Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Water vapor retrievals from spectral direct irradiance measured with an EKO MS-711 spectroradiometer—intercomparison with other techniques

Precipitable water vapor retrievals are of major importance for assessing and understanding atmospheric radiative balance and solar radiation resources. On that basis, this study presents the first PWV values measured with a novel EKO MS-711 grating spectroradiometer from direct normal irradiance in the spectral range between 930 and 960 nm at the Izaña Observatory (IZO, Spain) between April and December 2019. The expanded uncertainty of PWV (U$_{PWV}$) was theoretically evaluated using the Monte-Carlo method, obtaining an averaged value of 0.37 ± 0.11 mm. The estimated uncertainty presents a clear dependence on PWV. For PWV ≤ 5 mm (62% of the data), the mean U$_{PWV}$ is 0.31 ± 0.07 mm, while for PWV > 5 mm (38% of the data) is 0.47 ± 0.08 mm. In addition, the EKO PWV retrievals were comprehensively compared against the PWV measurements from several reference techniques available at IZO, including meteorological radiosondes, Global Navigation Satellite System (GNSS), CIMEL-AERONET sun photometer and Fourier Transform Infrared spectrometry (FTIR). The EKO PWV values closely align with the above mentioned different techniques, providing a mean bias and standard deviation of −0.30 ± 0.89 mm, 0.02 ± 0.68 mm, −0.57 ± 0.68 mm, and 0.33 ± 0.59 mm, with respect to the RS92, GNSS, FTIR and CIMEL-AERONET, respectively. According to the theoretical analysis, MB decreases when comparing values for PWV > 5 mm, leading to a PWV MB between −0.45 mm (EKO vs. FTIR), and 0.11 mm (EKO vs. CIMEL-AERONET). These results confirm that the EKO MS-711 spectroradiometer is precise enough to provide reliable PWV data on a routine basis and, as a result, can complement existing ground-based PWV observations. The implementation of PWV measurements in a spectroradiometer increases the capabilities of these types of instruments to simultaneously obtain key parameters used in certain applications such as monitoring solar power plants performance

Water vapor retrievals from spectral direct irradiance measured with an EKO MS-711 spectroradiometer—intercomparison with Other Techniques

Precipitable water vapor retrievals are of major importance for assessing and understanding atmospheric radiative balance and solar radiation resources. On that basis, this study presents the first PWV values measured with a novel EKO MS-711 grating spectroradiometer from direct normal irradiance in the spectral range between 930 and 960 nm at the Izaña Observatory (IZO, Spain) between April and December 2019. The expanded uncertainty of PWV (UPWV) was theoretically evaluated using the Monte-Carlo method, obtaining an averaged value of 0.37 ± 0.11 mm. The estimated uncertainty presents a clear dependence on PWV. For PWV ≤ 5 mm (62% of the data), the mean UPWV is 0.31 ± 0.07 mm, while for PWV > 5 mm (38% of the data) is 0.47 ± 0.08 mm. In addition, the EKO PWV retrievals were comprehensively compared against the PWV measurements from several reference techniques available at IZO, including meteorological radiosondes, Global Navigation Satellite System (GNSS), CIMEL-AERONET sun photometer and Fourier Transform Infrared spectrometry (FTIR). The EKO PWV values closely align with the above mentioned different techniques, providing a mean bias and standard deviation of −0.30 ± 0.89 mm, 0.02 ± 0.68 mm, −0.57 ± 0.68 mm, and 0.33 ± 0.59 mm, with respect to the RS92, GNSS, FTIR and CIMEL-AERONET, respectively. According to the theoretical analysis, MB decreases when comparing values for PWV > 5 mm, leading to a PWV MB between −0.45 mm (EKO vs. FTIR), and 0.11 mm (EKO vs. CIMEL-AERONET). These results confirm that the EKO MS-711 spectroradiometer is precise enough to provide reliable PWV data on a routine basis and, as a result, can complement existing ground-based PWV observations. The implementation of PWV measurements in a spectroradiometer increases the capabilities of these types of instruments to simultaneously obtain key parameters used in certain applications such as monitoring solar power plants performance.This study has been performed thanks to regular funds from the State Meteorological Agency of Spain (AEMET) to the World Meteorological Organization (WMO) Commission for Instruments and Methods of Observations (CIMO) Izaña Testbed for Aerosols and Water Vapor Remote Sensing Instruments and the European Community Research Infrastructure Action under the FP7 ACTRIS grant, agreement no. 262254

Aerosol properties derived from ground-based Fourier transform spectra within the COllaborative Carbon Column Observing Network

