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.     

Some non‐standard problems in viscous flow

Energy bounds are derived for Dirichlet type boundary value problems for the Navier–Stokes and Stokes equations when a combination of the solution values initially and at a later time is prescribed. The bounds are obtained by means of a differential inequality and imply uniqueness and continuous data dependence of the solutions for a range of values of the parameter in the non‐standard auxiliary condition. Copyright © 2004 John Wiley & Sons, Ltd.     

Uniformity in Computable Structure Theory

We investigate the effects of adding uniformity requirements to concepts in computable structure theory such as computable categoricity (of a structure) and intrinsic computability (of a relation on a computable structure). We consider and compare two different notions of uniformity, previously studied by Kudinov and by Ventsov. We discuss some of their results and establish new ones, while also exploring the connections with the relative computable structure theory of Ash, Knight, Manasse, and Slaman and Chisholm and with previous work of Ash, Knight, and Slaman on uniformity in a general computable structure-theoretical setting.     

Two-row nilpotent orbits of cyclic quivers

We prove that the local intersection cohomology of nilpotent orbit closures of cyclic quivers is trivial when the two orbits involved correspond to partitions with at most two rows. This gives a geometric proof of a result of Graham and Lehrer, which states that standard modules of the affine Hecke algebra of GL_d corresponding to nilpotents with at most two Jordan blocks are multiplicity-free. Received: 7 February 2002 / Published online: 8 November 2002     

The evolution of a truncated gaussian probability density through time—modelling animal liveweights after selection

The form of the probability density derived from the evolution in time of a previously truncated frequency distribution of animal Liveweights is of interest in animal husbandry. Truncated frequency distributions arise when the heavier animals are sold for slaughter and the lighter animals retained. The demands of modern quality assurance schemes require that, given information on animal growth, the farmer is able to estimate the number of animals that would meet the specifications at some time in the future after truncation. Assuming that animal growth can be described by a linear stochastic differential equation, we derive an explicit expression for the probability density of animal Liveweights at any time after the truncation of an initial Gaussian density. It is shown that this probability density converges rapidly to a Gaussian density, so that after about 20 days of typical growth rates for lambs, the resulting density is practically indistinguishable from Gaussian.     

Structure and properties of potassium titanyl phosphate single crystals with 7 and 11 at. % Nb

This study is a continuation of research into the atomic structure and physical properties of niobium-doped potassium titanyl phosphate crystals, KTiOPO₄ (KTP: Nb). Crystals containing 7 and 11 at. % of niobium were grown and studied. With an increase in niobium content, the number of vacancies and additional potassium positions in the structure also increase. This fact accounts for an increase in both the intensities of relaxation peaks and the conductivity of KTP: Nb crystals.     

Elastic wave scattering around cavities in inhomogeneous continua by the BEM

This work examines elastic wave scattering around cavities embedded in a continuum with depth-dependent shear modulus and under conditions of plane strain. A restricted case of inhomogeneity is considered, where the Poisson ratio is fixed at 0.25 and where the density profile also varies, but proportionally to the shear modulus. For this specific case, the wave speeds remain macroscopically constant and it becomes possible to recover the exact Green functions by using an algebraic transformation method. These functions are subsequently used as kernels in a standard 2D boundary element formulation defined in the Laplace transform domain. The final step involves an inverse Laplace transformation, whereby the transient behavior of cavities in the aforementioned inhomogeneous continuum can be recovered. Two basic examples are solved, namely the circular cylindrical cavity under sudden internal explosion and under a pressure wave sweep. In the latter case, it is possible to investigate the effect that the angle of wave incidence has on the displacement and stress that develop along the cavity's perimeter, given the fact that the shear modulus is changing along the vertical direction. These examples serve to illustrate the present approach and to reveal some interesting differences that are observed in transient wave scattering phenomena between homogeneous and continuously inhomogeneous models, where the latter models yield a more realistic representation of geological formations.