Harnessing Elastic Energy to Transfer Reciprocating Actuation into Rotary Motion

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached to the coupler link of four-bar mechanisms to manipulate force transmission around the kinematic singularities. We developed a theoretical model to explore the parameter space for proper force transmission in slider-crank and rocker-crank four-bar kinematics. Finally, we verified the proposed model and methodology by building and testing a macro-scale prototype of a slider-crank mechanism. We expect this approach to enable the development of small-scale rotary engines and robotic devices with closed kinematic chains dealing with serial kinematic singularities, such as linkages and parallel manipulators.Comment: 8 pages, 5 figures, journal article submitted to Mechanisms and Machine Theor

Planar And Spatial Gravity Balancing With Normal Springs

Very often, spring-to-gravity-balancing mechanisms are conceived with ideal (zero-free-length l0 =0) springs. However, the use of ideal springs in the conception phase tends to lead to more complex mechanisms because the ideal spring functionality has to be approximated with normal springs. To facilitate construction of (gravity) balancers, employing normal springs (l0 ≠0) directly mounted between the link attachment points of the mechanism in the conception phase therefore seems beneficiary. This paper discusses spring mechanisms that enable perfect balancing of gravity acting on an inverted pendulum while employing normal springs between the spring-attachment points: The design synthesis of such mechanisms will be explained and balancing conditions will be derived, using a potential energy consideration

Multi-epoch X-ray observations of the Seyfert 1.2 galaxy Mrk 79: bulk motion of the illuminating X-ray source

Multi-epoch X-ray spectroscopy (0.3-25 keV) of the Seyfert 1.2 galaxy Mrk 79 (UGC 3973) spanning nearly eight years and a factor of three in broadband flux are analysed. The data are obtained at seven epochs with either XMM-Newton or Suzaku. Comparison with contemporaneous RXTE monitoring indicate that all flux states of Mrk 79 are represented by the data. The spectra are fitted in a self-consistent manner adopting a power law and ionised reflection to describe the broadband continuum. Modification of the spectra by a distant photoionised medium, seen predominantly in emission, are also included. Under the assumption that the inner disk is at the innermost stable circular orbit, our blurred reflection models give a spin of a = 0.7+/-0.1. The reflection component in each spectrum is weaker than predicted by simple reflection models. If the illuminating X-ray emission is produced by flares above the disk that move at mildly relativistic velocities, however, diminished reflection is expected. Light bending due to strong gravity near black holes can influence how the illuminating and reflected flux are observed; variations in Mrk 79 do not suggest that light bending is important in this source.Comment: 13 pages. Accepted for publication in MNRA

The quasar PG 0844+349 in an X-ray weak state

In March 2009 the well-studied quasar, PG 0844+349, was discovered with Swift to be in an X-ray weak state. A follow-up XMM-Newton observation several weeks later generated a good quality spectrum of the source, showing substantial curvature and spectral hardening. In combination with archival data at two previous epochs when the source was in a bright state, we examine the long-term spectral and timing properties of PG 0844+349 spanning nearly ten years and a factor of ten in brightness. Partial covering and blurred reflection models are compared to the data at each flux state while attempting to maintain consistency between the various epochs. In terms of the blurred reflection model, PG 0844+349 is in a reflection dominated state during the 2009 X-ray weak observations, which can be understood in terms of light bending. Moreover, the light bending scenario can also account for the short-term (i.e. ~1000s) spectral variability in the source. Other models cannot be decisively ruled out, but we note distinguishing features of the models that can be explored for in higher signal-to-noise data from current and future observatories.Comment: 11 pages. Accepted for publication in MNRA

X-ray spectral variability in PG1535+547: the changing-look of a 'soft X-ray weak' AGN

PG1535+547 is a bright NLS1 galaxy, whose high energy emission shows strong variability in shape and flux. ROSAT data classified it as soft X-ray weak QSO (objects whose X-ray-to-optical flux ratio is smaller than in typical QSO): their X-ray spectra are often characterized by highly ionized, complex absorbers and/or reflection from the disk, whose relative importance is currently debated. In both cases, the presence of such features implies that we are looking at matter located in the innermost regions of the AGN. In this paper we want to clarify the nature of the X-ray emission of PG1535+547, and constrain the physical properties of regions where the emission originates. We present new XMM observations, from which we obtained 2 spectra separated by about 1 week, that we compare with a previous XMM observation. The data support the complex and variable nature of the X-ray emission. The broad band flux increases by a factor ~2.3 in 3 years, and then decreases by a factor ~1.3 in about 1 week. In the new EPIC spectra strong absorption features at E<3keV and a complex spectral shape in the Fe line energy range are evident, coupled with a drop in the emission at higher energies. We describe all the states assuming either a warm absorber plus a relativistically blurred ionized reflection, or a two-phase warm absorber partially covering the source plus a scattered component. The variability is ascribed to the warm absorbers, that vary their physical properties on timescales of years and days. In the reflection scenario all the states require a high fraction of reflection. The strong variability in the X-ray band opposed to a more constant optical emission implies that PG1535+547 can not actually be classified as a soft X-ray weak AGN.Comment: 14 pages, 7 figures, A&A latex manuscript; accepted for publication in Astronomy & Astrophysic