Kinematics, workspace and singularity analysis of a multi-mode parallel robot

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lock-able P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation modes are dealt with in detail. The workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. A prototype built at Heriot-Watt University is used to illustrate the results of this work.Comment: International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2017, Cleveland, United States. 201

Irreversible and reversible modes of operation of deterministic ratchets

We discuss a problem of optimization of the energetic efficiency of a simple rocked ratchet. We concentrate on a low-temperature case in which the particle's motion in a ratchet potential is deterministic. We show that the energetic efficiency of a ratchet working adiabatically is bounded from above by a value depending on the form of ratchet potential. The ratchets with strongly asymmetric potentials can achieve ideal efficiency of unity without approaching reversibility. On the other hand we show that for any form of the ratchet potential a set of time-protocols of the outer force exist under which the operation is reversible and the ideal value of efficiency is also achieved. The mode of operation of the ratchet is still quasistatic but not adiabatic. The high values of efficiency can be preserved even under elevated temperatures

Sample Testing with Vitalab Flexor

The Vitalab Flexor is a high-tech medical instrument designed to perform a large number of simultaneous measurements on samples of blood and urine. For future purposes it is desired to increase the throughput, i.e. the number of tests per hour, of the instrument. The analysis in this report gives upper bounds on the throughput if the Vitalab Flexor is operated in modes which are standard in the present situation. It is shown that a desired throughput of at least 266 tests per hour can not be realized on the basis of these standard operation modes. Possible improvements are suggested via so-called parallel or on-line operation modes, or a combination of these two modes. These possible improvements however require a number of changes in the technical design of the Vitalab Flexor

The Rocketdyne Multifunction Tester. Part 2: Operation of a Radial Magnetic Bearing as an Excitation Source

The operation of the magnetic bearing used as an excitation source in the Rocketdyne Multifunction Tester is described. The tester is scheduled for operation during the summer of 1990. The magnetic bearing can be used in two control modes: (1) open loop mode, in which the magnetic bearing operates as a force actuator; and (2) closed loop mode, in which the magnetic bearing provides shaft support. Either control mode can be used to excite the shaft; however, response of the shaft in the two control modes is different due to the alteration of the eigenvalues by closed loop mode operation. A rotordynamic model is developed to predict the frequency response of the tester due to excitation in either control mode. Closed loop mode excitation is shown to be similar to the excitation produced by a rotating eccentricity in a conventional bearing. Predicted frequency response of the tester in the two control modes is compared, and the maximum response is shown to be the same for the two control modes when synchronous unbalance loading is not considered. The analysis shows that the response of this tester is adequate for the extraction of rotordynamic stiffness, damping, and inertia coefficients over a wide range of test article stiffnesses

Characterization of photomultiplier tubes in a novel operation mode for Secondary Emission Ionization Calorimetry

Hamamatsu single anode R7761 and multi-anode R5900-00-M16 Photomultiplier Tubes have been characterized for use in a Secondary Emission (SE) Ionization Calorimetry study. SE Ionization Calorimetry is a novel technique to measure electromagnetic shower particles in extreme radiation environments. The different operation modes used in these tests were developed by modifying the conventional PMT bias circuit. These modifications were simple changes to the arrangement of the voltage dividers of the baseboard circuits. The PMTs with modified bases, referred to as operating in SE mode, are used as an SE detector module in an SE calorimeter prototype, and placed between absorber materials (Fe, Cu, Pb, W, etc.). Here, the technical design of different operation modes, as well as the characterization measurements of both SE modes and the conventional PMT mode are reported

The reconfigurable Josephson circulator/directional amplifier

Circulators and directional amplifiers are crucial non-reciprocal signal routing and processing components involved in microwave readout chains for a variety of applications. They are particularly important in the field of superconducting quantum information, where the devices also need to have minimal photon losses to preserve the quantum coherence of signals. Conventional commercial implementations of each device suffer from losses and are built from very different physical principles, which has led to separate strategies for the construction of their quantum-limited versions. However, as recently proposed theoretically, by establishing simultaneous pairwise conversion and/or gain processes between three modes of a Josephson-junction based superconducting microwave circuit, it is possible to endow the circuit with the functions of either a phase-preserving directional amplifier or a circulator. Here, we experimentally demonstrate these two modes of operation of the same circuit. Furthermore, in the directional amplifier mode, we show that the noise performance is comparable to standard non-directional superconducting amplifiers, while in the circulator mode, we show that the sense of circulation is fully reversible. Our device is far simpler in both modes of operation than previous proposals and implementations, requiring only three microwave pumps. It offers the advantage of flexibility, as it can dynamically switch between modes of operation as its pump conditions are changed. Moreover, by demonstrating that a single three-wave process yields non-reciprocal devices with reconfigurable functions, our work breaks the ground for the development of future, more-complex directional circuits, and has excellent prospects for on-chip integration