Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations

This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture. (C) 2013 Elsevier Ltd. All rights reserved.

The ballistic resistance of thin aluminium plates with varying degrees of fixity along the circumference

The ballistic performance of thin aluminium targets and influence thereon of different circumferential fixity conditions were studied both experimentally and by finite element simulations. A pressure gun was employed to carry out the experiments while the numerical simulations were performed on ABAQUS/Explicit finite element code using Johnson-Cook elasto-viscoplastic material model. 1 mm thick 1100-H12 aluminium plates of free span diameter 255 mm were normally impacted by 19 mm diameter ogive and blunt nosed projectiles. The boundary conditions of the plate were varied by varying the region of fixity along its circumference as 100%, 75%, 50% and 25% in experiments and the numerical simulations. Further, simulations were carried out to compare the response of the plates with 50% and 75% continuous fixity with those with two and three symmetrical intermittent regions of 25% fixity respectively. The variation in the boundary condition has been found to have insignificant influence on the failure mode of the target however; it significantly affected the mechanics of target deformation and its energy absorption capacity. The ballistic limit increased with decrease in the region of fixity. It decreased for intermittent fixity in comparison with equivalent continuous fixity. And, it has been found to be higher for the impact with projectile having blunt nose in comparison with the one having ogive nose. (C) 2014 Elsevier Ltd. All rights reserved.

Comparison of performance of solar photovoltaics on dual axis tracker with fixed axis at 13 degrees N latitude

Tracking systems, that continually orient photovoltaic (PV) panels towards the Sun, are expected to increase the power output from the PV panels. Tremendous amount of research is being done and funds are being spent in order to increase the efficiency of PV cells to generate more power. We report the performance of two almost identical PV systems; one at a fixed latitude tilt and the other on a two-axis tracker. We observed that the fixed axis PV panels generated 336.3 kWh, and the dual-axis Sun-tracked PV panels generated 407.2 kWh during August 2012 March 2013. The tracked panels generated 21.2% more electricity than the optimum tilt angle fixed-axis panels. The cost payback calculations indicate that the additional cost of the tracker can be recovered in 450 days.

The 2014 M-w 6.1 Bay of Bengal, Indian Ocean, Earthquake: A Possible Association with the 85 degrees E Ridge

Oceanic intraplate earthquakes are known to occur either on active ridge-transform structures or by reactivation of their inactive counterparts, generally referred to as fossil ridges or transforms. The Indian Ocean, one of the most active oceanic intraplate regions, has generated large earthquakes associated with both these types of structures. The moderate earthquake that occurred on 21 May 2014 (M-w 6.1) in the northern Bay of Bengal followed an alternate mechanism, as it showed no clear association either with active or extinct ridge-transform structures. Its focal depth of >50 km is uncommon but not improbable, given the similar to 90 Ma age of the ocean floor with 12-km-thick overlying sediments. No tectonic features have been mapped in the near vicinity of its epicenter, the closest being the 85 degrees E ridge, located similar to 100 km to its west, hitherto regarded as seismically inactive. The few earthquakes that have occurred here in the past are clustered around its southern or northern limits, and a few are located midway, at around 10 degrees N. The 2014 earthquake, sourced close to the northern cluster, seems to be associated with a northwest-southeast-oriented fracture, located on the eastern flanks of the 85 degrees E ridge. If this causal association is possible, we believe that reactivation of fossil hotspot trails could be considered as another mechanism for oceanic intraplate seismicity.

Flow-Induced Vibrations Of A Cylinder With Two Degrees Of Freedom Near Rigid Plane Boundary

Based on similarity analyses, the flow-induced vibrations of a near-wall cylinder with 2 degrees of freedom are investigated experimentally by employing a hydroelastic apparatus in conjunction with a flume. The cylinder's vibration amplitude, vibration frequency and vortex shedding frequency were measured and analyzed. The effects of gap-to-diameter ratio (e,ID) upon the vibration responses are further investigated. The experimental results indicate that, when the reduced velocity (Vr) is small (e.g. Vr = 1.2 similar to 2.6), only streamwise vibration occurs, and its frequency is quite close to its natural frequency in still water. When increasing Vr (e.g. Vr > 3.4), both streamwise and transverse vibrations of the near-wall cylinder may occur. In the examined range of gap-to-diameter ratio (0.42 < e(0)/D < 2.68), 2 vibration stages (in terms of Vr) of streamwise vibrations usually exist: First Streamwise Vibration (FSV) and Second Streamwise Vibration (SSV). In the SSV stage, the vortex shedding frequency may either undergo a jump to that of the streamwise vibration, or stay consistent with that of the transverse vibration. The amplitudes of transverse vibration are usually much larger than those of streamwise vibration for the same value of e(0)/D. The maximum amplitudes of both streamwise and transverse vibration get larger with the increase of e(0)/D (0.42 < e(0)/D < 2.68).

Two-phase flow patterns in a 90 degrees bend at microgravity

Bends are widely used in pipelines carrying single- and two-phase fluids in both ground and space applications. In particular, they play more important role in space applications due to the extreme spatial constraints. In the present study, a set of experimental data of two-phase flow patterns and their transitions in a 90degrees bend with inner diameter of 12.7 mm. and curvature radius of 76.5 mm at microgravity conditions are reported. Gas and liquid superficial velocities are found to range from (1.0 similar to 23.6) m/s for gas and (0.09 similar to 0.5) m/s for liquid, respectively. Three major flow patterns, namely slug, slug-annular transitional, and annular flows, are observed in this study. Focusing on the differences between flow patterns in bends and their counterparts in straight pipes, detailed analyses of their characteristics are made. The transitions between adjoining flow patterns are found to be more or less the same as those in straight pipes, and can be predicted using Weber number models satisfactorily. The reasons for such agreement are carefully examined.

