Low emittance lattice for the storage ring of Turkish Light Source Facility TURKAY

Turkish Accelerator Center) project is aimed to build an accelerator center in Turkey. The first step of the project is to construct IR-FEL facility. The second stage is to build a synchrotron radiation facility named TURKAY, which is the third generation synchrotron radiation light source that aimed to achieve high brilliance photon beam from low emittance electron beam at 3 GeV. The electron beam parameters highly depend on the magnetic lattice of the storage ring. In this paper a low emittance storage ring for TURKAY is proposed and beam dynamic properties of the magnetic lattice are investigated.Comment: 5 pages, 5 figure

Scaled bilateral teleoperation using discrete-time sliding mode controller

In this paper, the design of a discrete-time slidingmode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewtonlevel interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scalin

Measuring the Quality of Bank Regulation and Supervision, with an Application to Transition Economies

This study develops a method to evaluate the quality of a legal framework for bank regulation and supervision (RS) by developing an extensive set of criteria and a coding system. Using this method, we generate an original set of measurements for RS by evaluating the letter of banking laws of 23 transition economies. In doing so, we also utilize the Basle guidelines on banking supervision and the related literature. The indices of RS indicate that legal banking reforms in Poland, Hungary and Estonia have been more ambitious than the rest of the countries in transition. In general, however, banking laws in transition economies indicate a lower regulatory and supervisory quality than indicated by the German banking law, if one is willing to choose the latter as a benchmark. This data set permits an empirical analysis of the relationship between legal RS and macroeconomic performance. The empirical evidence in the paper shows a significant positive relationship between RS and real GDP growth in transition economies.Bank regulation and supervision, growth, transition economies

Function based control for bilateral systems in tele-micromanipulation

Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or any other system, and (b) constrained motion with system in contact with environment or other systems. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. The same design approach can be used to formulate control in bilateral systems aimed to maintain desired functional relations between human and environment through master and slave motion systems. Implementation of the methodology is currently being pursued with a custom built Tele-micromanipulation setup and preliminary results concerning force/position tracking and transparency between master and slave are clearly demonstrated

Development of a micromanipulation system with force sensing

This article provides in-depth knowledge about our undergoing effort to develop an open architecture micromanipulation system with force sensing capabilities. The major requirement to perform any micromanipulation task effectively is to ensure the controlled motion of actuators within nanometer accuracy with low overshoot even under the influence of disturbances. Moreover, to achieve high dexterity in manipulation, control of the interaction forces is required. In micromanipulation, control of interaction forces necessitates force sensing in milli-Newton range with nano-Newton resolution. In this paper, we present a position controller based on a discrete time sliding mode control architecture along with a disturbance observer. Experimental verifications for this controller are demonstrated for 100, 50 and 10 nanometer step inputs applied to PZT stages. Our results indicate that position tracking accuracies up to 10 nanometers, without any overshoot and low steady state error are achievable. Furthermore, the paper includes experimental verification of force sensing within nano-Newton resolution using a piezoresistive cantilever endeffector. Experimental results are compared to the theoretical estimates of the change in attractive forces as a function of decreasing distance and of the pull off force between a silicon tip and a glass surface, respectively. Good agreement among the experimental data and the theoretical estimates has been demonstrated