On the Characterization of the Dynamic Performances of Planar Manipulators

The characterization of the dynamic performances of a manipulator is important both to compare different manipulators and to improve the dynamic performances of a manipulator during the design stage. In a previous paper the concepts of swiftness and of dynamic isotropy were used to characterize some dynamic performances of 3-dof manipulators. This paper analyzes the usefulness of these concepts for three-dof planar manipulators and shows that the concept of swiftness is still significant, whereas the concept of dynamic isotropy has no practical interest. Moreover, it introduces three new dynamic properties that are useful in the design of a 3-dof planar manipulator. Finally, it proposes some indices that measure both the swiftness and the three new dynamic properties and shows how to use them, both for evaluating the dynamic performances of a given 3-dof planar manipulator and for improving the dynamic performances during its design.     

Preliminary evidence for UA(1) breaking in QCD from lattice calculations

We suggest a simple definition of the topological charge density Q(x) in the lattice Yang-Mills theory and evaluate A≡∝d⁴x〈Q(x)Q(0)〉 in SU(2) by Monte Carlo simulation. The “data” interpolate well between the strong and weak coupling expansions, which we compute to order g^?12 and g⁶, respectively. After subtraction of the perturbative tail, our points exhibit the expected asymptotic freedom behaviour giving $\text{A}{}^{\mathrm{<mtext>1</mtext><mtext>4</mtext>}}\text{≌(0.11±0.02)K}{}^{\mathrm{<mtext>1</mtext><mtext>2</mtext>}}$, K being the SU(2) quarkless string tension. Although a larger value for $\text{A}{}^{\mathrm{<mtext>1</mtext><mtext>4</mtext>}}\text{K}{}^{\mathrm{<mtext>?</mtext><mtext>1</mtext><mtext>2</mtext>}}$ would be preferable, we are led to conclude (at least tentatively) that the U_A(1) problem of QCD is indeed solved perturbatively in the quark loop expansion.     

Infrared spectrum and vibrational potential function of thionylimide (HNSO)

The ir absorption of gaseous HNSO, DNSO and H¹⁵NSO is recorded in the range 300–4100 cm^?1 at medium resolution. Besides the fundamental vibrations, overtones and combination bands are measured and assigned. From these data, combined with the ir absorptions of four more isotopic species of thionylimide, and with the centrifugal distortion constants of HNSO and DNSO, a harmonic force field, with 11 constants was derived.     

Ko and λ production at the CERN ISR

Transverse momentum distributions of $\text{λ}{}^{\mathrm{o}}\text{,}\text{λ}{}^{\mathrm{o}}$, and K^o, produced in pp collisions at x = 0, have obtained at the CERN ISR. The K^o yield is in agreement with published K⁺, K^? results, obtained at this centre-of-mass energy (√s≈44 GeV). The results on $\text{λ}{}^{\mathrm{o}}\text{and}\text{λ}{}^{\mathrm{o}}$ production obtained in this experiment are compared with results obtained at lower centre-of-mass energies.     

Optoacoustic laser Stark spectroscopy in the ν2 band of 14NH3

Laser Stark spectroscopy of the R(5, K) transitions in the ν₂ band of ammonia was carried out using coincidences with the 9-μm band CO₂ laser lines. We observed 22 Doppler-free resonances by using an optoacoustic detector and a Lamb-dip stabilized CO₂ laser. A simultaneous analysis of sa, aa, and ss lines yields zero-field transition frequencies with an absolute accuracy of 1 ～ 2 MHz.     

Ultra high resolution of 6.2 keV 181Ta in 2H-TaSe2

The 6.2 keV γ-rays of ¹⁸¹Ta have been used to study the hyperfine interaction of ¹⁸¹Ta in the trigonal prismatic charge density wave material 2H-TaSe₂. Using a region of interest drive and an unstrained single crystal sample, we are able to resolve the splitting between the nuclear transition $\text{±}\text{5}\text{2}\text{→ ±}\text{3}\text{2}$ and $\text{±}\text{7}\text{2}\text{→ ±}\text{5}\text{2}$. Our experimental linewidth is that of the Ta metal.