Solution of nonlinear kinematics of a parallel-link constrained Stewart platform manipulator

The Stewart platform manipulator is a fully parallel kinematic linkage system that has great advantages over typical serial link robots. However, one major problem in controlling this kind of manipulator is that, due to its closed kinematic chain and parallel-link constrained structure, it is impossible to derive an explicit kinematic solution. This paper proposes a simplified algorithm to numerically solve the forward kinematics of a six-links Stewart platform. Taking advantage of some fundamental geometric operations, the proposed algorithm involves only 3 nonlinear simultaneous equations. The explicit expressions are derived for some special configurations which can directly give the geometric limitations to motion in terms of the geometric dimensions of the platforms and the legs.Research was supported by Texas Advanced Technology program under grant 003656-008 and National Science Foundation under grant MSS9211970.     

Damage and strain in pseudomorphic vs relaxed GexSi1−x layers on Si(100) generated by Si ion irradiation

We compare both the strain and damage that 100 keV Si irradiation at room temperature introduces in pseudomorphic and relaxed Ge_xSi_1−x films grown on Si(100) substrates. The ion range is such that the Si/Ge_xSi_1−x interface is not significantly damaged. The amount of damage produced in pseudomorphic and relaxed Ge_xSi_1−x layers of similar x for irradiation doses up to 2.5 × 10¹⁴ Si/cm² is the same, which proves that a pre-existing uniform strain does not noticeably affect the irradiation-induced damage. However, the irradiation-induced strain does depend on the pre-existing strain of the samples. Possible interpretations are discussed. On leave from Inst. voor Kern en Stralingsfysika, Catholic University of Leuven, Belgium.     

Atmospheric and low pressure shadow masked MOVPE growth of InGaAs(P)/InP and (In)GaAs/(Al)GaAs heterostructures and quantum wells

The shadow masked growth technique is presented as a tool to achieve thickness and bandgap variations laterally over the substrate during metalorganic vapor phase epitaxy. Lateral thickness and bandgap variations are very important for the fabrication of photonic integrated circuits, where several passive and active optical components need to be integrated on the same substrate. Several aspects of the shadow masked growth are characterized for InP based materials as well as for GaAs based materials. Thickness reductions are studied as a function of the mask dimensions, the reactor pressure, the orientation of the masked channels and the undercutting of the mask. The thickness reduction is strongly influenced by the mask dimensions and the reactor pressure, while the influence of the orientation of the channels and the amount of undercutting is only significant for narrow mask windows. During shadow masked growth, there are not only thickness variations but also compositional variations. Therefore, we studied the changes in In/Ga and As/P ratios for InGaAs and InGaAsP layers. It appears that mainly the In/Ga-ratio is responsible for compositional changes and that the As/P-ratio remains unchanged during shadow masked growth.     

The radiotherapy of inoperable non-small-cell bronchial carcinoma. A retrospective analysis of 427 cases

BACKGROUND: The influence of tumor and patient characteristics on survival as well as acute normal tissue toxicity was retrospectively analyzed. PATIENTS AND METHODS: 427 patients with inoperable non-small cell lung cancer were retrospectively analyzed. Two thirds received a total dose of at least 70 Gy, and one third was irradiated with 60 to 66 Gy (2.0 to 2.5 Gy per fraction; split-course technique). 92% had a Karnofsky performance index of > or = 80%. Kaplan-Meier survival curves were generated and comparisons were made by the log-rank test. Prognostic factors were adjusted for by a proportional hazards analysis. RESULTS: Five-year survival rates (+/- SE) and the median survival times (95% confidence interval) were 2 +/- 2% and 11.1 months (9.1 ... 14.5) after 60 to 66 Gy; 8 +/- 2% and 14.9 months (13.3 ... 16.5) after 70+ Gy. The difference was significant in univariate (p = 0.0013) and multivariate analysis (p = 0.0006). Tumor stage (p = 0.0029: I + II > III; IIIA > IIIB) and gender (p = 0.0387: female > male patients) reached significance in multivariate analysis. Acute pneumonitis and esophagitis were observed in 11% and 9% of cases. CONCLUSIONS: Inoperable non-small cell lung cancer stage I to IIIA should be treated in a curative intention with total doses of about 70 Gy. This is feasible with acceptable normal tissue toxicity. Stage IIIB patients have a particular bad prognosis and should only be treated palliatively.     

Regulation of the raffinose permease of Escherichia coli by the glucose-specific enzyme IIA of the phosphoenolpyruvate:sugar phosphotransferase system

In enteric bacteria, chromosomally encoded permeases specific for lactose, maltose, and melibiose are allosterically regulated by the glucose-specific enzyme IIA of the phosphotransferase system. We here demonstrate that the plasmid-encoded raffinose permease of enteric bacteria is similarly subject to this type of inhibition.     

