On the determination of boundaries to manipulator workspaces

The accumulation of two independent, broadly applicable formulations for determining the boundary to manipulator workspaces, presented elsewhere, are compared in this paper. Insights gained from one method are used to explain behavior exhibited in the other. Results are also compared and validated. A numerical formulation based on continuation methods is used to map curves that are on the boundary of a manipulator workspace. Analytical criteria based on row rank deficiency criteria of the manipulator's analytical Jacobian are used to map a family of one-dimensional solution curves on the boundary. The other formulation, based on a similar rank-deficiency criteria, yields analytic boundaries parametrized in terms of surface patches on the boundary. Results concerning the applicability of the numerical method to open- and closed-loop systems are compared with those limited to the open-loop for the analytical method. Conclusions regarding the behavior of the manipulator on geometric entities characterized by singular curves, higher-order bifurcation points, and surfaces inside the workspace are drawn. Applicability of both methods and their limitations are also addressed.     

Synthesis and characterisation of carboxylic acid and diphenylphosphine derivatives in the 1,3-diyne series: Spectral properties of polydiacetylene carboxylates

Symmetrically substituted 1,3-diynes containing hydroxyalkyl ( 1a-d ), bromoalkyl ( 1e-h ) (diphenylphosphinyl) ( 1i-k ) and carboxyalkyl ( 2a-d ) substituents have been prepared and characterised; the phosphine derivative ( 1k ) has been converted with alkyl iodides ( RI ; R = Me, Et) into bis(phosphonium) salts ( 1l and m ). During preparation of the diynedioic acid. ( 2a ), the non-centrosymmetrical diyne, HO₂CCH₂C?C—C?C(CH₂)₂OH ( 3 ), was also isolated. ⁶⁰Co γ-Irradiation of diacetylene monomers ( 2a – d ) and 10,12-tricosadiyn-1-oic acid gave the corresponding polydiacetylene derivatives ( 4a – d and 5 ), respectively. Rubidium salts of ( 4c ) and ( 4d ), a barium salt of ( 4c ), and a potassium salt of ( 5 ) were prepared and isolated; soluble potassium salts of the carboxylic acid polymers ( 4 ) were generated in aqueous solution. The effects of changes in pH on the UV/visible absorption spectra of aqueous solutions of selected carboxylic acid polydiacetylenes have been recorded, and are discussed.     

MAGNESIUM HYDROXIDE FILLED EVA: THE EFFECTS OF FILLER SURFACE MODIFICATION ON THE STRENGTH OF FILLER/MATRIX ADHESION AND THE CONSEQUENCES FOR COMPOSITE STRUCTURE AND PROPERTIES

The interaction of ammonium stearate (AS) and γ-aminopropyltriethoxysilane (APS) treatments with a magnesium hydroxide flame retardant filler and their effects on its use in an ethylene vinyl acetate copolymer compound have been investigated. The work has shown clear evidence of changes in the structure of the surface layers formed on the filler as the amount of additive is increased and the levels at which these occur can be correlated with theoretical monolayer quantities. Infrared (IR) spectroscopy data suggest that the stearate coating changes from a half salt to a full salt as the coating level is increased and that the APS coating on the filler initially has a significant bicarbonate content, presumably due to reaction with atmospheric carbon dioxide. The effect of coating level on the melt flow rate, insoluble matrix content, crystallisation behaviour, tensile properties, limiting oxygen index, and ageing of the filled compound has been studied. Distinct trends have been observed, many of which can be correlated with the structure of the filler surface layers. Of particular importance is the observation that, unlike APS, excess stearate appears to promote detrimental ageing effects.     

The MITRE E3 family of models structure and results

A family of energy/economic/environmental (E³) models is presented as a mechanism for analysing national policy issues. The family consists of discrete models which are designed to be run in an integrated manner. The outputs of certain models provide the inputs to the next. This structure allows the analyst to readily incorporate an understanding of regional factors such as local energy prices, concerns over air quality, water availability, or attitudes towards construction of new energy facilities, into national assessments of energy policies. This paper reviews the analytic framework within which energy policy issues are currently addressed. The initial family of E³ models is described with the emphasis on the data linkages and feedback which are provided when these models are run sequentially. The ongoing MITRE research programme with the E³ family of models is presented and plans and opportunities for future work are outlined.     

The Determination of the Level of Bicarbonate, Carbonate, or Carbon Dioxide in Aqueous Solutions

A rapid and convenient method for the measurement of bicarbonate, carbonate, or carbon dioxide in water was developed using fourier transform infrared spectroscopy (FTIR). Bicarbonate and carbonate are converted to carbon dioxide by lowering the pH of the solution, then the absorbance of the dissolved carbon dioxide at 2345 wavenumbers is measured using a liquid sample cell. If the measurement of dissolved carbon dioxide is the objective, the pH is not adjusted, and the carbon dioxide in the free form can be measured without interference from low levels of carbonates. The method is linear from 10.48 ppm to a minimum of 366.8 ppm carbon dioxide (r squared = 0.9996). The coefficient of variation at 10.48 ppm (LOD 3 signal/noise), 52.4 ppm, and 262 ppm is 45.6, 4.0, and 3.9, respectively. The average percent recovery at 10.48 ppm, 52.4 ppm, and 262 ppm is 74.5, 104.2, and 104.0, respectively.     

Modified CIELAB formula tested using a textile pass/fail data set

The proposed new color-difference formula of CIE TC 129, which is a modified version of CIELAB, was tested with a recently published data set of textile pass/fail judgments. Goodness of fit is improved, if the parameter of lightness is set near 2, and if, additionally, a weight function for lightness is defined that reduces the weight of a lightness difference with lightness level in relation to chroma or hue scaling. © 1994 John Wiley & Sons, Inc.     

PROMOTING LOW INCOME HOUSING THROUGH INNOVATIONS IN LAND USE REGULATIONS

ABSTRACT: Many analysts argue that important structural conditions exist that discourage city governments from engaging in redistributive policy, especially programs that create direct costs for private developers. Labeled the limited city argument, this logic concludes that only cities with sufficient levels of economic and fiscal well-being can afford to impose upon private developers to meet social needs. Using survey data from 133 cities with populations over 100,000, this paper examines land use regulations that impose obligations or restrictions on the private sector to promote low income housing. The data suggest that the limited city argument is only part of the explanation. The use of regulatory housing policy is also correlated with measures of need and low income housing advocacy.