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.     

Study of liquid injection impact on the performance of new refrigerant mixtures

In this paper, the test results of liquid injection impact on the performance of new alternative refrigerant mixtures such as: R-410A, R-507, R-407C and R-404A are discussed, analysed and presented. The test results were obtained using an air-source heat pump set-up with enhanced surface tubing under various liquid injection ratios. Performance tests were conducted according to the ARI/ASHRAE standards. The performance data demonstrated that as liquid injection ratio increases, compressor head pressure and discharge temperature decrease. This has a positive effect in protecting the compressor. The effect of liquid injection on mixture behaviour varies from one mixture to another depending upon the mixture's composition. Furthermore, liquid injection appears to have a significant influence on R-410A behaviour compared to the other mixtures in question. Copyright © 2002 John Wiley & Sons, Ltd.     

High-strain-rate superplasticity of nanocrystalline aluminum alloy 1570

The structure and mechanical properties of nanocrystalline aluminum alloy 1570 obtained by means of severe plastic deformation have been studied. Being tested in a temperature range from 300 to 400°C, the alloy exhibits high-strain-rate superplasticity. At 400°C, the superplasticity is manifested in a very broad range of strain rates, extending from 5 × 10^?3 to 1 s^?1.     

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     

Arc root mobility on piezoelectrically actuated contacts in miniature circuit breakers

A novel contact opening mechanism has been developed using a piezoelectric actuator to open the contacts in a low contact opening velocity circuit breaker. The arc control on the contacts is critical for successful current interruption (10/sup 3/-10/sup 4/ A) in low voltage (<250V) devices. Previous work has shown how arc root commutation from the contact region into the arc chamber is affected by arc chamber materials, contact materials and the gap behind the moving contact for contact velocities between 1ms/sup -1/ and 10ms/sup -1/. This work is extended using a commercially available piezoelectric actuator to open the contacts. Contact opening speeds are assessed and the arc root mobility is characterized under this operating regime. A flexible test apparatus and solid-state high-speed arc imaging system are used to gather data on the arc root during the opening of the contacts. New experimental results are presented on the anode and cathode root velocity and arc root motion in an arc chamber with piezoelectrically actuated contact opening. These results can be used to improve the design of high current low voltage circuit breakers suitable for piezoelectric actuation.     

An integrated system to remote monitor and control anaerobic wastewater treatment plants through the internet.

The TELEMAC project brings new methodologies from the Information and Science Technologies field to the world of water treatment. TELEMAC offers an advanced remote management system which adapts to most of the anaerobic wastewater treatment plants that do not benefit from a local expert in wastewater treatment. The TELEMAC system takes advantage of new sensors to better monitor the process dynamics and to run automatic controllers that stabilise the treatment plant, meet the depollution requirements and provide a biogas quality suitable for cogeneration. If the automatic system detects a failure which cannot be solved automatically or locally by a technician, then an expert from the TELEMAC Control Centre is contacted via the internet and manages the problem.     

Filled Fibrous Sorbents Modified with Transition Metal Ferro- and Ferricyanides for Recovery of Americium and Rare-Earth Metals

Filled fibrous sorbents modified with transition metal ferro- and ferricyanides capable to recover americium(III) and rare-earth metals(III) from nitric acid solutions were prepared. The most complete and rapid recovery is attained on complex-forming and cation-exchange sorbents (as filled fibrous materials) saturated with nickel ions. The sorbents are characterized by good kinetic properties and can be used for recovery of the above metals.     

Power sector development in India with CO2 emission targets: Effects of regional grid integration and the role of clean technologies

The power sector in India at present comprises of five separate regional electricity grids having practically no integrated operation in between them. This study analyses the utility planning, environmental and economical effects of integrated power sector development at the national level in which the regional electric grids are developed and operated as one integrated system. It also examines the effects of selected CO₂ emission reduction targets in the power sector and the role of renewable power generation technologies in India. The study shows that the integrated development and operation of the power system at the national level would reduce the total cost including fuel cost by 4912 million $, total capacity addition by 2784 MW, while the emission of CO₂, SO₂ and NO_x would be reduced by 231.6 (1.9%), 0.8 (0.9%), 0.4 (1.2%) million tons, respectively, during the planning horizon. Furthermore, the study shows that the expected unserved energy, one of the indices of generation system reliability, would decrease to 26 GWh under integrated national power system from 5158 GWh. As different levels of CO₂ emission reduction targets were imposed, there is a switching of generation from conventional coal plants to gas fired plants, clean coal technologies and nuclear based plants. As a result the capacity expansion cost has increased. It was found that wind power plant is most attractive and economical in the Indian perspective among the renewable options considered (Solar, wind and biomass). Copyright © 2003 John Wiley & Sons, Ltd.     

Amtshaftung bei Bauführung im Hochwassergebiet; fehlerhafter Flächenwidmungsplan; Nachforschungspflichten der Gemeinde

Bestehen ausreichende Anhaltspunkte für die Hochwassergef?hrdung, ist die Gemeinde verpflichtet, sich durch Nachforschungen Gewissheit über das Vorliegen oder Nichtvorliegen eines Hochwasserabflussgebietes gem § 38 Abs 3 WRG zu verschaffen. Liegt ein solches vor, hat sie gem § 12 Abs 1 Z 2 krnt GplG dieses im Fl?chenwidmungsplan ersichtlich zu machen. Erteilt die Gemeinde eine Baubewilligung ohne diese von der Erteilung einer wasserrechtlichen Bewilligung abh?ngig zu machen, haftet sie für die Kosten der Bauführung, die bei gesetzes-konformer Vorgangsweise unterlassen worden w?re.     

Optical properties of doped bismuth telluride crystals in the region of plasma effects

The optical properties of bismuth telluride crystals doped with donor-and acceptor-type impurities are studied. The fact that energy corresponding to the resonance frequency of plasma oscillations of free charge carriers (plasmons) approaches the band-gap energy is detected in the infrared spectral region, where the main elementary excitations in the electronic system of these materials are observed. The mentioned approach of energies varies the intensity of electron-plasmon interaction, which affects the recombination processes in the materials widely used for the fabrication of thermoelectric energy converters.