Analysis of end point vibrations of a two-link manipulator by integrated CAD/CAE procedures

In this work, the effect of flexibility on the trajectory of a planar two-link manipulator is studied using integrated computer-aided design/analysis (CAD/CAE) procedures. The solid models and finite element models of the parts of the manipulator are created by using the CAD/CAE software I-DEAS. The assembly is defined, and knowing the payload and the end point trajectory, the velocities and accelerations of the parts, joint forces and driving torques are calculated using the rigid body dynamics. All the time dependent nodal forces acting on the parts including distributed gravity and inertia forces are created in files with the I-DEAS program file format. The finite element vibration analysis of the parts is performed by I-DEAS. The end point vibrations and the deviations from the rigid-body trajectory are analyzed for different types of end point acceleration curves. A circular trajectory is considered as an example. It is observed that the precision of the manipulator can be increased by testing different end point acceleration curves without changing the trajectory and the duration of the end point work. The procedure explained in this work can be used for this purpose successfully.     

The Best Lower Bound for the Permanent of a Correlation Matrix of Rank Two

If 1≤k≤n, then Cor(n,k) denotes the set of all n×n real correlation matrices of rank not exceeding k. Grone and Pierce have shown that if A∈Cor (n, n-1), then per(A)≥n/(n-1). We show that if A∈Cor(n,2), then , and that this inequality is the best possible.     

Three-dimensional structure of Saccharomyces cerevisiae inorganic pyrophosphatase complexed with cobalt and phosphate ions

Crystals of Saccharomyces cerevisiae inorganic pyrophosphatase suitable for X-ray diffraction study were grown by cocrystallization of the enzyme with cobalt chloride and imidodiphosphate. Saccharomyces cerevisiae is a metal-dependent enzyme which catalyzes hydrolysis of inorganic pyrophosphate to orthophosphate. The three-dimensional structure of this enzyme was solved by the molecular-replacement method and refined at 1.8 Å resolution to an R factor of 19.5%. Cobalt and phosphate ions were revealed in the active centers of both identical subunits (A and B) of the pyrophosphatase molecule. In subunit B, a water molecule was found between two cobalt ions. It is believed that this water molecule acts as an attacking nucleophile in the enzymatic cleavage of the pyrophosphate bond. It was demonstrated that cobalt ions and a phosphate group occupy only part of the potential binding sites (two chemically identical and crystallographically independent subunits have different binding sites). The arrangement of ligands and the structure of the nucleophile-binding site are discussed in relation to the mechanism of action of the enzyme and the nature of the metal activator.     

Retardation characteristics and birefringence of a multiple-order crystalline quartz plate

A crystalline quartz plate of thickness 1.070 mm is calibrated between 370 and 794 nm. Throughout this spectral interval, the retardance varied by 32π and the plate introduced quarterwave retardance 16 times at different wavelengths. The birefringence (n_e−n_o) of crystalline quartz was calculated as a single quantity and varied from 0.00971 at 370 nm to 0.00891 at 794 nm. All measurements were carried out at 23°C.     

Hutchinson's shear coefficient for anisotropic beams

Timoshenko's theory of vibrating beams requires a shear correction factor to correctly take into account the effects of shear deformation for different beam cross-sections. This correction is crucial for a precise determination of the shear modulus from the resonant frequencies. Hutchinson's beam theory is used to derive a new shear correction coefficient for anisotropic materials. A comparison is made with other shear coefficients for anisotropic materials published in the literature. Computer-simulated spectra are used to validate the new anisotropic shear correction coefficient.     

Refraction holodiagrams and Snell's law

The refraction holodiagram RHD is analyzed here with respect to the law of refraction. Particularly, we study the surface that exactly conjugates by refraction a virtual point source with a real image or conversely. By using the total optical path as a parameter we build a diagram that consists in a family of Descartes ovals of the apple type that contains the Pascal's limaçon as a particular extreme case and the spherical surface with the Weierstrass points as another. These representations permit the straightforward application of Fermat's principle in the case of arbitrary refracting surfaces and show the shape of generalized Fresnel's zones in the intersections with any surface. Snell's law is applied to rays incident on the apple type surfaces to find out the conditions for exact conjugation. Sensitivity to optical path variations is also discussed. The RHD curves family can be represented in a Cartesian way where the ovals appear as equally spaced straight lines.     

Determination of flutter derivatives via a neural network approach

A neural-network-based method is offered to determine the flutter derivatives of section models under smooth and turbulent flows. The approach uses the observed dynamic responses to train an appropriate neural network. Subsequently, the modal parameters of the model for different mean velocities of wind flow are directly estimated using weight matrices in the neural network. The flutter derivatives can then be determined accurately. The validity of the present method is verified through numerical studies. Finally, the procedure is employed to process experimental data from an inverted-U-type section model, obtained from wind tunnel tests.     

两个回归函数相等的Bootstrap检验

两个回归参数相等性检验一直是统计界感兴趣的问题之一．在这篇文章中，四个检验统计量被用于度量两曲线的差异，在原假设下统计量的分布采用向量数据的重复抽样来逼近，并给出了—些模拟结果．     

Marking Games and the Oriented Game Chromatic Number of Partial <Emphasis Type="Italic">k</Emphasis>-Trees

 Nešetřil and Sopena introduced the concept of oriented game chromatic number. They asked whether the oriented game chromatic number of partial k-trees was bounded. Here we answer their question positively. Received: January 12, 2001 Final version received: February 25, 2002     

Self-Interactions of Strands and Sheets

Physical strands or sheets that can be modelled as curves or surfaces embedded in three dimensions are ubiquitous in nature, and are of fundamental importance in mathematics, physics, biology, and engineering. Often the physical interpretation dictates that self-avoidance should be enforced in the continuum model, i.e., finite energy configurations should not self-intersect. Current continuum models with self-avoidance frequently employ pairwise repulsive potentials, which are of necessity singular. Moreover the potentials do not have an intrinsic length scale appropriate for modelling the finite thickness of the physical systems. Here we develop a framework for modelling self-avoiding strands and sheets which avoids singularities, and which provides a way to introduce a thickness length scale. In our approach pairwise interaction potentials are replaced by many-body potentials involving three or more points, and the radii of certain associated circles or spheres. Self-interaction energies based on these many-body potentials can be used to describe the statistical mechanics of self-interacting strands and sheets of finite thickness.