Fourier transform infrared (FTIR) spectroscopy is particularly relevant for climate studies due to its ability to provide information on both fine absorption structures (i.e. trace gases) and broadband continuum signatures (i.e. aerosols or water continuum) across the entire infrared (IR) domain. In this context, this study assesses the capability of the portable and compact EM27/SUN spectrometer, used within the research infrastructure COCCON (COllaborative Carbon Column Observing Network), to retrieve spectral aerosol properties from low-resolution FTIR solar absorption spectra (0.5 cm$^{−1}$). The study focuses on the retrieval of aerosol optical depth (AOD) and its spectral dependence in the 873–2314 nm spectral range from COCCON measurements at the subtropical high-mountain Izaña Observatory (IZO, Tenerife, Spain), which were coincidentally carried out with standard sun photometry within the Aerosol Robotic Network (AERONET) in the 3-year period from December 2019 to September 2022. The co-located AERONET–COCCON database was used to cross-validate these two independent techniques in the common spectral range (870–1640 nm), demonstrating an excellent agreement at the near-coincident spectral bands (mean AOD differences limited to 0.005, standard deviations up to 0.021 and Pearson regression coefficients up to 0.97). This indicates that the low-resolution COCCON instruments are suitable for detecting the aerosol broadband signal contained in the IR spectra in addition to the retrieval of precise trace gas concentrations, provided a robust calibration procedure (Langley-based or absolute calibration procedures) is used to compensate for the optical degradation of the external system (∼ 0.72 % per month). The study also assesses the capability of the EM27/SUN to simultaneously infer aerosols and trace gases and relate their common emission sources in two case study events: a volcanic plume from the La Palma eruption in 2021 and a nearby forest fire in Tenerife in 2022. Overall, our results demonstrate the potential of the portable low-resolution COCCON instruments to enhance the multi-parameter capability of the FTIR technique for atmospheric monitoring

Column integrated water vapor and aerosol load characterization with the new ZEN-R52 radiometer

Producción CientíficaThe study shows the first results of the column-integrated water vapor retrieved by the new ZEN-R52 radiometer. This new radiometer has been specifically designed to monitor aerosols and atmospheric water vapor with a high degree of autonomy and robustness in order to allow the expansion of the observations of these parameters to remote desert areas from ground-based platforms. The ZEN-R52 device shows substantial improvements compared to the previous ZEN-R41 prototype: a smaller field of view, an increased signal-to-noise ratio, better stray light rejection, and an additional channel (940 nm) for precipitable water vapor (PWV) retrieval. PWV is inferred from the ZEN-R52 Zenith Sky Radiance (ZSR) measurements using a lookup table (LUT) methodology. The improvement of the new ZEN-R52 in terms of ZSR was verified by means of a comparison with the ZEN-R41, and with the Aerosol Robotic Network (AERONET) Cimel CE318 (CE318-AERONET) at Izaña Observatory, a Global Atmosphere Watch (GAW) high mountain station (Tenerife, Canary Islands, Spain), over a 10-month period (August 2017 to June 2018). ZEN-R52 aerosol optical depth (AOD) was extracted by means of the ZEN–AOD–LUT method with an uncertainty of ±0.01 ± 0.13*AOD. ZEN-R52 PWV extracted using a new LUT technique was compared with quasi-simultaneous (±30 s) Fourier Transform Infrared (FTIR) spectrometer measurements as reference. A good agreement was found between the two instruments (PWV means a relative difference of 9.1% and an uncertainty of ±0.089 cm or ±0.036 + 0.061*PWV for PWV <1 cm). This comparison analysis was extended using two PWV datasets from the same CE318 reference instrument at Izaña Observatory: one obtained from AERONET (CE318-AERONET), and another one using a specific calibration of the 940-nm channel performed in this work at Izaña Atmospheric Research Center Observatory (CE318-IARC), which improves the PWV product.European Community Research Infrastructure Action (grant 262254)Ministerio de Ciencia, Innovación y Universidades (project RTI2018-097864-B-I00

Aerosol properties derived from ground-based Fourier transform spectra within the COllaborative Carbon Column Observing Network

