Machining Performance of Robot-Type Machine Tool Consisted of Parallel and Serial Links Based on Calibration of Kinematics Parameters

This study aims to calibrate the posture of a robot-type machine tool comprising parallel and serial links using a kinematics error model and verify the machining performance based on the measurement results of a machined workpiece calibrated with kinematics parameters. A robot-type machine tool (XMINI, Exechon Enterprises LLC) is used in this study. Typically, the performance required of a robot-type machine tool is not only dimensional accuracy but also the contour accuracy of the machined workpiece. Therefore, in this study, we first construct a forward kinematics model of a robot-type machine tool and identify the kinematics parameters used in it via spatial positioning experiments using a coordinate measuring machine. Based on the parameter identification results, we calibrate this robot-type machine tool and evaluate its machining performance in terms of the dimensional accuracy and contour accuracy of the machined workpiece.

New bang-bang phase detectors for high-speed serial links

Bang-bang phase detector studies were carried out in this thesis. Based on the comparison of linear and non-linear phase detectors, a hybrid phase detector was proposed. It possesses the characteristics of two-XOR phase detectors and improved bang-bang phase detectors. PLLs with the proposed hybrid phase detector possess low timing jitter in lock states and a fast locking process. The effectiveness of the proposed hybrid phase detector was quantified by comparing the performance of three PLLs with identical loop components but different phase detectors. A new bang-bang phase detector with regenerative DFFs was also proposed. The regenerative bang-bang phase detector ensures a fast acquisition of incoming clocks. The effectiveness of the regenerative phase detector was assessed in a 2GHz PLL. A 1X bang-bang phase detector was proposed also. Compared to a 2X bang-bang phase detector, PLLs with a 1X bang-bang phase detector offer faster locking. A DFF frequency detector and a charge-pump frequency detector were also proposed. Both effectively detect the frequency difference.

New bang-bang phase detectors for high-speed serial links

Bang-bang phase detector studies were carried out in this thesis. Based on the comparison of linear and non-linear phase detectors, a hybrid phase detector was proposed. It possesses the characteristics of two-XOR phase detectors and improved bang-bang phase detectors. PLLs with the proposed hybrid phase detector possess low timing jitter in lock states and a fast locking process. The effectiveness of the proposed hybrid phase detector was quantified by comparing the performance of three PLLs with identical loop components but different phase detectors. A new bang-bang phase detector with regenerative DFFs was also proposed. The regenerative bang-bang phase detector ensures a fast acquisition of incoming clocks. The effectiveness of the regenerative phase detector was assessed in a 2GHz PLL. A 1X bang-bang phase detector was proposed also. Compared to a 2X bang-bang phase detector, PLLs with a 1X bang-bang phase detector offer faster locking. A DFF frequency detector and a charge-pump frequency detector were also proposed. Both effectively detect the frequency difference.

Integration and Commissioning of the Software-based Readout System for ATLAS Level-1 Endcap Muon Trigger in Run 3

The Large Hadron Collider and the ATLAS experiment at CERN will explore new frontiers in physics in Run 3 starting in 2022. In the Run 3 ATLAS Level-1 endcap muon trigger, new detectors called New Small Wheel and additional Resistive Plate Chambers will be installed to improve momentum resolution and to enhance the rejection of fake muons. The Level-1 endcap muon trigger algorithm will be processed by new trigger processor boards with modern FPGAs and high-speed optical serial links. For validation and performance evaluation, the inputs and outputs of their trigger logic will be read out using a newly developed software-based readout system. We have successfully integrated this readout system in the ATLAS online software framework, enabling commissioning in the actual Run 3 environment. Stable trigger readout has been realized for input rates up to 100 kHz with a developed event-building application. We have verified that its performance is sufficient for Run 3 operation in terms of event data size and trigger rate. The paper will present the details of the integration and commissioning of the software-based readout system for ATLAS Level-1 endcap muon trigger in Run 3.

Torque-Angle Relationship for a 2D RRR-Type Serial Link Manipulator

This paper presents an application of Lagrange–Euler approach for dynamic analysis of three link with revolute type (RRR-type) rigid serial manipulators. MATLAB code is programmed for Lagrange– Euler approach for RRR-type serial manipulator for generating joint torque equations and plotting these joint torque values for given range of angular rotations. This study is useful for understanding the effect of combinations of link rotation on joint torque behaviour. Maximum value of required joint torques obtained can be used for selection of motors for any mechanism with serial links with revolute joints performing given task.