiography images recorded at different angles from the source, demonstrated almost uniform spatial distribution of ion with total number of 10(8) per shot. (C) 2009 WILEY-VCH Vertag GmbH & Co. KGaA, Weinheim

Three-Dimensional Analysis of Seepage below and around Hydraulic Structures

This paper investigates the problem of seepage under the floor of hydraulic structures considering the compartment of flow that seeps through the surrounding banks of the canal. A computer program, utilizing a finite-element method and capable of handling three-dimensional (3D) saturated–unsaturated flow problems, was used. Different ratios of canal width/differential head applied on the structure were studied. The results produced from the two-dimensional (2D) analysis were observed to deviate largely from that obtained from 3D analysis of the same problem, despite the fact that the porous medium was isotropic and homogeneous. For example, the exit gradient obtained from 3D analysis was as high as 2.5 times its value obtained from 2D analysis. Uplift force acting upwards on the structure has also increased by about 46% compared with its value obtained from the 2D solution. When the canal width/ differential head ratio was 10 or higher, the 3D results were comparable to the 2D results. It is recommended to construct a core of low permeability soil in the banks of canal to reduce the seepage losses, uplift force, and exit gradient.

An elasto-plastic critical state framework for unsaturated soil.

Data from a series of controlled suction triaxial tests on samples of compacted speswhite kaolin were used in the development of an elasto–plastic critical state framework for unsaturated soil. The framework is defined in terms of four state variables: mean net stress, deviator stress, suction and specific volume. Included within the proposed framework are an isotropic normal compression hyperline, a critical state hyperline and a state boundary hypersurface. For states that lie inside the state boundary hypersurface the soil behaviour is assumed to be elastic, with movement over the state boundary hypersurface corresponding to expansion of a yield surface in stress space. The pattern of swelling and collapse observed during wetting, the elastic–plastic compression behaviour during isotropic loading and the increase of shear strength with suction were all related to the shape of the yield surface and the hardening law defined by the form of the state boundary. By assuming that constant–suction cross–sections of the yield surface were elliptical it was possible to predict test paths for different types of triaxial shear test that showed good agreement with observed behaviour. The development of shear strain was also predicted with reasonable success, by assuming an associated flow rule.

Influence of compaction procedure on the mechanical behaviour of an unsaturated compacted clay. Part 2: shearing and constitutive modelling

The influence of compaction pressure, compaction water content and type of compaction (static or dynamic) on subsequent soil behaviour was investigated by conducting controlled-suction triaxial tests on samples of unsaturated compacted speswhite kaolin. Compaction pressure influences initial state, by determining the initial position of the yield surface, thus affecting, among other things, the shape of stress–strain curves during shearing. Compaction pressure also influences, to a limited degree, the positions of the normal compression lines for different values of suction, but it has no effect on critical state relationships. The effect of compaction pressure can probably be modelled solely in terms of initial state if an anisotropic elastoplastic model incorporating rotational hardening is employed, whereas the parameters defining the slopes and intercepts of the normal compression lines for different values of suction require adjustment with variation of compaction pressure if a conventional isotropic hardening elastoplastic model is employed. Compaction water content influences the initial suction, but also has a substantial influence on normal compression lines and a noticeable effect on the volumetric behaviour at critical states. It is likely that soil samples compacted at different water contents will have to be modelled as different materials, irrespective of whether an isotropic or anisotropic hardening elastoplastic model is employed. A change from static to dynamic compaction has no significant effect on subsequent behaviour.

Small angle neutron scattering from 1-alkyl-3-methylimidazolium hexafluorophosphate ionic liquids ([C(n)mim][PF6], n=4, 6, and 8)

The presence of local anisotropy in the bulk, isotropic, and ionic liquid phases-leading to local mesoscopic inhomogeneity-with nanoscale segregation and expanding nonpolar domains on increasing the length of the cation alkyl-substituents has been proposed on the basis of molecular dynamics (MD) simulations. However, there has been little conclusive experimental evidence for the existence of intermediate mesoscopic structure between the first/second shell correlations shown by neutron scattering on short chain length based materials and the mesophase structure of the long chain length ionic liquid crystals. Herein, small angle neutron scattering measurements have been performed on selectively H/D-isotopically substituted 1-alkyl-3-methylimidazolium hexafluorophosphate ionic liquids with butyl, hexyl, and octyl substituents. The data show the unambiguous existence of a diffraction peak in the low-Q region for all three liquids which moves to longer distances (lower Q), sharpens, and increases in intensity with increasing length of the alkyl substituent. It is notable, however, that this peak occurs at lower values of Q (longer length scale) than predicted in any of the previously published MD simulations of ionic liquids, and that the magnitude of the scattering from this peak is comparable with that from the remainder of the amorphous ionic liquid. This strongly suggests that the peak arises from the second coordination shells of the ions along the vector of alkyl-chain substituents as a consequence of increasing the anisotropy of the cation, and that there is little or no long-range correlated nanostructure in these ionic liquids.

