Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique

This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method. The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot

Nonfactorizable contributions to B→D(∗)MB \to D^{(*)} M decays

While the factorization assumption works well for many two-body nonleptonic $B$ meson decay modes, the recent measurement of $\bar B\to D^{(*)0}M^0$ with $M=\pi$, $\rho$ and $\omega$ shows large deviation from this assumption. We analyze the $B\to D^{(*)}M$ decays in the perturbative QCD approach based on $k_T$ factorization theorem, in which both factorizable and nonfactorizable contributions can be calculated in the same framework. Our predictions for the Bauer-Stech-Wirbel parameters, $|a_2/a_1|= 0.43\pm 0.04$ and $Arg(a_2/a_1)\sim -42^\circ$ and $|a_2/a_1|= 0.47\pm 0.05$ and $Arg(a_2/a_1)\sim -41^\circ$, are consistent with the observed $B\to D\pi$ and $B\to D^*\pi$ branching ratios, respectively. It is found that the large magnitude $|a_2|$ and the large relative phase between $a_2$ and $a_1$ come from color-suppressed nonfactorizable amplitudes. Our predictions for the ${\bar B}^0\to D^{(*)0}\rho^0$, $D^{(*)0}\omega$ branching ratios can be confronted with future experimental data.Comment: 25 pages with Latex, axodraw.sty, 6 figures and 5 tables, Version published in PRD, Added new section 5 and reference

Supercritical carbon dioxide extraction of triglycerides from Jatropha curcas L. seeds

This study examines the effects of pressure, temperature and solvent to solid ratio (SSR) on extraction efficiency of triglycerides from powdered Jatropha seeds by using supercritical carbon dioxide extraction. Supercritical extractions were designed for pressures ranging from 250 to 350 bar, temperatures ranging from 313 to 333 K and SSR values ranging from 65:1 to 125: 1. All values were selected using response surface methodology in order to determine their effects on the concentration of triglycerides from the extracted oil. Using 3750 g of carbon dioxide over 5 h, a supercritical carbon dioxide extraction (at 350 bar, 333 K and an SSR value of 125:1) yielded 43.51% oil. The concentration and extraction efficiency (i.e. recovery) of triglycerides in the extract reached 657.1 mg/g and 97.62%, respectively. Changes in pressure presented more effective in increasing the recovery of triglycerides, but both temperature and the SSR value are important in obtaining high concentration of triglycerides from the Jatropha seeds that are useful for biodiesel materials. (C) 2009 Elsevier B.V. All rights reserved