Experimental Study on Flow Induced Vibration of a Cylinder with Two Degrees of Freedom Near a Rigid Wall

The flow-induced vibration of a cylinder with two degrees of freedom near a rigid wall under the action of steady flow is investigated experimentally. The vibration amplitude and frequency of the cylinder and the vortex shedding frequency at the wake flow region of the cylinder are measured. The influence of gap-to-diameter ratio upon the amplitude response is analyzed. The experimental results indicate that when the reduced velocity (Vr) is in the range of 1.2 < Vr < 2.6, only streamwise vibration with small amplitude occurs, whose frequency is quite close to its natural frequency in the still water. When the reduced velocity Vr > 3.4, both the streamwise and transverse vibrations of the cylinder occur. In this range, the amplitudes of transverse vibration are much larger than those of streamwise vibrations, and the amplitudes of the streamwise vibration also get larger than those at the range of 1.2 < Vr < 2.6. At the range of Vr > 3.4, the frequency of streamwise vibration undergoes a jump at certain values of Vr, at which the streamwise vibrating frequency is twice as much as the transverse one. However, when the streamwise vibration does not experience a jump, its frequency is the same as that of the transverse vibration. The maximum values of second streamwise and transverse vibration amplitudes increase with increasing gap-to-diameter ratios.

Effect of absorption on the diffraction efficiency in Fe : LiNbO3 crystal with 90 degrees recording geometry

In this paper the saturated diffraction efficiency has been optimized by considering the effect of the absorption of the recording light on a crossed-beam grating with 90 degrees recording geometry in Fe:LiNbO3 crystals. The dependence of saturated diffraction efficiency on the doping levels with a known oxidation-reduction state, as well as the dependence of saturated diffraction efficiency on oxidation-reduction state with known doping levels, has been investigated. Two competing effects on the saturated diffraction efficiency were discussed, and the intensity profile of the diffracted beam at the output boundary has also been investigated. The results show that the maximal saturated diffraction efficiency can be obtained in crystals with moderate doping levels and modest oxidation state. An experimental verification is performed and the results are consistent with those of the theoretical calculation.

Ridge-shape phase distribution adjacent to 180 degrees domain wall in congruent LiNbO3 crystal

The digital holographic interferometry is used in the dynamic and static measurements of phase variation induced by domain inversion. For the first time, to the authors' knowledge, they observe the existence of ridge-shape phase distribution adjacent to 180 degrees domain wall in congruent LiNbO3 crystal. During the domain wall motion, the phase variations are not uniform but have obvious relaxations. In the static measurement, the ridge elevation can vary linearly with the uniform electric field. The reasonable assumptions are proposed to explain these effects. (c) 2006 American Institute of Physics.

Thermodynamic and kinetic behavior of an argon plasma jet. Decomposition of nitric oxide between 1300 - 1750 degrees K in an argon plasma

In the first part of the study, an RF coupled, atmospheric pressure, laminar plasma jet of argon was investigated for thermodynamic equilibrium and some rate processes.

Improved values of transition probabilities for 17 lines of argon I were developed from known values for 7 lines. The effect of inhomogeneity of the source was pointed out.

The temperatures, T, and the electron densities, n_e , were determined spectroscopically from the population densities of the higher excited states assuming the Saha-Boltzmann relationship to be valid for these states. The axial velocities, v_z, were measured by tracing the paths of particles of boron nitride using a three-dimentional mapping technique. The above quantities varied in the following ranges: 10¹² ˂ n_e ˂ 10¹⁵ particles/cm³, 3500 ˂ T ˂ 11000 °K, and 200 ˂ v_z ˂ 1200 cm/sec.

The absence of excitation equilibrium for the lower excitation population including the ground state under certain conditions of T and n_e was established and the departure from equilibrium was examined quantitatively. The ground state was shown to be highly underpopulated for the decaying plasma.

Rates of recombination between electrons and ions were obtained by solving the steady-state equation of continuity for electrons. The observed rates were consistent with a dissociative-molecular ion mechanism with a steady-state assumption for the molecular ions.

In the second part of the study, decomposition of NO was studied in the plasma at lower temperatures. The mole fractions of NO denoted by x_NO were determined gas-chromatographically and varied between 0.0012 ˂ x_NO ˂ 0.0055. The temperatures were measured pyrometrically and varied between 1300 ˂ T ˂ 1750°K. The observed rates of decomposition were orders of magnitude greater than those obtained by the previous workers under purely thermal reaction conditions. The overall activation energy was about 9 kcal/g mol which was considerably lower than the value under thermal conditions. The effect of excess nitrogen was to reduce the rate of decomposition of NO and to increase the order of the reaction with respect to NO from 1.33 to 1.85. The observed rates were consistent with a chain mechanism in which atomic nitrogen and oxygen act as chain carriers. The increased rates of decomposition and the reduced activation energy in the presence of the plasma could be explained on the basis of the observed large amount of atomic nitrogen which was probably formed as the result of reactions between excited atoms and ions of argon and the molecular nitrogen.