Mathematical model of an industrial robot with articulated configuration and six degrees of freedom

This paper analyses the load influence on a d.c. drive motor servo system for all six degrees of freedom of industrial robots with an articulated configuration. Through the analyses, the analytical equations of total inertia and gravitation moments of an industrial robot servo system for external coordinate function were obtained. A mathematical model of an electro-mechanical industrial robot system was also developed.     

A logical approach to program analysis

This paper describesMicroScope, a framework for developing analysis tools for Lisp programs. MicroScope uses a knowledge-intensive approach for program representation and analysis. The analysis tools share a common object oriented program database, and a common Prolog inference engine. The use of Prolog and a declarative representation for programs permits sharing of information, and provides high bandwidth communication between diverse analysis tools. It also supports program specification and debugging activities in the same framework. Extensions to Prolog to support analysis are described, and two tools, theCritic and theExpector, are presented.This work supported in part by Hewlett-Packard Company, the National Science foundation Under Grant Number MCS81-21750 and the Defense Advanced Research Projects Agency under contract number DAAK11-84-K-0017.     

A cathode readout gas sampling calorimeter with conductive plastic tubes

We constructed and tested a prototype gas sampling electromagnetic calorimeter of the Pb-proportional tube sandwich type. The calorimeter uses conductive plastic tubes and cathode pad readout with a tower structure which resulted in reasonable energy and spatial resolutions for electrons in the momentum range 0.5–4.0 GeV/c; $\text{σ}{}_{\mathrm{E}}\text{E =}\text{21\%}\text{(E(}\text{GeV}\text{)}\text{)}{}^{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}\text{, σ}{}_{\mathrm{x}}\text{= 6}\text{mm}\text{(at 3 GeV}$/c). This paper describes the test and the performance studied under various conditions.     

Studies of elemental distributions within discrete coal macerals: Use of secondary ion mass spectrometry and X-ray photoelectron spectroscopy

Secondary ion mass spectrometry has been used to measure qualitatively the distributions of many trace and minor elements within some well-characterized coal macerals: vitrinite, fusinite and exinite. Complementary information was obtained by using X-ray photoelectron spectroscopy. Within the vitrinite specimens studied, a widely-dispersed largely inorganic aluminosilicate phase was identified, which contained a number of other trace elements. By contrast, within the organic-rich phase of this macerai, titanium was detected in a very even distribution; this suggests that some titanium may be bonded in an organic complex. The fusinite was shown to contain elevated concentrations of calcium, magnesium and fluorine, dispersed over a large portion of the maceral. The high fluorine content could be identified as an organo-fluoro compound using XPS. Exinite was found to contain lower concentrations of most elements, compared to other macerals. The organic composition of this maceral was significantly different from that of surrounding macerals; this could be seen from the enhanced emission of the C₂H₂-secondary ion and images of this ion thus clearly outlined the position of such macerals.     

The Present Status and Potential of Kraft Lignin-Phenol-Formaldehyde Wood Adhesives

Kraft lignin (KL), a phenolic polymer formed during the kraft pulping process, is presently burned as a low value fuel. For decades, researchers have attempted to use KL as an inexpensive substitute for phenol in phenol-formaldehyde (PF) resins, but no one has produced a commercially satisfactory KL-PF resin. This paper reviews the literature on the present status of KL-PF adhesives and makes recommendations on needed research.

Kraft lignin solutions are complex mixtures which have broad molecular weight distributions, high viscosities, relatively low reactivities, and low solubilities. Attempts to overcome these inherent problems include methylolation of lignin to improve reactivity, the use of co-solvents to improve solubility, and ultrafiltration to yield more homogeneous molecular weight fractions. Future research efforts need to focus on understanding the fundamental chemical and physical properties of kraft lignin and its resins. The search for an economic lignin-based wood adhesive should continue.     

Acrylonitrile-based copolymers: Synthesis,characterization, and formation of ultrafiltration membranes utilized for the immobilization of proteins

Various high molecular weight copolymers of acrylonitrile and a vinyl comonomer containing an aryl amine, a pyridine, or an aliphatic hydroxyl group were synthesized via slurry polymerization techniques so as to contain from 1 to 15 mol % functional comonomer. The comonomer content was quantitated by ultraviolet absorbance, base titration of acid polymer salts, and/or relative chemical reactivity with trichloro-s-triazine. Thin films were cast from copolymer solutions, coagulated into unsupported ultrafiltration membrances, and characterized with respect to both water permeability and pore size distribution. Analysis by size exclusion chromatography of the membrane permeate of a pool of dextran fractions yielded a continuous distribution curve for membrane pore size over the range 1.5 to 70 nm. The ultrafiltration membranes were used for protein immobilization after appropriate chemical activation. The three distinct types of functional copolymers gave comparable results for α-chymotrypsin, with protein weight loadings of 6–12% and 40–65% retention of enzymatic specific activity.     

Effect of Contact Residual Stress Relaxation on Fracture Strength of Indented Soda-Lime Glass

The strength of Vickers-indented soda-lime glass measured in air at room temperature steadily increases with time after indentation, whereas optical retardation steadily decreases in the same interval. Annealing after indentation causes further strength increase and retardation decrease. The results are consistent with Marshall and Lawn's treatment of the slow crack growth of indentation flaws driven by the combined influence of residual contact stress and applied stress. Post-indentation strengthening of indentation flaws can be explained without recourse to flaw blunting.     

A test for the statistical significance of DNA sequence similarities for application in databank searches

A method is developed, based on word-searching, which provides a rapid test for the statistical significance of DNA sequence similarities for use in databank searching. The method makes allowance for the lengths and dinucleotide compositions of the sequences being compared. A way is also described to calculate the power of the test, i.e. the probability of detecting a given similarity as being statistically significant. The effects on the power of the test of the scoring method, word length, sequence length, and sequence composition are examined. A novel scoring method is shown to be superior to the method currently used in most word-searching algorithms.