Dynamic analysis and system identification of an LCD glass-handling robot driven by a PMSM

In this paper, Hamilton’s principle is employed to derive Lagrange’s equations of an liquid crystal display (LCD) glass-handling robot driven by a permanent magnet synchronous motor (PMSM). The robot has three arms driven by two timing belts. The dynamic formulations can be expressed by one and four independent variables, which are named as the rigid and flexible models, respectively. In order to verify the dynamic formulation is correct, we reduce the flexible model to the rigid one under some assumptions. In this paper, we adopt the real-coded genetic algorithm (RGA) to identify all the parameters of the robot and PMSM simultaneously. It is found that the RGA can identify system parameters which are difficult to be measured in practical problems, for examples, the inductance, stator resistance, motor torque constant, damping coefficient of the motor and timing belts. In numerical simulations, vibrations due to flexibility of the timing belts are investigated for the angular displacements, speeds, accelerations of arms, and the horizontal and vertical displacements of the robot. The angular displacements of the robot arm and the translational positions of the robot end are obtained in the numerical simulations and experimental results. From their comparisons, it is demonstrated that identification results of the dynamic model with four independent variables present the better matching with experimental results of the system.     

Robust H{infty} control of uncertain systems with time-varying state and control input delays

In this paper, a new method for robust H controller of uncertainsystems with time-varying state and control input delays isproposed. A sufficient condition, which is dependent on themaximum value of the time derivative of time-varying delay,is also presented for the existence of H controller. The proposedcontroller not only stabilizes closed-loop uncertain systemsbut also guarantees a prescribed H norm bound of the closed-looptransfer matrix from the disturbance to controlled output. Furthermore,we propose a new robust stability criterion to decide the allowedmaximum bound of plant uncertainty which still can be stabilizedby proposed robust controller. An example given illustratesthe availability of the proposed design method.     

Numeric treatment of contact discontinuity with multi-gases

In this paper we work with a finite-volume-procedure for the computation of the one-dimensional Euler equations for the treatment of multi-gases and the problem of the correct treatment of the discontinuity was more nearly investigated. A suggested equation was embedded in the finite volumes context and implemented in our code accordingly and regarded as validated.     

Partial inverse nodal problems for differential pencils on a star-shaped graph

In this paper, the authors study partial inverse nodal problems for differential pencils on a star-shaped graph. We firstly show that the potential on each edge can be uniquely determined by twin-dense nodal subsets on some interior intervals under certain conditions. Without any nodal information on some potential on the fixed edge, we may add some spectral information to guarantee these uniqueness theorems. We still consider the case of arbitrary intervals having the internal vertex. In particular, we pose and solve a new partial inverse nodal problem for differential pencils on the star-shaped graph from the Weyl m-function and the theory concerning densities of zeros of entire functions.     

Inferences based on a bivariate distribution with von Mises marginals

There is very little literature concerning modeling the correlation between paired angular observations. We propose a bivariate model with von Mises marginal distributions. An algorithm for generating bivariate angles from this von Mises distribution is given. Maximum likelihood estimation is then addressed. We also develop a likelihood ratio test for independence in paired circular data. Application of the procedures to paired wind directions is illustrated. Employing simulation, using the proposed model, we compare the power of the likelihood ratio test with six existing tests of independence.     

Analysis of coefficient identification problems associated to the inverse Euler-Bernoulli beam theory

A rigorous investigation of the identification of a heterogeneousflexural rigidity coefficient in the Euler-Bernoulli steady-statebeam theory in the presence of a prescribed load is presented.Mathematically, this study is an extension to higher-order differentialequations of the coefficient identification problem analysedby Marcellini (1982) for the one-dimensional Poisson equation.In addition, various types of boundary conditions are discussed.Conditions for the well-posedness of these inverse problemsare established and, furthermore, numerical results obtainedusing a regularization algorithm are presented.     

On the multiplicity of eigenvalues of a vectorial Sturm-Liouville differential equation and some related spectral problems

We prove that under certain conditions, a vectorial Sturm-Liouville differential equation of dimension can only possess finitely many eigenvalues which have multiplicity . For the case , we find a sufficient condition on the potential function , and a bound depending on , such that the eigenvalues of the equation with index exceeding are all simple. These results are applied to find some sufficient conditions which imply that the spectra of two potential equations, or two string equations, have finitely many elements in common, and an estimate of the number of elements in the intersection of two spectra is provided.

     

A critical investigation of the effects of the radio frequency potential on the trapping of externally injected ions in ion trap mass spectrometry

The sensitivity of all ion trap mass spectrometry (ITMS) methods is dependent on the trapping efficiency of the instrument. For ITMS instruments utilizing external ion sources, such as laser desorption, trapping efficiency is known to depend on the phase and amplitude of the radio frequency (RF) potential applied to the ring electrode at the time of ion introduction. It is remarkable that, in a considerable body of literature, no consensus exists regarding the effects of these parameters on the efficacy of trapping externally generated ions. In this paper, a summary of the literature is presented in order to highlight significant discrepancies. New laser desorption ion trap mass spectrometry (LD-ITMS) data are also presented, from which conclusions are drawn in our effort to clarify some of the confusion. Copyright 1999 John Wiley & Sons, Ltd.     

Two-photon vibronic spectroscopy of allene at 7.0–10.5 eV: experiment and theory

2?+?1 resonance-enhanced multiphoton ionization (REMPI) spectra of allene at 7.0–10.5?eV have been observed. The excited vibronic symmetry has been determined from polarization-ratio measurements. Based on the vibronic energies and peak intensities calculated using ab initio MO and time-dependent density functional theory, the very congested REMPI spectra have been assigned as due to π*?←?π, 3p?←?π, 4s?←?π, 4p?←?π, and 4d?←?π transitions. Vibrational progressions related to the CH₂ twisting (ν₄ ～770?cm^?1) have been observed for several excited electronic states. Calculated Franck–Condon factors also confirm that CH₂ twisting is the most active mode in the vibronic spectra of allene. In this study, theoretical calculations of two-photon intensities and polarization ratios have been made through the ab initio computed one-photon transition dipole moments to various electronic states as intermediates. As a starting point to interpret the complicated vibronic spectrum of allene, the theoretical approach, without vibronic couplings, has been applied to predict the peak positions, spectral intensities, and polarization ratios of Rydberg states, and qualitatively shows a considerable agreement with experimental observations.