906 research outputs found
Perturbations of the local gravity field due to mass distribution on precise measuring instruments: a numerical method applied to a cold atom gravimeter
We present a numerical method, based on a FEM simulation, for the
determination of the gravitational field generated by massive objects, whatever
geometry and space mass density they have. The method was applied for the
determination of the self gravity effect of an absolute cold atom gravimeter
which aims at a relative uncertainty of 10-9. The deduced bias, calculated with
a perturbative treatment, is finally presented. The perturbation reaches (1.3
\pm 0.1) \times 10-9 of the Earth's gravitational field.Comment: 12 pages, 7 figure
Comparison between two mobile absolute gravimeters: optical versus atomic interferometers
We report a comparison between two absolute gravimeters: the LNE-SYRTE cold
atoms gravimeter and FG5#220 of Leibniz Universit\"at of Hannover. They rely on
different principles of operation: atomic and optical interferometry. Both are
movable which enabled them to participated to the last International Comparison
of Absolute Gravimeters (ICAG'09) at BIPM. Immediately after, their bilateral
comparison took place in the LNE watt balance laboratory and showed an
agreement of 4.3 +/- 6.4 {\mu}Gal
The electric double layer has a life of its own
Using molecular dynamics simulations with recently developed importance
sampling methods, we show that the differential capacitance of a model ionic
liquid based double-layer capacitor exhibits an anomalous dependence on the
applied electrical potential. Such behavior is qualitatively incompatible with
standard mean-field theories of the electrical double layer, but is consistent
with observations made in experiment. The anomalous response results from
structural changes induced in the interfacial region of the ionic liquid as it
develops a charge density to screen the charge induced on the electrode
surface. These structural changes are strongly influenced by the out-of-plane
layering of the electrolyte and are multifaceted, including an abrupt local
ordering of the ions adsorbed in the plane of the electrode surface,
reorientation of molecular ions, and the spontaneous exchange of ions between
different layers of the electrolyte close to the electrode surface. The local
ordering exhibits signatures of a first-order phase transition, which would
indicate a singular charge-density transition in a macroscopic limit
Charge fluctuations in nano-scale capacitors
The fluctuations of the charge on an electrode contain information on the
microscopic correlations within the adjacent fluid and their effect on the
electronic properties of the interface. We investigate these fluctuations using
molecular dynamics simulations in a constant-potential ensemble with histogram
reweighting techniques. This approach offers in particular an efficient,
accurate and physically insightful route to the differential capacitance that
is broadly applicable. We demonstrate these methods with three different
capacitors: pure water between platinum electrodes, and a pure as well as a
solvent-based organic electrolyte each between graphite electrodes. The total
charge distributions with the pure solvent and solvent-based electrolytes are
remarkably Gaussian, while in the pure ionic liquid the total charge
distribution displays distinct non-Gaussian features, suggesting significant
potential-driven changes in the organization of the interfacial fluid
Self-Motions of General 3-RPR Planar Parallel Robots
This paper studies the kinematic geometry of general 3-RPR planar parallel
robots with actuated base joints. These robots, while largely overlooked, have
simple direct kinematics and large singularity-free workspace. Furthermore,
their kinematic geometry is the same as that of a newly developed parallel
robot with SCARA-type motions. Starting from the direct and inverse kinematic
model, the expressions for the singularity loci of 3-RPR planar parallel robots
are determined. Then, the global behaviour at all singularities is
geometrically described by studying the degeneracy of the direct kinematic
model. Special cases of self-motions are then examined and the degree of
freedom gained in such special configurations is kinematically interpreted.
Finally, a practical example is discussed and experimental validations
performed on an actual robot prototype are presented
Probabilistic analysis of the upwind scheme for transport
We provide a probabilistic analysis of the upwind scheme for
multi-dimensional transport equations. We associate a Markov chain with the
numerical scheme and then obtain a backward representation formula of
Kolmogorov type for the numerical solution. We then understand that the error
induced by the scheme is governed by the fluctuations of the Markov chain
around the characteristics of the flow. We show, in various situations, that
the fluctuations are of diffusive type. As a by-product, we prove that the
scheme is of order 1/2 for an initial datum in BV and of order 1/2-a, for all
a>0, for a Lipschitz continuous initial datum. Our analysis provides a new
interpretation of the numerical diffusion phenomenon
Performance evaluation of parallel manipulators for milling application
This paper focuses on the performance evaluation of the parallel manipulators
for milling of composite materials. For this application the most significant
performance measurements, which denote the ability of the manipulator for the
machining are defined. In this case, optimal synthesis task is solved as a
multicriterion optimization problem with respect to the geometric, kinematic,
kinetostatic, elastostostatic, dynamic properties. It is shown that stiffness
is an important performance factor. Previous models operate with links
approximation and calculate stiffness matrix in the neighborhood of initial
point. This is a reason why a new way for stiffness matrix calculation is
proposed. This method is illustrated in a concrete industrial problem
The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics
International audienceOne of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the " home " configuration
Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot
International audienceThis paper presents the static equilibrium workspace of an under-constrained cable-driven robot with four cables taking into account the forces and the moments due to the forces acting on the moving platform. The problem is formulated as a non-linear optimization problem with maintaining static equilibrium as the objective function. The simulations are done using MATLAB. The maximum force on the cables and tilting angle of the platform are used to define the feasible static equilibrium workspace and the results obtained are used to finalize the design of the collaborative cable-driven robot to be installed in existing production lines for the agile handling of parts in a manufacturing industry
Local Distortions and Dynamics in Hydrated Y-doped BaZrO3
Y-doped BaZrO3 is a promising proton conductor for intermediate temperature solid oxide fuel cells. In this work, a combination of static DFT calculations and DFT based molecular dynamics (DFT-MD) was used to study proton conduction in such a material. Geometry optimisations of 100 structures with a 12.5% dopant concentration allowed us to identify a clear correlation between the bending of the metal-oxygen-metal angle and the energies of the simulated cells. Depending on the type of bending, two configurations, designated as inwards bending and outwards bending, were defined. The results demonstrate that a larger bending decreases the energy and that the lowest energies are observed for structures combining inwards bending with protons being close to the dopant atoms. These lowest energy structures are the ones with the strongest hydrogen bonds. DFT-MD simulations in cells with different yttrium distributions provide complementary microscopic information on proton diffusion as they capture the dynamic distortions of the lattice caused by thermal motion. A careful analysis of the proton jumps between different environments confirmed that the inwards and outwards bending states are relevant for the understanding of proton diffusion. Indeed, intra-octahedral jumps were shown to only occur starting from an outwards configuration while the inwards configuration seems to favor rotations around the oxygen. On average, in the DFT-MD simulations, the hydrogen bond lengths are shorter for the outwards configuration which facilitates the intra-octahedral jumps. Diffusion coefficients and activation energies were also determined and compared to previous theoretical and experimental data showing a good agreement with previous data corresponding to local proton motion.C. M. acknowledges an Oppenheimer Research Fellowship from the School of Physical Sciences from the University of Cambridge. This project has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement no. 714581). Via our membership of the UK's HEC Materials Chemistry Consortium, which is funded by EPSRC (EP/L000202), this work used the ARCHER UK National Supercomputing Service. MAG’ work was supported by the National Science Foundation under grant DMR 1709975 and the Mount Holyoke College Department of Chemistry. Computational resources were provided in part by the MERCURY consortium under NSF grant CHE 1626238
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