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.     

The Soft-Contact Method and Instruments for Measuring the Surface Temperature of Solids

A method and instruments based on it are proposed for the contact measurement of surface temperature when carrying out industrial experiments and when monitoring technological parameters.     

Spectral properties of diesel fuel droplets

Absorption spectra of several types of diesel fuel are studied experimentally. Index of refraction of these fuels is calculated using subtractive Kramers-Krönig analysis. The ageing process of fuels is simulated by prolonged boiling. Radiative properties of diesel fuel droplets are calculated using the Mie theory and a simplified approach, based on approximations of absorption and scattering efficiency factors. It is pointed out that the accuracy of the simplified approach is sufficient for practical applications in the visible and infrared ranges, for various types of diesel fuel, and for droplet radii in the range from 5 to 50 μm. The monodisperse approximation is shown to be applicable for the analysis of infrared radiative properties of realistic polydisperse diesel fuel sprays.     

High-resolution photonics-based interference suppression filter with wide passband

A new topology for a photonic signal processor, which overcomes the basic recursive frequency response problem that limits the passband range, is presented. The structure is based on a new multiple-wavelength offset-cavity structure that is cascaded with a series of unbalanced delay line structures. This not only can synthesize a very narrow notch response with good shape factor but also permits a multifold extension of the free spectral range (FSR) and passband width. Results on the interference mitigation filter demonstrate a stopband of 1% of center frequency and a fourfold increase in the FSR and passband width, while also having a very small shape factor, in excellent agreement with predictions.     

Low Temperature Physics at the Laboratoire National des Champs Magnétiques Pulsés in Toulouse

An overview over past and present activities and future developments at the Toulouse pulsed magnetic field facility is given, both as far as technical developments of the infrastructure, as well as low temperature physics performed at the LNCMP are concerned.     

Quantifying and characterizing contemporary riparian sedimentation

Fluvial processes of erosion, sediment transport and deposition determine the changing form and sedimentary structure of naturally adjusting riparian zones. Riparian sediment storage has both scientific and management importance in relation to: (i) the quantities of sediment that are involved; (ii) the quality of the sediment; and (iii) the dispersal of biological materials, notably the vegetation propagules that are transported and deposited in association with the sediment. After discussing the significance of riparian sedimentation processes, this paper reviews methods for quantifying contemporary sediment deposition within water bodies and their margins. Methods for investigating contemporary riparian sedimentation are given particular emphasis, and the extent to which different methods provide comparable estimates and have been used to support the analysis of different physical and chemical properties of the sediment are outlined. The importance of the following are stressed: (i) selecting a sampling method that is suited to the sedimentation environment; (ii) incorporating careful cross‐calibration if measurements from different methods are to be combined; and (iii) replicating measurements to give more robust estimates if small traps are employed. It is concluded that artificial turf mats provide a useful design of sediment trap across a range of environmental conditions because: (i) their surface roughness reduces problems of sediment removal by flood waters or rainfall; (ii) their pliability permits installation on irregular surfaces; (iii) they can be securely attached to the ground with metal pins to resist high shear stresses from river flows; (iv) they are robust and light and so easily manipulated in the field and laboratory; (v) it is possible to fully recover the deposited sediment to accurately determine the amount of sediment deposited and to support a range of other analyses. Results are presented to illustrate how artificial turf mats can be used to estimate the quantity and quality of deposited sediment and to explore the associated deposition of viable seeds. This provides one example of the important hydroecological role of riparian sedimentation processes and of the potential for the development of innovative, interdisciplinary research on riparian sediment dynamics. Copyright © 2003 John Wiley & Sons, Ltd.     

Geometric derivation of expectation-maximization and generalized successive interference cancellation algorithms with applications to CDMA channel estimation

The expectation-maximization (EM) algorithm is well established as a computationally efficient method for separable signal parameter estimation. Here, a new geometric derivation and interpretation of the EM algorithm is given that facilitates the understanding of EM convergence properties. Geometric considerations lead to an alternative separable signal parameter estimator based on successive cancellation. The new generalized successive interference cancellation (GSIC) algorithm is then applied to multiuser delay and channel estimation for code-division multiple access (CDMA) radiolocation and communication. The radiolocation application uses a handshaking protocol in which multiple reference nodes transmit acknowledge (ACK) CDMA packets to a master node, which then computes round-trip travel times (RTTs). Simulation results comparing EM and GSIC are presented for the CDMA channel-estimation problem.     

Mechanical spectroscopy in commercial Fe–6 wt.% Si alloys between 400 and 1000 K

Mechanical spectroscopy, neutron diffraction and differential scanning calorimetry (DSC) were performed on commercial Fe–6 wt.% Si alloy after quenching from high temperature. The damping spectrum shows a peak at around 800 K and an associated modulus defect. The modulus shows an increase during the second and subsequent heating runs. In addition, an anomaly in the modulus behavior has been found at around 400 K. Different thermal treatments allows to obtain two different recovery degrees of the quenched-in defects. The influence of the recovery degree on the 800 K internal friction peak and on the anelastic modulus has been evaluated and confirm the validity of the grain boundary mechanism associated to this peak. Experimental results are discussed on the basis of recovery and ordering processes.