Methodologies for the optimal design of parallel manipulators

In this paper the problem of determining a manipulator design so that its workspace corresponds to a prescribed workspace is considered. Two different strategies, resulting in two different types of optimization problem are considered. The first strategy attempts to obtain a good overall approximation to the prescribed workspace and results in an unconstrained optimization problem. The second strategy entails designing a manipulator so that its workspace fully encloses the prescribed workspace and results in a constrained optimization problem. Two specific formulations of the constrained problem are proposed. The first constrained problem simply aims to fit the manipulator workspace as exactly as possible to the prescribed workspace, while still ensuring that the prescribed workspace is fully enclosed. The second constrained optimization formulation is used to design a manipulator, the workspace of which fully encloses the prescribed workspace, but which is also well‐conditioned throughout the workspace with respect to some performance measure. The particular manipulator used to illustrate and evaluate these formulations is a simple 2‐dof planar parallel manipulator, and the final formulation is also applied to a 3‐dof planar parallel manipulator. Although the manipulators studied here are simple, the objective of this study is to obtain a robust numerical methodology which can be extended to more practical and complex manipulators. Copyright © 2003 John Wiley & Sons, Ltd.     

Fast microwave detection system for coherent synchrotron radiation study at KEK: Accelerator test facility

A fast room temperature microwave detection system based on the Schottky Barrier-diode detector was created at the KEK ATF (Accelerator Test Facility). It was tested using Coherent Synchrotron Radiation (CSR) generated by the 1.28 GeV electron beam in the damping ring. The speed performance of the detection system was checked by observing the CSR from a multi-bunch (2.8 ns bunch separation time) beam. The theoretical estimations of CSR power yield from an edge of bending magnet as well as new injection tuning method are presented. A very high sensitivity of CSR power yield to the longitudinal electron distribution in a bunch is discussed.     

Scene segmentation using neuromorphic oscillatory networks

Using the neuromorphic approach, we propose an analog very large-scale integration (VLSI) implementation of an oscillatory segmentation algorithm based on local excitatory couplings and global inhibition. The original model has been simplified and adapted for its efficient VLSI implementation while preserving its segmentation properties. To demonstrate the feasibility of the approach, a 16/spl times/16-pixel testchip has been manufactured. Extensive experimental results demonstrate that it can properly segment binary images. Power consumption, segmentation time per cell, and system complexity are very low compared to other hardware and software implementation schemes. We also show two main differences between the original algorithm and the analog approach. First, the network is noise tolerant without the need of additional elements and second, delays between oscillators due to the combination of mismatch and output capacitances have to be accounted for network performance.     

Diversity training in graduate school: An exploratory evaluation of the Safe Zone project.

How can psychologists and graduate students become more affirmative of lesbian, gay, bisexual, and transgender (LGBT) issues? Safe Zone is a diversity-training program to increase sensitivity toward, knowledge of, and advocacy for LGBT populations and issues that affect them. In this exploratory study, the implementation of Safe Zone is described within a school of professional psychology; its effectiveness was assessed by self-reported behavioral and attitudinal changes and from participant evaluations. Results were encouraging with regard to the goals of Safe Zone and its adaptation to institutions interested in improving relations with the LGBT community, but additional empirical studies are needed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Results of benchmark calculations based on OLHF-1 test

The subject of this paper is to compare the results of the different calculations performed by the benchmark participants in the framework of the OECD Lower Head Failure (OLHF) program. The benchmark consists in the finite element (FE) calculation or in analytical calculations of the mechanical behavior of the OLHF-1 experiment. Seven participants from six countries and seven companies or organizations (AVN, VTT, GRS, UJV, SNL, IPSN and CEA) have performed the benchmark.The OLHF experiment program extends the NRC-sponsored SNL LHF program (NUREG/CR-5582) completed in 1998: these experiments where intended to simulate the thermal/mechanical loads to a 1/4.85-scale model of a reactor pressure vessel. The pressure vessel material (SA533B1 steel) used in these experiments is prototypic of reactor PWR vessel material and has been well characterized by material property testing as part of this program. The OLHF tests advance the results of the previous testing program by examining the effects of large temperature differences across the vessel wall. Large temperature differences in excess of 150–400 K are more prototypic of accident conditions.Most of the participants performed 2-D axisymmetric analyses and doesn’t study the crack opening. The global mechanical behaviour of OLHF-1 experiment is well represented but prediction of the maximum vertical displacement is not in good agreement with the experimental value. Failure time and location are in quite good agreement with experimental results but large discrepancies are observed on the mode of failure: creep or plasticity. To improve predictions, more investigation and work is needed on the choice of the failure criteria and failure mode.     

A VLSI architecture for a half-edge-based corner detector

Corner detection is a low-level feature detection operator that is of great use in image processing applications, for example, optical flow and structure from motion by image correspondence. The detection of corners is a computationally intensive operation. Past implementations of corner detection techniques have been restricted to software. In this paper we propose an efficient very large-scale integration (VLSI) architecture for detection of corners in images. The corner detection technique is based on the half-edge concept and the first directional derivative of Gaussian. Apart from the location of the corner points, the algorithm also computes the corner orientation and the corner angle and outputs the edge map of the image. The symmetrical properties of the masks are utilized to reduce the number of convolutions effectively, from eight to two. Therefore, the number of multiplications required per pixel is reduced from 1800 to 392. Thus, the proposed architecture yields a speed-up factor of 4.6 over conventional convolution architectures. The architecture uses the principles of pipelining and parallelism and can be implemented in VLSI.     

Single-Phase Permanent-Magnet Motor Analysis

A unified theoretical approach is presented for the calculation of the performance of the single-phase capacitor-start permanent-magnet (PM) ac line-start motor. The earlier work of Chang and of Finch and Lawrenson on capacitor reluctance motors is extended. As far as possible, a common set of reference frame transformations for steady-state, transient, and asynchronous performance is also provided, permitting the use of all the theory developed for the analysis of the balanced polyphase PM motor. A new approximate technique is given for estimating the average asynchronous torque/speed curve from computed acceleration curves.     

Investigation of the impact of changes in demand forecasting method on the financial performance of an electricity supply undertaking

Peak demand forecasts obtained from six different univariate forecasting methods, under a range of conditions, were used to drive a capacity acquisition model of a large electrical supply system; and the resulting physical and financial performance of the model was observed for each set of forecasts. The results obtained are discussed in the context of their implications for the choice of load forecasting method used in capacity acquisition planning by a power supply undertaking.     

High-gain pseudomorphic InGaAs base ballistic hot-electron device

A high-gain ballistic hot-electron device is described. The GaAs-AlGaAs heterostructure device, with a 21-mm-thick pseudomorphic In _0.12Ga_0.88As base, had a current gain of 27 at 77 K and 41 at 4.2 K. As characteristically seen in ballistic devices, transfer into the L valley limited the maximum gain. The Γ-L valley separation in the strained In_0.12Ga_0.88As was estimated to be about 380 meV