V-band 57-65 GHz receiver

A simple V-band radio IQ receiver architecture based around a six-port monolithic microwave integrated circuit (MMIC) is presented. The receiver assembly is designed to cover the 57-65 GHz broadband wireless communication system frequency allocation. The receiver that has an integral 10 dB microstrip antenna consumes 120 mW of dc power and occupies an area of 23 mm x 16 mm. The receiver can be used in heterodyne or in homodyne mode and has the capacity to demodulate quadrature amplitude modulation (QAM), binary phase shift keying (BPSK)/quadrature phase shift keying (QPSK)/offset quadrature phase shift keying (OQPSK). At 60 GHz the receiver can operate over 10 m range for transmitter effective isotropic radiated power (EIRP) of 20 dBm.

Room acoustics simulation using 3-D compact explicit FDTD schemes

This paper presents methods for simulating room acoustics using the finite-difference time-domain (FDTD) technique, focusing on boundary and medium modeling. A family of nonstaggered 3-D compact explicit FDTD schemes is analyzed in terms of stability, accuracy, and computational efficiency, and the most accurate and isotropic schemes based on a rectilinear grid are identified. A frequency-dependent boundary model that is consistent with locally reacting surface theory is also presented, in which the wall impedance is represented with a digital filter. For boundaries, accuracy in numerical reflection is analyzed and a stability proof is provided. The results indicate that the proposed 3-D interpolated wideband and isotropic schemes outperform directly related techniques based on Yee's staggered grid and standard digital waveguide mesh, and that the boundary formulations generally have properties that are similar to that of the basic scheme used.

Anisotropic seismic inversion using a multigrid Monte Carlo approach

We propose a new approach for the inversion of anisotropic P-wave data based on Monte Carlo methods combined with a multigrid approach. Simulated annealing facilitates objective minimization of the functional characterizing the misfit between observed and predicted traveltimes, as controlled by the Thomsen anisotropy parameters (epsilon, delta). Cycling between finer and coarser grids enhances the computational efficiency of the inversion process, thus accelerating the convergence of the solution while acting as a regularization technique of the inverse problem. Multigrid perturbation samples the probability density function without the requirements for the user to adjust tuning parameters. This increases the probability that the preferred global, rather than a poor local, minimum is attained. Undertaking multigrid refinement and Monte Carlo search in parallel produces more robust convergence than does the initially more intuitive approach of completing them sequentially. We demonstrate the usefulness of the new multigrid Monte Carlo (MGMC) scheme by applying it to (a) synthetic, noise-contaminated data reflecting an isotropic subsurface of constant slowness, horizontally layered geologic media and discrete subsurface anomalies; and (b) a crosshole seismic data set acquired by previous authors at the Reskajeage test site in Cornwall, UK. Inverted distributions of slowness (s) and the Thomson anisotropy parameters (epsilon, delta) compare favourably with those obtained previously using a popular matrix-based method. Reconstruction of the Thomsen epsilon parameter is particularly robust compared to that of slowness and the Thomsen delta parameter, even in the face of complex subsurface anomalies. The Thomsen epsilon and delta parameters have enhanced sensitivities to bulk-fabric and fracture-based anisotropies in the TI medium at Reskajeage. Because reconstruction of slowness (s) is intimately linked to that epsilon and delta in the MGMC scheme, inverted images of phase velocity reflect the integrated effects of these two modes of anisotropy. The new MGMC technique thus promises to facilitate rapid inversion of crosshole P-wave data for seismic slownesses and the Thomsen anisotropy parameters, with minimal user input in the inversion process.

Multipartite nonlocality in a thermalized Ising spin chain

We study multipartite correlations and nonlocality in an isotropic Ising ring under transverse magnetic field at both zero and finite temperature. We highlight parity-induced differences between the multipartite Bell-like functions used in order to quantify the degree of nonlocality within a ring state and reveal a mechanism for the passive protection of multipartite quantum correlations against thermal spoiling effects that is clearly related to the macroscopic properties of the ring model.

