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.     

Volatile constituents of palm wine and palm sap

Palm wine and pasteurised palm sap volatiles were collected, concentrated on a Tenax GC and analysed by gas chromatography and gas chromatography-mass spectrometry. Eighty-two components were identified: 47 esters, 9 alcohols, 5 acids, 6 carbonyls, 2 acetals, 4 terpenes and 9 hydrocarbons. These had all been found previously in conventional wines. Odour evaluation of the separated palm wine components as they eluted suggested that no one compound is responsible for the characteristic palm wine odour. The acetates of higher alcohols and the ethyl esters of straight-chain aliphatic C₆-C₁₀ acids seemed to be important and may play a big role in imparting the fruity nuances of characteristic palm wine odour. Their association with alcohols seemed also to be necessary for the expression of typical palm wine odour. The qualitative difference between palm sap aroma and palm wine aroma appeared to be due mainly to the presence of these esters and alcohols in palm wine and their apparent absence from palm sap, as well as to the presence of some low-boiling esters and alcohols in palm sap and their apparent absence from palm wine.     

Miller compensation using current buffers in fully differential CMOS two-stage operational amplifiers

Several Miller compensation schemes using a current buffer in series with the compensation capacitor to modify the right-half-plane zero in fully differential two-stage CMOS operational amplifiers are analyzed. One scheme uses a current mirror as a current buffer, while the rest use a common-gate transistor as a current buffer. The gain transfer functions are derived for each topology, and approximate transfer-function coefficients are found that allow accurate estimation of the zero(s) and poles.     

Drafting a parenteral nutrition order form utilizing a physician assessment process

The utilization of a physician critique process in the design of a parenteral nutrition order form, encouraging a standard order option, is assessed. In the critique process, physicians from surgery, medicine, and medical intensive care teams were tasked to use the draft order form and guideline sheet to prescribe a parenteral nutrition order for a hypothetical patient. Prescriber recommendations and problems with the nutrition order form and guideline sheet directed editorial improvements. The physician assessment process is an effective means to measure utility of a draft parenteral order form and prescribing guideline sheet. By utilizing physician expertise, deficiencies inherent in such an order form may be corrected prior to implementation.     

Survey of animal livers for vitamin A content.

Retail samples of livers from calf (23), ox (18), lamb (17), pig (15), chicken (16) and turkey (1) were analysed to determine levels of vitamin A (all trans-retinol) and to aid assessment of the effects of using vitamin supplemented compound feedingstuffs for livestock. For comparison, 22 liver samples from lambs reared on diets not containing vitamin-supplemented compound feedingstuffs and four samples of liver from ox which had received supplemented feed but not during the last four months prior to slaughter were also analysed. The chosen method of analysis utilized saponification, solvent extraction and normal-phase high performance liquid chromatography with fluorescence detection. For all species analysed, the levels of vitamin A ranged from 10 to 1100 mg/kg, with all but seven at or below 400 mg/kg. For lamb and ox livers, the mean levels were 310 mg/kg and 200 mg/kg respectively for retail samples. The mean levels were 220 mg/kg (lamb) and 120 mg/kg (ox) in liver samples from animals fed controlled diets. The results are of the same order as those reported over recent years.     

Assessment of behavioral problems in dementia: The Revised Memory and Behavior Problems Checklist.

The Revised Memory and Behavior Problems Checklist (RMBPC), a 24-item, caregiver-report measure of observable behavioral problems in dementia patients, provides 1 total score and 3 subscale scores for S problems (memory-related, depression, and disruptive behaviors) and parallel scores for caregiver reaction. Data were obtained from 201 geriatric Ss and their caregivers. Factor analysis confirmed 3 1st-order factors, consistent with subscales just named, and 1 general factor of behavioral disturbance. Overall scale reliability was good, with alphas of .84 for S behavior and .90 for caregiver reaction. Subscale alphas ranged from .67 to .89. Validity was confirmed through comparison of RMBPC scores with well-established indexes of depression, cognitive impairment, and caregiver burden. The RMBPC is recommended as a reliable and valid tool for the clinical and empirical assessment of behavior problems in dementia Ss. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Accuracy in perceptions of interpersonal interactions: Effects of dysphoria, friendship, and similarity.

Addressed conflicting views of depressives' interpersonal accuracy in an investigation of the accuracy of mild depressives (dysphorics) across differing social contexts. Women who were either friends or strangers and who were either similar or dissimilar in level of dysphoria conversed about 3 topics: a neutral topic, their own disclosure of a personal problem, and their partner's disclosure. Dysphorics were not more accurate in general than nondysphorics. After self-disclosure, all women more accurately detected sympathy from a similar stranger. After the partner's disclosure, women also better detected the mood of a similar partner. When interacting with nondysphoric strangers, however, dysphorics underestimated their partner's sympathy toward them. Implications for cognitive and interpersonal theories of depression and for depressives' relationships are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A 30-b integrated logarithmic number system processor

The authors describe an integrated processor that performs addition and subtraction of 30-b numbers in the logarithmic number system (LNS). This processor offers 5-MOPS performance in 3-μm CMOS technology, and is implemented in a two-chip set comprising 170 K transistors. Two techniques are used to achieve this precision in a moderate circuit area. Linear approximation of the LNS arithmetic functions using logarithmic arithmetic is shown to be simple due to the particular functions involved. A segmented approach to linear approximation minimizes the amount of table space required. Subsequent nonlinear compression of each lookup table leads to a further reduction in table size. The result is that a factor of 285 reduction in table size is achieved, compared to previous techniques. The circuit area of the implementation is minimized by optimizing the table parameters, using a computer program that accurately models ROM area. The implementation is highly pipelined, and produces one result per clock cycle using a ten-stage pipeline     

Stability of rack structures

Standard commercial pallet racking is used in warehouses, factories, shops and a multitude of other places where palletised goods are to be stored. The structural analysis of this type of structure is complicated by the semi-rigid nature of the beam-to-upright connection, which is different from one manufacturer to another.In the present paper an attempt has been made to provide a simple design approach to the stability of pallet rack structures, and the effect that the form of the moment-rotation characteristic has on the type of stability demonstrated by the system.Finally the role of small imperfections is studied, and the effect that they have on the maximum load carrying capacity of the structure is shown.     

Using fractal structure to describe nickel crystal morphology

The morphology of nickel crystals can be quantified using measurements of fractal structure. In the study described in this article, fractal dimensions of cross sections of 16 nickel samples were determined, and the numerical analysis indicates that the more rugged surfaces are characterized by higher fractal dimensions although the relationship between morphology and fractal dimension is relatively weak. However, the data also show that fractal dimension is a better predictor of morphology than apparent density, which is the measurement currently used. The nickel samples were also subjected to an avalanching disc technique that has the potential to separate out the differences in flow in the different types of nickel powder. The differences in flow between powders were ascribed to the similar gross morphologies of the particles, and the presence of shattered individual particles in the mix. For more information, contact A.E. Lewis, University of Cape Town, Precipitation and Crystallisation Research Facility, Department of Chemical Engineering, Rondebosch, 7701, South Africa; +27-21-650-4091; fax +27-21-689-7479; e-mail alison@chemeng.uct.ac.za.