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.     

Thermal cracking of acid tars to asphalts as a process for utilization of refinery wastes

The feasibility of manufacture of asphaltic materials by means of the thermal cracking of acid tars was shown and a corresponding bench-scale unit was designed. The dependence of the viscosity characteristics of the obtained compositions on the temperature and time of the process was examined using the penetration technique.     

NEXUS — Resilient Intelligent Middleware

Service-oriented computing is the latest software paradigm brought about by the computing revolution. The different viewpoint and granularity of software components used in technologies based on the service-oriented architecture paradigm, compared to traditional object-oriented methodologies makes them better suited to many of the efforts that are being made in the pervasive and ubiquitous computing world. In the NEXUS project we are seeking ways of fusing the SOA and pervasive computing paradigms in order to build intelligent, robust and resilient networks connecting dynamic islands of service resources.     

Low temperature crystallographic data on Kevlar 49 fibres

Using X-ray diffraction data, the behaviour of Kevlar 49 fibres at low temperatures, up to –100°C, has been analysed. During cooling, the basal plane of the monoclinic unit cell shrinks whereas the c- (unique, chain axis) length is not significantly affected. In contrast, in the return heating cycle to ambient temperature, the basal plane expands and contraction occurs along the chain direction. The unit cell registers a reduction in volume in both the cooling and heating cycles. Conspicuously, after a cycle of cooling and heating, the unit cell does not return to its initial volume.     

Volumetric Change and Surface Properties of Temperature-Sensitive Polyvinylalcohol (PVA) Hydrogel

Polyvinylalcohol (PVA) polymer gel is a temperature sensitive polymeric gel, with a critical transition temperature (with H₂O) of 310 K. At higher than 310 K, this temperature sensitive polymer gel shrinks because of discharging water, whereas at lower temperatures, the gel swelled because of absorbing water. The reversibility of the gel's volume change was confirmed by temperature swing. The adsorption behavior of an organic compound onto the PVA polymer gel in water was tested at various temperatures. The amount of adsorbed organic compound increased remarkably at temperatures higher than about 310 K. Then, it was confirmed that the organic compound in PVA polymer gel could be reversibly adsorbed and desorbed by a temperature change between 293 and 323 K. The mechanism of adsorption of the organic compound onto the PVA polymer gel could be explained by hydration and dehydration of polymer gel.     

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.     

Petroleum naphthenomono-and naphthenobiarenes

The hydrocarbon-group composition and distribution of naphthenoaromatic hydrocarbons of West Siberian oils were studied by the technique of mass spectrometry. Naphthenoaromatic hydrocarbons of the general formula C_nH_2n?z , where z is 8, 10, 12, 14, 16, or 18, containing from one to six saturated cycles are present in oils in significant concentrations. Naphthenomonoarenes with one saturated cycle dominate in all oils. An increase in the amount of compounds containing 3–6 saturated cycles in their molecule with the occurrence depth was noted. Naphthenobiarenes of the general formula C_nH_2n?z , where z is 14, 16, 18, 20, 22, or 24 containing from one to six saturated cycles are present in oils in concentrations from 20.0 to 54.0 wt % of the biaromatic fraction. Most oils are characterized by the prevalence of structures with one and two saturated cycles in their molecule. The dependence of the number of cycles in naphthenobiarenes on the nature of original organic matter (OM) was not traced. The lack of correlation between the number of cycles and the OM type is presumably due to the fact that, for the most part, fused polycyclic naphthenobiarenes reflect the degree of catagenetic alteration of organic matter.     

Multilayer power printed structures suitable for controlling EMI noises generated in power converters

Electromagnetic interference (EMI) noises generated in power converters are diffused on the surface of conductors. This means influences occur from radiated EMI noises emitted from power transmission lines as well as conducted EMI noises transmitted from them. EMI noises diffusing on the surface of conductors are generally difficult to control using conventional concentrated constant theory. Thus, a new approach based on distributed constant circuit theory is needed in order to control EMI noises. A power converter structure to control EMI noises using multilayer power printed circuit technology is studied in this paper. A structure which can control EMI noises should simultaneously satisfy two conditions, i.e., one to shut down and one to attenuate EMI noises. The structure satisfying these conditions is studied through simulations using the Transmission-Line Modeling Method. The simulations show that the diffusion of EMI noises is controlled by dividing the flow of currents produced by EMI noises into the horizontal and perpendicular directions. That is, the horizontal current flow is controlled inside using the differences in the resistance produced from differences between inner and outer diameter of power transmission lines and the perpendicular current flow can be controlled by properly designing the thickness of the dielectric layer sandwiched between P-and N-power transmission lines with the symmetrical structure. Moreover, it is confirmed by simulations and experiments that the attenuation of EMI noises is affected by the width of the power transmission lines. It is expected that the results obtained in this paper can provide important rules when designing power converters with EMI noise control functions which use the multilayer power printed circuit technology.     

Characteristics of planar diodes based on heavily doped GaAs/AlAs superlattices in the terahertz frequency region

Characteristics of ohmic InGaAs contacts in planar diodes based on semiconductor superlattices with a small-area active region (1–10 μm²) are studied. The diodes were formed on the basis of short (18 or 30 periods) heavily doped (10¹⁸ cm⁻³) GaAs/AlAs superlattices with a miniband width of 24.4 meV. The reduced resistance of the ohmic contact was equal to 2×10⁻⁷ Ω cm² at room temperature. It is shown that the properties of fabricated planar diodes make it possible to use these diodes later on in semiconductor devices that operate in the terahertz frequency region in a wide temperature range (4–300 K). __________ Translated from Fizika i Tekhnika Poluprovodnikov, Vol. 38, No. 9, 2004, pp. 1141–1146. Original Russian Text Copyright ? 2004 by Pavel’ev, Demarina, Koshurinov, Vasil’ev, Semenova, Zhukov, Ustinov.     

Modeling of Material Deformation Kinetics in the Prefracture Zone

Based on the concept of complete stress–strain diagrams, we propose a new model describing the law of stress distribution in the prefracture zone in plastic materials in view of the type of the stressed state.