Phase behavior of mixtures of colloidal platelets and nonadsorbing polymers

The phase behavior of a model system of colloidal platelets and nonadsorbing polymers is studied using computer simulations and perturbation theory. The equation of state for the pure platelet reference system is obtained by Monte Carlo simulations, and the free volume fraction accessible to polymers is measured by a trial insertion method. The free volume fraction is also calculated using scaled particle theory. Subsequently, the phase diagram for platelet-polymer mixtures is calculated. For a platelet aspect ratio L/D=0.1 and a polymer to platelet size ratio d/D>0.2, we observe coexistence between two isotropic phases with different densities. For smaller polymers d/D

Nonlinear excitations in ferromagnetic chains with nearest and next nearest neighbor exchange interactions

Weakly nonlinear excitations in one-dimensional isotropic Heisenberg ferromagnetic chains with nearest- and next-nearest-neighbor exchange interactions are considered. Based on the properties of modulational stability of corresponding linear spin waves, the existence regions of bright and dark magnetic solitons of the system are discussed in the whole Brillouin zone. The antidark soliton mode which is convex soliton super-imposed with a plane wave component is obtained near the zero-dispersion points of the spin wave frequency spectrum. The analytical results are checked by numerical simulations. [S0163;1829(98)01838-4].

Transmission characteristics of a vaginally-worn UHF radio telemeter

A vaginally-worn temperature telemeter may be used by women to chart their basal body temperature for ovulation detection. The telemeter uses a temperature to pulse width converter to key a Colpitts oscillator which is controlled in frequency by a 418 MHz SAW resonator. The circuit’s tank inductor acts as a compact, multi-turn loop antenna with a radiated power in isolation of around 1 uW. The transmission characteristics of the system are affected by the proximity of the human body, which acts as an electrically-large lossy dielectric. The RF link-budget must allow for the reduction in total emitted power, directional body-induced fading, and polarization effects. The polar power patterns of the telemeter were measured for both isolated and in-situ cases, using horizontal and vertical polarization. The power patterns were numerically integrated to determine relative emitted power, and a reference dipole used to determine the emitted power for the isolated device. In isolation the telemeter radiation is vertically polarized and isotropic in nature. With the telemeter in-situ, total body absorption was found to be over 20 dB, with directional fades of up to 40 dB; there was extensive cross-polarization, with up to 60% of radiated power horizontally polarized. With limited radiated power and directional fading, the operating range for the telemeter is limited to single room operation (less than 10m). The majority of RF radiation is absorbed by the body, but the radiation hazard is negligible due to the low power level of the device. The high level of cross-polarization suggests that either horizontal or vertically polarized base-station antennas may be used.

Theory of pixel lensing toward M31. II. The velocity anisotropy and flattening of the MACHO distribution

The POINT-AGAPE collaboration is currently searching for massive compact halo objects (MACHOs) toward the Andromeda galaxy (M31). The survey aims to exploit the high inclination of the M31 disk, which causes an asymmetry in the spatial distribution of M31 MACHOs. Here, we investigate the effects of halo velocity anisotropy and flattening on the asymmetry signal using simple halo models. For a spherically symmetric and isotropic halo, we find that the underlying pixel lensing rate in far-disk M31 MACHOs is more than 5 times the rate of near-disk events. We find that the asymmetry is further increased by about 30% if the MACHOs occupy radial orbits rather than tangential orbits, but it is substantially reduced if the MACHOs lie in a flattened halo. However, even for halos with a minor- to major-axis ratio of q = 0.3, the number of M31 MACHOs in the far side outnumber those in the near side by a factor of similar to2. There is also a distance asymmetry, in that the events on the far side are typically farther from the major axis. We show that, if this positional information is exploited in addition to number counts, then the number of candidate events required to confirm asymmetry for a range of flattened and anisotropic halo models is achievable, even with significant contamination by variable stars and foreground microlensing events. For pixel lensing surveys that probe a representative portion of the M31 disk, a sample of around 50 candidates is likely to be sufficient to detect asymmetry within spherical halos, even if half the sample is contaminated, or to detect asymmetry in halos as flat as q = 0.3, provided less than a third of the sample comprises contaminants. We also argue that, provided its mass-to-light ratio is less than 100, the recently observed stellar stream around M31 is not problematic for the detection of asymmetry.

Global Quantum Correlation in the Ising model

We study quantum correlations in an isotropic Ising ring under the effects of a transverse magnetic field. After characterizing the behavior of two-spin quantum correlations, we extend our analysis to global properties of the ring, using a figure of merit for quantum correlations that shows enough sensitivity to reveal the drastic changes in the properties of the system at criticality. This opens up the possibility to relate statistical properties of quantum many-body systems to suitably tailored measures of quantum correlations that capture features going far beyond standard quantum entanglement.