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.     

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.     

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.     

Sorting Second-Grade Students: Differentiating Those Retained From Those Promoted.

A cohort of 2nd-grade students provided comparisons of academic and social competence based on school retention/promotion decisions. Sample groups were (a) retained, (b) at risk for retention, (c) special education, and (d) promoted. Findings suggested most children with academic deficiencies are identified by schools early and are sorted into educational treatments differing in intensity that represent a continuum of competence. The authors provide empirical evidence counter to the assumptions that retained students have the requisite ability to catch up and have more problem behaviors than other low-achieving students. The relevance of high-stakes test scores for promotion/retention decisions and the parallels between schools' implementation of retention policy and implementation of regulations for identifying children with disabilities are included in the discussion. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Solutions to a combined problem of excessive hydrogen sulfide in biogas and struvite scaling.

The Woodman Point Wastewater Treatment Plant (WWTP) in Western Australia has experienced two separate problems causing avoidable maintenance costs: the build-up of massive struvite (MgNH4PO4. 6H2O) scaling downstream of the anaerobic digester and the formation of hydrogen sulfide (H2S) levels in the digester gas to levels that compromised gas engine operation and caused high operating costs on the gas scrubber. As both problems hang together with a chemical imbalance in the anaerobic digester, we decided to investigate whether both problems could be (feasibly and economically) addressed by a common solution (such as dosing of iron solutions to precipitate both sulfide and phosphate), or by using separate approaches. Laboratory results showed that, the hydrogen sulfide emission in digesters could be effectively and economically controlled by the addition of iron dosing. Slightly higher than the theoretical value of 1.5 mol of FeCl3 was required to precipitate 1 mol of dissolved sulfide inside the digester. Due to the high concentration of PO4(3-) in the digested sludge liquor, significantly higher iron is required for struvite precipitation. Iron dosing did not appear an economic solution for struvite control via iron phosphate formation. By taking advantage of the natural tendency of struvite formation in the digester liquid, it is possible to reduce the risk of struvite precipitation in and around the sludge-dewatering centrifuge by increasing the pH to precipitate struvite out before passing through the centrifuge. However, as the Mg2+/PO4(3-) molar ratio in digested sludge was low, by increasing the pH alone (using NaOH) the precipitation of PO4(3-) was limited by the amount of cations (Ca2+ and Mg2+) available in the sludge. Although this would reduce struvite precipitation in the centrifuge, it could not significantly reduce PO4(3-) recycling back to the plant. For long-term operation, maximum PO4(3-) reduction should be the ultimate aim to minimise PO4(3-) accumulation in the plant. Magnesium hydroxide liquid (MHL) was found to be the most cost-effective chemical to achieve this goal. It enhanced struvite precipitation from both, digested sludge and centrate to the point where more than 95% PO4(3-) reduction in the digested sludge was achieved.     

Low-temperature post-treatment of anaerobically treated-sewage in anaerobic filter with cationic-polymer addition.

The post-treatment of domestic sewage pretreated in a 6 m3 UASB was investigated in two high-rate anaerobic filter (AF) reactors operated in parallel. The difference between the two AF reactors was only the addition of cationic polymer to the second reactor (AF + P). The reactors were operated at low temperatures, ranged between 13 and 20 degrees C. The media in each AF reactor consisted of vertical sheets of reticulated-polyurethane foam (RPF) with knobs. The results demonstrated that the AF + P reactor (HRT = 3 h) with cationic polymer addition (2 mg/L) was an efficient system for post-treatment. The removal efficiencies for total, suspended, colloidal and dissolved COD were, respectively, 41, 86 and 76 and 12% in the AF + P reactor and they were, respectively, 80, 97, 77 and 66% in the UASB + (AF + P) system. The removal of total, suspended and colloidal COD in the UASB + (AF + P) system were significantly higher than those achieved in the UASB + AF system. As hardly any nutrient was removed in the UASB + (AF + P) system, the effluent after pathogen removal is a valuable product for irrigation and fertilisation to close the water and nutrients cycle.     

Piezoelectrically actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax

In this paper, a piezoelectrically actuated four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax for stroke amplification. PZT-5H- and PZN-PT-based unimorph actuators are utilized at the input link of the four-bar for a compact and lightweight thorax transmission mechanism. The kinematics and dynamics of the proposed wing structure with two parallel four-bar mechanisms are analyzed, optimal four-bar link size selection method is introduced, and quasistatic forces generated at the wing are computed for evaluating the feasibility of the design. Using laser micromachining and folding techniques, prototype four-bar structures are constructed. In the experiments, for a 10/spl times/1/spl times/0.12 mm/sup 3/ PZT-5H actuator-based four-bar mechanism, the stroke amplification of around 20 - 25 is held, and an attached polyester wing is resonated at 29 Hz with around 90/spl deg/ flapping motion. These results match closely with the predicted theoretical values.