Trajectory control of incompletely restrained parallel-wire-suspended mechanism based on inverse dynamics

This paper discusses parallel wire mechanisms where an end-effector of the mechanism is suspended by multiple wires. The mechanisms enable not only three-dimensional (3-D) positioning but also 3-D orienting of the end-effector, unlike typical wire suspension-type mechanisms such as overhead crane. To discuss the parallel-wire-suspended mechanisms generally, two forms of basic dynamic equations are presented. Then the parallel wire mechanisms are classified into two types based on the basic equations. Dynamical properties of the two types of wire-suspended positioning mechanism are discussed. In this paper, one of the wire-suspended mechanism, incompletely restrained-type parallel wire mechanism, is mainly discussed on its inverse dynamics problem and its trajectory control problem. The inverse dynamics problem for the incompletely restrained-type mechanism plays an important role on its control problem, because the mechanism has low stiffness based on incomplete constraints on the suspended object which is governed by its dynamics. The paper proposes an antisway control method for the suspended object. In the method, the inverse dynamics calculation is used for nonlinear dynamics compensation to control the suspended object of the incompletely restrained parallel wire mechanism.     

The Soft-Contact Method and Instruments for Measuring the Surface Temperature of Solids

A method and instruments based on it are proposed for the contact measurement of surface temperature when carrying out industrial experiments and when monitoring technological parameters.     

Magnetotransport Calculations for Two-Dimensional Electrons with Spin-Orbit Interaction

We present calculations of the magnetoconductivity in a two-dimensional electron system including the Rashba spin-orbit interaction. Essential for these calculations is an extension of the self-consistent Born approximation which takes into account the electron spin degree of freedom. The calculated magnetoconductivity exhibits, besides the beating in the Shubnikov-de Haas oscillations, a modulation related to the spin-orbit induced crossings of Landau levels, as a consequence of spin-conserving scattering between spin-orbit coupled states.     

A note on the Gauss-Jacobi quadrature formulae for singular integral equations of the second kind

A fast and efficient numerical method based on the Gauss-Jacobi quadrature is described that is suitable for solving Fredholm singular integral equations of the second kind that are frequently encountered in fracture and contact mechanics. Here we concentrate on the case when the unknown function is singular at both ends of the interval. Quadrature formulae involve fixed nodal points and provide exact results for polynomials of degree 2n − 1, where n is the number of nodes. Finally, an application of the method to a plane problem involving complete contact is presented.     

Segmented polymer networks containing amino‐dendrimers

Polymer networks in which poly(propylene imine) dendrimers (Astramol?) are connected to each other by linear polytetrahydrofuran (polyTHF) segments, were prepared by two methods. The first method was a one‐step procedure in which bifunctionally living polyTHF, obtained by initiation of the THF polymerization with trifluoromethane sulfonic anhydride (triflic anhydride), was reacted with an amino‐dendrimer. This reaction was very fast but did not allow formation of the end products. The second method was a two‐step procedure. In a first step, living polyTHF, prepared with acryloyloxybutyl triflate as initiator, was grafted on an amino‐dendrimer, to form a star‐like, acrylate‐terminated polyTHF multi‐macromonomer with the dendrimer as core. In a second step, networks were obtained by Michael addition between the acrylate end‐groups and unreacted amino‐groups of the dendrimer. This cross‐linking reaction occurred spontaneously upon heating of the solution of the multi‐macromonomer with gelation times varying from a few minutes to a few hours, depending on the temperature and the composition of the prepolymers. With this method it was possible to prepare networks in the form of coatings or films. © 2003 Society of Chemical Industry     

Teaching robust programming

Robust programming aims to prevent abnormal termination or unexpected actions and requires code to handle bad (invalid or absurd) inputs in a way that is consistent with the developer's intent. For example, if an internal error occurs, the program might terminate gracefully rather than simply failing, providing enough information for the programmer to debug the program and avoiding giving the user additional access or information. This article focuses on teaching these principles.     

Low Temperature Physics at the Laboratoire National des Champs Magnétiques Pulsés in Toulouse

An overview over past and present activities and future developments at the Toulouse pulsed magnetic field facility is given, both as far as technical developments of the infrastructure, as well as low temperature physics performed at the LNCMP are concerned.     

Steady-state operation of a high-voltage multiresonant converter in a high-temperature environment

Often scientific instruments on exploratory satellites are used to collect cosmic particles. These instruments, such as the Faraday cup, require a high-voltage regulated power source. On the proposed solar probe satellite there will be instruments which will collect cosmic particles close to the sun. Naturally temperature effects on the voltage regulator are a concern. Specifically power dissipation within the regulator must stay within stringent guidelines. The high-voltage regulator circuit is a resonant flyback topology with a dissipative series switch whose on resistance controls the output voltage level. The extreme temperatures in space will change the inductance of the flyback transformer which will affect the output voltage. State space analysis techniques are used to determine how the value of the transformer inductance and capacitance in the flyback converter affects the output voltage and consequently the power dissipated by the transformer and the switch. The accuracy of the analysis is verified by comparing results with those obtained from an experimental circuit. The results can then be used to help the designer chose nominal capacitance and inductance values that will work over the temperature range of interest.     

Wavelength-tunable 40-GHz picosecond harmonically mode-locked fiber laser source

We demonstrate a novel 40-GHz mode-locked fiber laser that utilizes a single active device to provide both gain and mode-locking. The laser produces pulses as short as 2.2 ps, is tunable over a 27-nm band centered at 1553 nm, and exhibits long-term stability without cavity-length feedback control. The pulse train at 1556 nm was used in a 40-Gb/s transmission experiment over 45 km with a low 0.4-dB power penalty.