Methodologies for the optimal design of parallel manipulators

In this paper the problem of determining a manipulator design so that its workspace corresponds to a prescribed workspace is considered. Two different strategies, resulting in two different types of optimization problem are considered. The first strategy attempts to obtain a good overall approximation to the prescribed workspace and results in an unconstrained optimization problem. The second strategy entails designing a manipulator so that its workspace fully encloses the prescribed workspace and results in a constrained optimization problem. Two specific formulations of the constrained problem are proposed. The first constrained problem simply aims to fit the manipulator workspace as exactly as possible to the prescribed workspace, while still ensuring that the prescribed workspace is fully enclosed. The second constrained optimization formulation is used to design a manipulator, the workspace of which fully encloses the prescribed workspace, but which is also well‐conditioned throughout the workspace with respect to some performance measure. The particular manipulator used to illustrate and evaluate these formulations is a simple 2‐dof planar parallel manipulator, and the final formulation is also applied to a 3‐dof planar parallel manipulator. Although the manipulators studied here are simple, the objective of this study is to obtain a robust numerical methodology which can be extended to more practical and complex manipulators. Copyright © 2003 John Wiley & Sons, Ltd.     

Electrical conductivity and gas sensitivity of Zn-Sb-O thick films

The thick film of Zn-Sb-O was prepared by coating the paste of nanoparticles mixture (Sb₂O₃:ZnO=1:3) on the alumina substrate, followed by sintering at 500-900 °C for 2 h in air. The electrical resistance and gas-sensing properties to benzene, alcohol and acetone of Zn-Sb-O films were found to be dependent on the change of phase structure caused by sintering temperature.     

On the role of high-energy electrons in the formation of a plasma-beam discharge structure in a diode with a slit cathode

The spatial structure of visible emission from plasma of a transverse nanosecond pulsed electric discharge in a gas-filled diode with a hollow (slit) cathode has been experimentally studied. A relation is established between the regime of electron energy relaxation and the plasma-beam discharge structure formation. High values of the electron emission coefficient are observed in the experiment, which cannot be explained using the notion of electron emission from a cathode bombarded by fast heavy particles.     

High-strain-rate superplasticity of nanocrystalline aluminum alloy 1570

The structure and mechanical properties of nanocrystalline aluminum alloy 1570 obtained by means of severe plastic deformation have been studied. Being tested in a temperature range from 300 to 400°C, the alloy exhibits high-strain-rate superplasticity. At 400°C, the superplasticity is manifested in a very broad range of strain rates, extending from 5 × 10^?3 to 1 s^?1.     

Studying chaotic microwave oscillations in a TWO with depressed collector

Broadband chaotic oscillations were monitored in a depressed potential collector of a traveling-wave oscillator (TWO). This signal appears due to the oscillations of a virtual cathode, which is formed in the spent electron beam under the action of retarding fields existing in the multistage depressed collector.     

Optical properties of strain-compensated InAs/InGaAsN/GaAsN superlattices

The optical properties of heterostructures comprising InAs/InGaAsN quantum wells in strain-compensated GaAsN/InGaAsN superlattices have been studied. It is demonstrated that, using such superlattices of various design and thickness and with additional InAs monolayer spacers, it is possible to control the wavelength of room-temperature emission from InGaAsN quantum wells within 1.3–1.6 μm without deteriorating the output radiation characteristics, which opens additional prospects for the development of lasers on GaAs substrates for telecommunication applications.     

Development of polyurethane elastomer composite materials by addition of milled fiberglass with coupling agent

Polyurethane elastomer composites were developed using milled fiberglass and their mechanical properties were studied. In particular, the organically chemical treatment of the milled fiberglass was investigated in detail. It was demonstrated that both strength and toughness of the resulting elastomer composites were improved considerably with the addition content of fiberglass. Furthermore, it was indicated that the optimal properties can be achieved by the proper addition of milled fiberglass that was chemically treated using coupling agent.     

The structure and thermo EMF of a nanotubular carbon deposit formed in electric discharge plasma

We have studied the structure and thermo emf of a nanotubular carbon deposit formed in electric arc discharge plasma. The deposit contains flocky granules with dimensions of 15–20 μm within a 20–60 μm-thick layer on the substrate surface. This deposit is characterized by a sufficiently high thermo emf (60 μV/K) and electric conductivity (600 Ω⁻¹ m⁻¹).     

Experimental Investigation of FRP-Strengthened RC Beam-Column Joints

The results of a comprehensive experimental program, aimed at providing a fundamental understanding of the behavior of shear-critical exterior reinforced concrete (RC) joints strengthened with fiber reinforced polymers (FRP) under simulated seismic load, are presented in this study. The role of various parameters on the effectiveness of FRP is examined through 2/3-scale testing of 18 exterior RC joints. Conclusions are drawn on the basis of certain load versus imposed displacement response characteristics, comprising the strength (maximum lateral load), the stiffness, and the cumulative energy dissipation capacity. The results demonstrate the important role of mechanical anchorages in limiting premature debonding, and they provide important information on the role of various parameters, including: area fraction of FRP; distribution of FRP between the beam and the column; column axial load; internal joint (steel) reinforcement; initial damage; carbon versus glass fibers; sheets versus strips; and effect of transverse beams.