Analysis of a reset-free polarization controller for fast automaticpolarization stabilization in fiber-optic transmission systems

We analyze the operation of a reset-free polarization controller comprising three endlessly rotatable wave plates: a first quarter-wave plate followed by a half-wave plate and a second quarter-wave plate, which is rotated synchronously with the first quarter-wave plate. We show that for any arbitrary angular offset between the two quarter-wave plates; the controller allows continuous, reset-free transformations from any varying general input state of polarization into any general output state. An integrated-optic realization of this scheme on z-propagation LiNbO₃ offers control speeds that well exceed the speed of natural polarization fluctuations in standard single-mode fibers, thus allowing fast automatic polarization stabilization in fiber-optic transmission systems     

Dynamic range of coherent analog fiber-optic links

We investigate the performance of coherent analog optical links employing amplitude modulation (AM), phase modulation (PM), and frequency modulation (FM). The performance of these coherent links is compared to that of AM direct-detection (DD) links. The signal-to-noise ratios, nonlinearities, and-spurious-free dynamic ranges (SFDR's) of the foregoing links are evaluated. We calculate the SFDR for links using DFB and Nd:YAG lasers with typical linewidths of 10 MHz and 5 kHz, respectively. The performance of PM and FM links is dominated by phase noise above a critical value of received optical power. For a linewidth of 10 MHz, and SFDR's of PM and FM links are 30 and 31 dB, respectively, for a received optical power above -27 dBm in a 1 GHz bandwidth. For a linewidth of 5 kHz, the corresponding SFDR's above a received power level of 0 dBm are 51 and 53 dB. The performance of DD and AM links is dominated by RIN above a critical value of received optical power. For a RIN level of -155 dB/Hz, the SFDR's of DD and AM links are 49 and 47 dB, respectively, for a received optical power of 10 dBm in a 1 GHz bandwidth. The SFDR's of the DD and coherent links used for transmission of subcarrier-multiplexed (SCM) signals are also derived. We evaluate target laser parameters needed by a number of different applications. For AM video and antenna remoting applications, linewidths of <1 and <3 kHz are required to use PM and FM links, respectively. For FM video, linewidths of <150 and <350 MHz are required to use PM and FM links. For SCM digital applications, linewidths of <80 and <200 MHz are required to use PM and FM links. The paper concludes with a discussion of system implementation issues, including linearization, optical frequency modulation, balanced receivers, and IF issues     

Computationally efficient methods for bit-error rate evaluation inweakly coherent optical systems

A semianalytical method to estimate the bit-error rate performance of nonsynchronous ASK and FSK optical heterodyne systems is presented. This approach takes into account numerous system details with an accuracy similar to Monte-Carlo simulation, but with a computation time reduced by several orders of magnitude. An analytical approximation, based on a closed-form expression for the decision variable moment generating function, is also presented. The results obtained with the semianalytical method and the analytical approximation are compared to Monte-Carlo simulation results and to measurements obtained on a practical FSK system     

Running therapy: Special characteristics and therapeutic issues of concern.

Describes the use of running therapy in the case of a 32 yr old female incest survivor to delineate specific, predictable, and salient characteristics and issues that may inhere to this type of therapy. The need to address client variables and therapist attributes is discussed. Significant interpersonal issues include changes in the therapeutic bound, competition, and body awareness. Characteristics of running therapy include changes in thinking patterns, the use of symbolism and metaphor, and nonverbal communication. The positive effects of aerobic exercise in the context of psychotherapy may lead to a more profound and beneficial experience of psychotherapy. Further understanding of this form of therapy is useful both to those interested in the relationship between exercise and mental health and those studying varieties of psychotherapeutic experience. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Integration of mobile vehicles for automated material handlingusing Profibus and IEEE 802.11 networks

This paper focuses on a method to integrate mobile devices such as a mobile robot, automated guided vehicle, and unmanned container transporter to form an automated material handling system. In this paper, the stationary devices are connected via a Profibus network while the mobile devices are communicating via an IEEE 802.11 wireless LAN. In order to integrate these two networks, a protocol converter is developed on a PC platform that runs two interacting processes with shared internal buffers. The protocol converter performs a role of translator between two different protocols by converting the format of a data frame. In addition to this basic conversion function, the protocol converter has a virtual polling algorithm to reduce the uncertainty involved in accessing the wireless network. Finally, the integrated network. of Profibus and IEEE 802.11 is experimentally evaluated for its data latency and throughput, which shows the feasibility of the Profibus-IEEE 802.11 network for industrial applications involving mobile devices