Uncertainty analysis and allocation of joint tolerances in robot manipulators based on interval analysis

Many uncertain factors influence the accuracy and repeatability of robots. These factors include manufacturing and assembly tolerances and deviations in actuators and controllers. The effects of these uncertain factors must be carefully analyzed to obtain a clear insight into the manipulator performance. In order to ensure the position and orientation accuracy of a robot end effector as well as to reduce the manufacturing cost of the robot, it is necessary to quantify the influence of the uncertain factors and optimally allocate the tolerances. This involves a study of the direct and inverse kinematics of robot end effectors in the presence of uncertain factors. This paper focuses on the optimal allocation of joint tolerances with consideration of the positional and directional errors of the robot end effector and the manufacturing cost. The interval analysis is used for predicting errors in the performance of robot manipulators. The Stanford manipulator is considered for illustration. The unknown joint variables are modeled as interval parameters due to the inherent uncertainty. The cost-tolerance model is assumed to be of an exponential form during optimization. The effects of the upper bounds on the minimum cost and relative deviations of the directional and positional errors of the end effector are also studied.     

Cathodically electrodepositable novel coating system from castor oil

A novel polyol synthesised from castor oil by aminolysis and a partially blocked toluene–diisocyanate blocked with N,N′-diethyl lactamide was used to prepare an urethane. This was used in different weight proportions to modify epoxy amine adduct to give binders suitable for cathodic electrodeposition. The pigmented composition of these binders based on the iron oxide (natural) and titanium dioxide (rutile) gave coatings with improved performance.     

Decoding algebraic-geometric codes up to the designed minimumdistance

A simple decoding procedure for algebraic-geometric codes C _Ω(D,G) is presented. This decoding procedure is a generalization of Peterson's decoding procedure for the BCH codes. It can be used to correct any [(d*-1)/2] or fewer errors with complexity O(n³), where d * is the designed minimum distance of the algebraic-geometric code and n is the codelength     

PZT铁电薄膜的制备及电学性能研究

使用硝酸锆作锆源的溶胶－凝胶方法制备ＰＺＴ铁电薄膜。他们的电学性能被测试包括电滞回线，电流Ｉ（ｔ）特性，漏电流，矫顽场疲劳和老化。测到的ＰＺＴ薄膜剩余极化８．２μＣ／ｃｍ~２，矫顽场６８ｋＶ／ｃｍ．簿膜的寿命可超过１０~（１１）周期。     

High-pressure dc sputtering of High-Tc BPSCCO thin films withTc(0) above 100 K

High-T _c Bi(Pb)-Sr-Ca-Cu-O thin films have been made on single-crystal MgO substrates using high-pressure dc sputtering technique. X-ray studies confirm the crystallinity and highly oriented structure withc-axis perpendicular to the substrate. By optimizing the annealing schedule the formation of the high-T _c phase is stabilized. The best film exhibited superconducting transition temperature with zero-resistance temperature,T _c(0), as high as 101 K. Temperature dependence ofJ _c indicates the presence of Josephson-type weak links.     

Self-co-operative ternary pulse-compression sequences

An algorithm called a Hamming scan was developed recently for obtaining sequences with large merit factors and is adopted here to obtain such sequences within which there are nontrivial segments of large merit factors. Correlative detection of the return signal can be based simultaneously on the entire sequence and its segments with large merit factors. Such a coincidence detection scheme can be characterized by a Schur merit factor of the sequence. Sequences with large Schur merit factors are listed.     

Accessing files in an Internet: the Jade file system

The Jade file system, which provides a uniform way to name and access files in an Internet environment, is introduced. Jade is a logical system that integrates a heterogeneous collection of existing file systems in which underlying file systems support different file access protocols. Because of autonomy, Jade is designed under the restriction that the underlying file systems may not be modified. In order to avoid the complexity of maintaining an Internet-wide, global name space, Jade permits each user to define a private name space. Jade's name space supports two features: it allows multiple file systems to be mounted under one directory, and it permits one logical name space to mount other logical name spaces. A prototype of Jade has been implemented to examine and validate its design. The prototype consists of interfaces to the Unix File System, the Sun Network File System, and the File Transfer Protocol. An overview of Jade's design is reported, and the authors' experiences in designing and implementing a large scale file system are reviewed     

Hyaluronic acid induced hyaluronic acid binding protein phosphorylation and inositol triphosphate formation in lymphocytes

In this report, the role of 34 kDa HA-binding protein in hyaluronic acid-induced cellular signalling in lymphocytes has been examined. The binding of 125I-HA to lymphocytes in vivo was found to be inhibited by pre-incubation of the cells with anti-34 kDa HA-binding protein antibodies, thus confirming 34 kDa HA-binding protein as the specific HA-receptor in lymphocytes. This observation was substantiated by anti-34 kDa HA-binding protein antibodies immunoblotting and 125I-HA ligand blotting of lymphocytes cell lysate. The HA-induced cell aggregation, tyrosine phosphorylation and cytoskeletal protein phosphorylation demonstrate the HA-induced early cellular signalling events in lymphocytes. Further, to study the involvement of 34 kDa HA-binding protein in mitogen induced lymphocyte signalling, we studied in vivo phosphorylation and secondary messenger formation. The enhanced 34 kDa HA-binding protein phosphorylation by HA and the inhibition of cellular aggregation and IP3 formation by anti-HA-binding protein antibodies revealed that 34 kDa HA-binding protein is one of the potential mediators in HA-induced signal transduction.