Fourier transform infrared (FTIR) spectroscopy is particularly relevant for climate studies due to its ability to provide information on both fine absorption structures (i.e. trace gases) and broadband continuum signatures (i.e. aerosols or water continuum) across the entire infrared (IR) domain. In this context, this study assesses the capability of the portable and compact EM27/SUN spectrometer, used within the research infrastructure COCCON (COllaborative Carbon Column Observing Network), to retrieve spectral aerosol properties from low-resolution FTIR solar absorption spectra (0.5 cm−1). The study focuses on the retrieval of aerosol optical depth (AOD) and its spectral dependence in the 873–2314 nm spectral range from COCCON measurements at the subtropical high-mountain Izaña Observatory (IZO, Tenerife, Spain), which were coincidentally carried out with standard sun photometry within the Aerosol Robotic Network (AERONET) in the 3-year period from December 2019 to September 2022. The co-located AERONET–COCCON database was used to cross-validate these two independent techniques in the common spectral range (870–1640 nm), demonstrating an excellent agreement at the near-coincident spectral bands (mean AOD differences limited to 0.005, standard deviations up to 0.021 and Pearson regression coefficients up to 0.97). This indicates that the low-resolution COCCON instruments are suitable for detecting the aerosol broadband signal contained in the IR spectra in addition to the retrieval of precise trace gas concentrations, provided a robust calibration procedure (Langley-based or absolute calibration procedures) is used to compensate for the optical degradation of the external system (∼ 0.72 % per month). The study also assesses the capability of the EM27/SUN to simultaneously infer aerosols and trace gases and relate their common emission sources in two case study events: a volcanic plume from the La Palma eruption in 2021 and a nearby forest fire in Tenerife in 2022. Overall, our results demonstrate the potential of the portable low-resolution COCCON instruments to enhance the multi-parameter capability of the FTIR technique for atmospheric monitoring.</p

Improved ozone monitoring by ground-based FTIR spectrometry

Accurate observations of atmospheric ozone (O$_3$) are essential to monitor in detail its key role in atmospheric chemistry. The present paper examines the performance of different O$_3$ retrieval strategies from FTIR (Fourier transform infrared) spectrometry by using the 20-year time series of the high-resolution solar spectra acquired from 1999 to 2018 at the subtropical Izaña Observatory (IZO, Spain) within NDACC (Network for the Detection of Atmospheric Composition Change). In particular, the effects of two of the most influential factors have been investigated: the inclusion of a simultaneous atmospheric temperature profile fit and the spectral O$_3$ absorption lines used for the retrievals (the broad spectral region of 1000–1005 cm$_{−1}$ and single micro-windows between 991 and 1014 cm$_{−1}$). Additionally, the water vapour (H$_{2}$O) interference in O$_3$ retrievals has been evaluated, with the aim of providing an improved O$_3$ strategy that minimises its impact and, therefore, could be applied at any NDACC FTIR station under different humidity conditions. The theoretical and experimental quality assessments of the different FTIR O$_3$ products (total column (TC) amounts and volume mixing ratio (VMR) profiles) provide consistent results. Combining a simultaneous temperature retrieval with the optimal selection of single O$_3$ micro-windows results in superior FTIR O$_3$ products, with a precision of better than 0.6%–0.7% for O$_3$ TCs as compared to coincident NDACC Brewer observations taken as a reference. However, this improvement can only be achieved provided the FTIR spectrometer is properly characterised and stable over time. For unstable instruments, the temperature fit is found to exhibit a strong negative influence on O$_3$ retrievals due to the increase in the cross-interference between the temperature retrieval and instrumental performance (given by the instrumental line shape function and measurement noise), which leads to a worsening of the precision of FTIR O$_3$ TCs of up to 2 %. This cross-interference becomes especially noticeable beyond the upper troposphere/lower stratosphere, as documented theoretically as well as experimentally by comparing FTIR O$_3$ profiles to those measured using electrochemical concentration cell (ECC) sondes within NDACC. Consequently, it should be taken into account for the reliable monitoring of the O$_3$ vertical distribution, especially over long-term timescales

Improved ozone monitoring by ground-based FTIR spectrometry

Accurate observations of atmospheric ozone (O3) are essential to monitor in detail its key role in atmospheric chemistry. The present paper examines the performance of different O3 retrieval strategies from FTIR (Fourier transform infrared) spectrometry by using the 20-year time series of the high-resolution solar spectra acquired from 1999 to 2018 at the subtropical Izaña Observatory (IZO, Spain) within NDACC (Network for the Detection of Atmospheric Composition Change). In particular, the effects of two of the most influential factors have been investigated: the inclusion of a simultaneous atmospheric temperature profile fit and the spectral O3 absorption lines used for the retrievals (the broad spectral region of 1000–1005 cm−1 and single microwindows between 991 and 1014 cm−1 ). Additionally, the water vapour (H2O) interference in O3 retrievals has been evaluated, with the aim of providing an improved O3 strategy that minimises its impact and, therefore, could be applied at any NDACC FTIR station under different humidity conditions. The theoretical and experimental quality assessments of the different FTIR O3 products (total column (TC) amounts and volume mixing ratio (VMR) profiles) provide consistent results.This research research has been supported by the European Research Council under FP7/(2007–2013)/ERC grant agreement no. 256961 (project MUSICA), by the Deutsche Forschungsgemeinschaft for the project MOTIV (Geschäftszeichen SCHN 1126/2-1), by the Ministerio de Economía y Competitividad of Spain through the projects CGL2012-37505 (project NOVIA) and CGL2016-80688- P (project INMENSE), and by EUMETSAT under its fellowship programme (project VALIASI)