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.     

Regioselective 1,4-trifluoromethylation of α,β-enones using ‘protect-in-situ’ methodology

In a convenient and efficient procedure, the nucleophilic 1,4-trifluoromethylation of several α,β-enones using (trifluoromethyl)trimethylsilane was achieved. The high regioselectivity of the reaction has been reached by blocking the carbonyl moiety of the electrophile with a bulky aluminum-centered Lewis acid.     

Synthesis of new terpene derivatives via ruthenium catalysis: rearrangement of silylated enynes derived from terpenoids

Enyne rearrangement of silylated modified terpenoids has been used as the key step for the synthesis of new terpenes and terpenoids. The catalytic system generated in situ from [RuCl₂(p-cymene]₂, 1,3-bis(mesityl)imidazolinium chloride and cesium carbonate is able to perform the transformation of silylated 1,7-enynes into cyclic siloxanes. Selective cleavage of the silicon-carbon and silicon-oxygen bonds by simple reactions has been performed to afford new terpenes and terpenoids by formal addition of a C5 unit.     

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     

Stability Conditions of the MMAP [ K ]/ G [ K ]/1/ LCFS Preemptive Repeat Queue

In this paper, we study the stability conditions of the MMAP[K]/G[K]/1/LCFS preemptive repeat queue. We introduce an embedded Markov chain of matrix M/G/1 type with a tree structure and identify conditions for the Markov chain to be ergodic. First, we present three conventional methods for the stability problem of the queueing system of interest. These methods are either computationally demanding or do not provide accurate information for system stability. Then we introduce a novel approach that develops two linear programs whose solutions provide sufficient conditions for stability or instability of the queueing system. The new approach is numerically efficient. The advantages and disadvantages of the methods introduced in this paper are analyzed both theoretically and numerically.     

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.     

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.     

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.