Microcomputer Aided Selection Of Robot Manipulators

This paper presents two programs for microcomputer aided assessment of the performance of robot manipulators. The first program automatically generates robot models based on user-supplied kinematic parameters. The program also derives a kinematic model that relates the motion of manipulator end-effector to the motion of the joints using the inverse kinematic approach. The approach uses a robust inversion technique that can handle singular conditions as well as joint redundancy. A user can optionally select evaluation of kinematic capabilities of the robot manipulator, such as the ability of the end-effector to reach a specified position and orientation in space or the evaluation of the work space. The second program generates dynamic variables, such as forces and torques, based on user-supplied dynamic parameters and equations of motion of the various joints. Both programs are written for implementation on personal computers. Several runs were carried out to demonstrate the capability and execution times of the two program

Comment on 'Quantum inversion of cold atoms in a microcavity: spatial dependence'

In a recent work, Abdel-Aty and Obada [2002 J. Phys. B 35 807-813] analyzed the quantum inversion of cold atoms in a microcavity, the motion of the atoms being described quantum mechanically. Two-level atoms were assumed to interact with a single mode of the cavity, and the off-resonance case was considered (namely the atomic transition frequency is detuned from the single mode cavity frequency). We demonstrate in this paper that this case is incorrectly treated by these authors and we question therefore their conclusions.Comment: 4 pages, no figure

On the Singularities of Reissner-Nordstr\"{o}m Space-Time

It is shown that if two Reissner-Nordstr\"{o}m space-times, both with the same mass m and charge e, glued together in the singularities, then the light ray in black hole of the first space-time can go continuously through the singularity into black hole of the second. The behavior of tidal forces near the Reissner-Nordstr\"{o}m space-time singularity is examined by considering what happens between two particles falling freely towards the singularity.Comment: Latex, 4 figures, 11 page