Closed-form forward kinematics solutions of a 4-DOF parallel robot

It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.     

Detection of a brain aneurysm and a way to search for a brain aneurysm aimed at the development of a system to simulate an operation

In this article, a system is proposed for a simulated operation which would help a trainee surgeon to perform a medical operation to ensure that a cerebral aneurysm does not burst. The physician will have acquired empirical medical technologies from operations in traditional clinical teaching. However, there is a problem with safety and the burden to the patient. Therefore, recently a new training approach for a simulated medical operation using virtual reality has been explored. With the aim of developing a simulated system for a medical operation for a cerebral aneurysm, we considered the necessary functions such as detecting the brain aneurysm that is the target of the operation, and searching for a suitable blood vessel to make a plan for the operation.     

Development Of Cvt Control System And Its Use For Fuel‐Efficient Operation Of Engine

Continuously variable transmission (CVT) provides an automobile with the ability to change the gear ratio continuously, which can then improve not only ride quality such as acceleration performance but also fuel‐efficiency. However, to take advantage of the ability, a control system that can precisely control the gear ratio is required. This paper proposes such a control system for a belt‐driven CVT system. For controller design, first the CVT system is modeled by analytical and experimental approaches. The resultant static and dynamic characteristics provide a nonlinear first‐order model with an uncertain time constant and time delay. The nonlinear steady‐state gain is adjusted to one by a gain‐scheduled pre‐compensator. Thereby the plant model becomes a linear first‐order lag system with a dead time. The next step is controller design using the plant model. To guarantee stability and control performance against the parameter variation and time delay, the μ‐synthesis, a robust control method, is employed for feedback control. In addition, a feedforward controller is incorporated into the feedback control system to obtain better output response. The feedforward controller is given by a combination of the inverse system of the plant and a reference model that gives desired output response. As a result, the control system becomes a two‐degree‐of‐freedom control system. To evaluate the performance of the control system and its effectiveness on the fuel‐efficiency, computer simulation and driving tests were conducted. The simulation and experiment results prove that the proposed control system can make the gear ratio track a reference output quickly and precisely in the presence of the uncertainties. The results also show that the control system improves fuel‐efficiency by changing the gear ratio so that the engine torque and its revolution speed can satisfy optimum‐efficiency operating condition.     

New integral experiments for large angle scattering cross section data benchmarking with DT neutron beam at JAEA/FNS

A new integral experiment with a deuteron–triton fusion (DT) neutron beam started in order to validate scattering cross section data. First the DT neutron beam was constructed with a collimator. The performance of the collimator system and the characteristics of the DT neutron beam were measured. Second a new integral experiment for type 316 stainless steel (SS316) was carried out with this DT neutron beam. The DT neutron beam of 3.5 cm in diameter was injected to the front surface center of an SS316 cylindrical assembly. Reaction rates of the ⁹³Nb(n,2n)^92mNb reaction in the assembly were measured with the activation foil method and were calculated with the Monte Carlo transport calculation code. The measurement points were located at three positions, on the center of the beam axis and at 15 cm and 30 cm apart from the axis. The ratio of calculation to experiment of the ⁹³Nb(n,2n)^92mNb reaction rate became smaller than 1 with the distance from the beam axis. Then, the dependency of each reaction rate on scattering angle was calculated. It was proved that at off-axis positions, where C/E is smaller than 1, 90° scattering contribute relatively larger than at on-axis positions and backward scattering made little contribution to the results in this experiment. The reasons of the discrepancy between the measured and calculated data will be investigated.     

Effect of sweep gas species on tritium release behavior from lithium titanate packed bed during 14 MeV neutron irradiation

In a fusion reactor, the prediction of tritium release behavior from breeder blanket is important to design the tritium recovery system, but the amount of tritium generated is necessary information to do that. Hence, tritium generation and recovery studies on lithium ceramics packed bed have been started by using fusion neutron source (FNS) in Japan Atomic Energy Agency (JAEA). Lithium titanate (Li₂TiO₃) was selected as tritium breeding material, and its packed bed was enclosed by the beryllium blocks, and was kept at certain temperature during fusion neutron irradiation. During irradiation, the packed bed was purged with the sweep gas continuously, and tritium released was trapped in each gas absorber selectively by chemical form. In this work, the effect of sweep gas species on tritium release behavior was investigated. In the case of sweep by helium with 1% of hydrogen, tritium in water form was released sensitively corresponding to the irradiation. This is due to existence of the water vapor in the sweep gas. On the other hand, in the case of sweep by helium without water vapor, tritium in gaseous form was released first, and release of tritium in water form was delayed from gaseous tritium and was gradually increased.     

Development of the Water Cooled Ceramic Breeder Test Blanket Module in Japan

The development of a Water Cooled Ceramic Breeder (WCCB) Test Blanket Module (TBM) is being performed as one of the most important steps toward DEMO blanket in Japan. For the TBM testing and evaluation toward DEMO blanket, the module fabrication technology development by a candidate structural material, reduced activation martensitic/ferritic steel, F82H, is one of the most critical items from the viewpoint of realization of TBM testing in ITER. In Japan, fabrication of a real scale first wall, side walls, a breeder pebble bed box and assembling of the first wall and side walls have succeeded. Recently, the real scale partial mockup of the back wall was fabricated. The fabrication procedure of the back wall, whose thickness is up to 90 mm, was confirmed toward the fabrication of the real scale back wall by F82H. Important key technologies are almost clarified for the fabrication of the real scale TBM module mockup. From the view point of testing and evaluation, development of the technology of the blanket tritium recovery, development of advanced breeder and multiplier pebbles and the development of the blanket neutronics measurement technology are also performed. Also, tritium production and recovery test using D-T neutron in the Fusion Neutronics Source (FNS) facility has been started as the verification test of tritium production performance. This paper overviews the recent achievements of the development of the WCCB TBM in Japan.     

Shear viscosity of the B phase of superfluid3He

The shear viscosity (T) in the Balian-Werthamer (BW) state of superfluid ³ He is calculated variationally throughout the region 0t 1(t=T/T _c) from the transport equation for Bogoliubov quasiparticles. Coherence factors are treated exactly in the calculation of the collision integral. The numerical result for =_s= _s(T)/_n(T_c) agree very well with experiment in the range 0.8t1.0. Analytic expressions = 0.577 (1–1.0008t) and =1–(23/64) [=(T)/k _B T] are obtained in the low-temperature region and in the vicinity ofT _c, respectively. From the numerical analysis it is shown that the latter equation is valid only in the temperature range 0.9997t1.0.Supported by the Research Institute for Fundamental Physics, Kyoto University.     

Preparation of diamondlike carbon films using nanopulse generator employing SI thyristor

Diamondlike carbon (DLC) films show high hardness, high electric resistivity, and the self‐lubricant characteristic, and many applications and synthesis methods have been reported. Pulse plasma chemical vapor deposition (CVD) is one of the synthesis methods suitable for DLC films on complicated form work, such as molding and extruding die. Ordinary, microsecond‐order pulse is used in this method. This paper describes the development of the synthesis method using nanosecond‐order pulse plasma CVD for DLC films. To realize this process, a static induction (SI) thyristor with an inductive energy storage (IES) circuit was used. Compared with microsecond, nanosecond‐order pulse plasma CVD method shows the characteristics of high electron temperature and exponential relationship between pulse frequency and growth rate. The characteristics of the thus‐obtained DLC films show two broad peaks of the disordered band at 1360 cm^?1 and the graphitic band at 1580 cm^?1 by Raman spectroscopy and hardness of 16.0 GPa and elastic modulus of 170 GPa. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 159(4): 1–7, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20341