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.

A study of over-reflection in Hartmann flow

It is observed that Hartmann flow sustains wave propagation in its centre region for waves whose phase speed is less than the maximum flow speed. Similar to the previous observations it is found that viscous boundary layers around the critical level and at the wall replace the exponential regions and wave sinks required for over-reflection in the inviscid flow. The uniform magnetic field stabilizes the flow for small-wave-number disturbances along thez-direction. Over-reflection is confined to a few ranges of phase speeds for which the two boundary layers are close together rather than widely separated. These ranges correspond exactly to those for which unstable eigenmodes exist. Over-reflection is associated with a wave phase tilt opposite in direction to the shear.

Cross-polarization from the dipolar reservoir under the mismatched Hartmann-Hahn condition

Cross-polarization from the dipolar reservoir for a range of mismatched Hartmann-Hahn conditions has been considered. Experiment, in general, agrees with the dispersive Lorentzian behavior expected on the basis of quasi-equilibrium theory. It is observed that inclusion of additional mechanisms of polarization transfer lead to an improvment of the fit of the experimental results. The utility of extending the technique to the case of ordered long chain molecules, such as liquid crystals, for the measurement of the local dipolar field is also presented. (C) 2002 Elsevier Science (USA).

Combining adiabatic and Hartmann-Hahn cross-polarization for sensitivity enhancement in solid state separated local field 2D-NMR experiments of partially ordered systems

In this Letter, we examine magnetization in double- and zero-quantum reservoirs of an ensemble of spin-1/2 nuclei and describe their role in determining the sensitivity of a class of separated local field NMR experiments based on Hartmann-Hahn cross-polarization. We observe that for the liquid crystal system studied, a large dilute spin-polarization, obtained initially by the use of adiabatic cross-polarization, can enhance the sensitivity of the above experiment. The signal enhancement factors, however, are found to vary and depend on the local dynamics. The experimental results have been utilized to obtain the local order-parameters of the system. (C) 2012 Elsevier B. V. All rights reserved.

Theoretical-experimental study of shock wave-assisted metal forming process using a diaphragmless shock tube

The use of high-velocity sheet-forming techniques where the strain rates are in excess of 10(2)/s can help us solve many problems that are difficult to overcome with traditional metal-forming techniques. In this investigation, thin metallic plates/foils were subjected to shock wave loading in the newly developed diaphragmless shock tube. The conventional shock tube used in the aerodynamic applications uses a metal diaphragm for generating shock waves. This method of operation has its own disadvantages including the problems associated with repeatable and reliable generation of shock waves. Moreover, in industrial scenario, changing metal diaphragms after every shot is not desirable. Hence, a diaphragmless shock tube is calibrated and used in this study. Shock Mach numbers up to 3 can be generated with a high degree of repeatability (+/- 4 per cent) for the pressure jumps across the primary shock wave. The shock Mach number scatter is within +/- 1.5 per cent. Copper, brass, and aluminium plates of diameter 60 mm and thickness varying from 0.1 to 1 mm are used. The plate peak over-pressures ranging from 1 to 10 bar are used. The midpoint deflection, circumferential, radial, and thickness strains are measured and using these, the Von Mises strain is also calculated. The experimental results are compared with the numerical values obtained using finite element analysis. The experimental results match well with the numerical values. The plastic hinge effect was also observed in the finite element simulations. Analysis of the failed specimens shows that aluminium plates had mode I failure, whereas copper plates had mode II failure.

Structure-function hierarchies and von Karman-Howarth relations for turbulence in magnetohydrodynamical equations

We generalize the method of A. M. Polyakov, Phys. Rev. E 52, 6183 (1995)] for obtaining structure-function relations in turbulence in the stochastically forced Burgers equation, to develop structure-function hierarchies for turbulence in three models for magnetohydrodynamics (MHD). These are the Burgers analogs of MHD in one dimension Eur. Phys. J.B 9, 725 (1999)], and in three dimensions (3DMHD and 3D Hall MHD). Our study provides a convenient and unified scheme for the development of structure-function hierarchies for turbulence in a variety of coupled hydrodynamical equations. For turbulence in the three sets of MHD equations mentioned above, we obtain exact relations for third-order structure functions and their derivatives; these expressions are the analogs of the von Karman-Howarth relations for fluid turbulence. We compare our work with earlier studies of such relations in 3DMHD and 3D Hall MHD.

A Lagrangian for von Karman Equations of Large Deflection Problem of Thin Circular Plate

By the semi-inverse method proposed by He, a Lagrangian is established for the large deflection problem of thin circular plate. Ritz method is used to obtain an approximate analytical solution of the problem. First order approximate solution is obtained, which is similar to those in open literature. By Mathematica a more accurate solution can be deduced.

La vigencia de las ideas de Ludwig von Mises, para la interpretación de los problemas de Latinoamérica, en la actualidad

Resumen: En los últimos 20 años, los problemas de las economías emergentes de Latinoamérica se han ido, en muchos casos acentuando, y en todos los casos, polarizando. Una serie de países han adoptado enfoques de políticas públicas que muchos identifican con lo que se conoce como “El Foro de Sao Paulo”. El estatismo, el desequilibrio del sector externo, el incremento del gasto fiscal y la pérdida de libertades se han visto asociados a toda esta problemática. Importa particularmente a los cultores de la “Escuela Austriaca de Economía” rescatar lo que podían decir al respecto, algunos de sus pensadores fundamentales.

含气泡液态金属的磁流体力学和Hartmann流动

本文给出含气泡液态金属的磁流体力学基本方程,以及Hartmann流动的解。

La aportación de W. von Humboldt a la gramática vasca

[EN] The aim of this paper is to introduce the main contributions of Humboldt to the study of the Basque grammar. His methodological innovations and the influence he had on european linguists are pointed out, the grammatical sources available to him are mentioned and his woks on Basque grammar are enumerated. Some of Humboldt's most interesting analysis are mentioned and are placed in the former and later tradition of the Basque grammar.

Materiales vascos del legado de Wilhelm von Humboldt: la relevancia de Astarloa y el Plan de Lenguas

Este artículo es traducción del original alemán «Zum Stellenwert Astarloas und des Plan de Lenguas», publicado en B. Hurch (ed.), Die baskischen Materialien aus dem Nachlaß Wilhelm von Humboldts. Astarloa, Charpentier, Fréret, Aizpitarte und anderes. Paderborn: Schöningh, pp. 21-42. La traducción al español es obra de Oroitz Jauregi y ha sido revisada por Ricardo Gómez y Bernhard Hurch.