Randomized Optimal Design of Parallel Manipulators

This work intends to deal with the optimal kinematic synthesis problem of parallel manipulators under a unified framework. Observing that regular (e.g., hyper-rectangular) workspaces are desirable for most machines, we propose the concept of effective regular workspace, which reflects simultaneously requirements on the workspace shape and quality. The effectiveness of a workspace is characterized by the dexterity of the mechanism over every point in the workspace. Other performance indices, such as manipulability and stiffness, provide alternatives of dexterity characterization of workspace effectiveness. An optimal design problem, including constraints on actuated/passive joint limits and link interference, is then formulated to find the manipulator geometry that maximizes the effective regular workspace. This problem is a constrained nonlinear optimization problem without explicitly analytical expression. Traditional gradient based approaches may have difficulty in searching the global optimum. The controlled random search technique, as reported robust and reliable, is used to obtain an numerical solution. The design procedure is demonstrated through examples of a Delta robot and a Gough-Stewart platform. Note to Practitioners-The kinematic/dynamic performance of a parallel manipulator highly depends on its geometry, e.g., link lengths, positions of fixed actuator, shape and size of end-effector. In designing a parallel manipulator, it is a crucial step to determine the best geometry that satisfies practical design requirements. For a general parallel manipulator, this paper provides a unified framework to formulate the optimal design problem by considering some key kinematic criteria, regularity and volume of workspace and dexterity. The latter one is closely related to stiffness and control accuracy. Since the optimal design problem is a nonlinear optimization problem without analytic expression, traditional gradient based search algorithms have difficulty to solve the problem. The controlled random search technique is used to search the global optimum. The design procedure is applicable for general parallel manipulators. Other design criteria, such as stiffness and accuracy, can be readily included in the design formulation

Advances in Fiber-Optic Extrinsic Fabry-Perot Interferometric Physical and Mechanical Sensors: A Review

Fabry-Perot Interferometers Have Found a Multitude of Scientific and Industrial Applications Ranging from Gravitational Wave Detection, High-Resolution Spectroscopy, and Optical Filters to Quantum Optomechanics. Integrated with Optical Fiber Waveguide Technology, the Fiber-Optic Fabry-Perot Interferometers Have Emerged as a Unique Candidate for High-Sensitivity Sensing and Have Undergone Tremendous Growth and Advancement in the Past Two Decades with their Successful Applications in an Expansive Range of Fields. the Extrinsic Cavity-Based Devices, I.e., the Fiber-Optic Extrinsic Fabry-Perot Interferometers (EFPIs), Enable Great Flexibility in the Design of the Sensitive Fabry-Perot Cavity Combined with State-Of-The-Art Micromachining and Conventional Mechanical Fabrication, Leading to the Development of a Diverse Array of EFPI Sensors Targeting at Different Physical Quantities. Here, We Summarize the Recent Progress of Fiber-Optic EFPI Sensors, Providing an overview of Different Physical and Mechanical Sensors based on the Fabry-Perot Interferometer Principle, with a Special Focus on Displacement-Related Quantities, Such as Strain, Force, Tilt, Vibration and Acceleration, Pressure, and Acoustic. the Working Principle and Signal Demodulation Methods Are Shown in Brief. Perspectives on Further Advancement of EFPI Sensing Technologies Are Also Discussed

Common DNA sequence variation influences 3-dimensional conformation of the human genome.

BACKGROUND:The 3-dimensional (3D) conformation of chromatin inside the nucleus is integral to a variety of nuclear processes including transcriptional regulation, DNA replication, and DNA damage repair. Aberrations in 3D chromatin conformation have been implicated in developmental abnormalities and cancer. Despite the importance of 3D chromatin conformation to cellular function and human health, little is known about how 3D chromatin conformation varies in the human population, or whether DNA sequence variation between individuals influences 3D chromatin conformation. RESULTS:To address these questions, we perform Hi-C on lymphoblastoid cell lines from 20 individuals. We identify thousands of regions across the genome where 3D chromatin conformation varies between individuals and find that this variation is often accompanied by variation in gene expression, histone modifications, and transcription factor binding. Moreover, we find that DNA sequence variation influences several features of 3D chromatin conformation including loop strength, contact insulation, contact directionality, and density of local cis contacts. We map hundreds of quantitative trait loci associated with 3D chromatin features and find evidence that some of these same variants are associated at modest levels with other molecular phenotypes as well as complex disease risk. CONCLUSION:Our results demonstrate that common DNA sequence variants can influence 3D chromatin conformation, pointing to a more pervasive role for 3D chromatin conformation in human phenotypic variation than previously recognized

Geological characterization of a lower Cambrian marine shale: implications for shale gas potential in North-Western Hunan, South China

We have investigated the geologic features of the lower Cambrian-aged Niutitang Shale in the northwestern Hunan province of South China. Our results indicate that the Niutitang Shale has abundant and highly mature algal kerogen with total organic carbon (TOC) content ranging from 0.6% to 18.2%. The equivalent vitrinite reflectance (equal-Ro) value is between 2.5% and 4.3%. Mineral constituents are dominated by quartz and clay. The average quartz content (62.8%) is much higher than that of clay minerals (26.1%), and this suggests a high brittleness index. Organic-matter pores, interparticle pores, intraparticle pores, interlaminated fractures, and structural fractures are all well developed. The porosity ranges from 0.6% to 8.8%, with an average of 4.8%, whereas the permeability varies from 0.0018 to [Formula: see text] (microdarcy) (averaging [Formula: see text]). The porosity of TOC- and clay-rich shale samples is generally higher than that of quartz-rich shale samples. The gas adsorption capacity of the Niutitang Shale varies from 2.26 to [Formula: see text], with a mean value of [Formula: see text]. The TOC content appears to significantly influence gas adsorption capacity. In general, TOC-rich samples exhibit a much higher adsorption capacity than TOC-poor samples. </jats:p