Dimensional Synthesis of a Novel 3-URU Translational Manipulator Implemented through a Novel Method

A dimensional synthesis of parallel manipulators (PMs) consists of determining the values of the geometric parameters that affect the platform motion so that a useful workspace with assigned sizes can be suitably located in a free-from-singularity region of its operational space. The main goal of this preliminary dimensioning is to keep the PM far enough from singularities to avoid high internal loads in the links and guarantee a good positioning precision (i.e., for getting good kinematic performances). This paper presents a novel method for the dimensional synthesis of translational PMs (TPMs) and applies it to a TPM previously proposed by the author. The proposed method, which is based on Jacobians’ properties, exploits the fact that TPM parallel Jacobians are block diagonal matrices to overcome typical drawbacks of indices based on Jacobian properties. The proposed method can be also applied to all the lower-mobility PMs with block diagonal Jacobians that separate platform rotations from platform translations (e.g., parallel wrists).

DSMC simulations of neutral gas flow in the DTT particle exhaust system

Divertor Tokamak Test Facility (DTT) is a new European superconducting tokamak, currently under final design, addressed to investigate alternative power exhaust solutions for DEMO. Although the divertor system is not finalized yet, the machine and port geometry set limitations on the divertor pumping system operational space. A numerical study of neutral gas dynamics in the divertor region is performed based on the DSMC method by applying the DIVGAS code. The study includes both single-null (SN) and double-null (DN) divertor configurations. For both configurations, the SolEdge2D–EIRENE plasma simulations have been performed for a deuterium plasma with neon seeding and the extracted information about the neutral particles on the predefined interfaces is imposed as incoming boundary conditions for DIVGAS simulations. In the SN case, two plasma puffing scenarios and three candidate pumping port arrangements have been considered. The divertor dome influence on the pumped fluxes can reach 50%. An increase of the capture coefficient six times leads to a decrease in the pressure at the pumping openings by a factor of about 4.5–7. The influence of the size of the lower vertical opening has been studied showing that the enlarged vertical port may establish as the main pumping opening. In the DN case, when the pumping is performed from both lower and upper divertor the overall pumped fluxes at the upper divertor are always higher than the corresponding ones for the lower divertor by a factor of 2–2.5, mainly due to the difference in the pumping areas. In both SN and DN cases, the neutrals outflux toward the X-point dominates the particle transport in the private flux region. The operational space provided by this first assessment is relatively stable against modified classical divertor geometries and allows a more thorough assessment of the pumping technology of the DTT fusion device in the future.

Shape Sensing of Hyper-Redundant Robots Using an AHRS IMU Sensor Network

The paper proposes a novel approach for shape sensing of hyper-redundant robots based on an AHRS IMU sensor network embedded into the structure of the robot. The proposed approach uses the data from the sensor network to directly calculate the kinematic parameters of the robot in modules operational space reducing thus the computational time and facilitating implementation of advanced real-time feedback system for shape sensing. In the paper the method is applied for shape sensing and pose estimation of an articulated joint-based hyper-redundant robot with identical 2-DoF modules serially connected. Using a testing method based on HIL techniques the authors validate the computed kinematic model and the computed shape of the robot prototype. A second testing method is used to validate the end effector pose using an external sensory system. The experimental results obtained demonstrate the feasibility of using this type of sensor network and the effectiveness of the proposed shape sensing approach for hyper-redundant robots.

The improvement of the instrumental means for processing and analyzing of space information

The need of the creation of information system with specialized services which allow scientists and specialists to perform thematic processing of Earth remote sensing data, changing the data processing parameters in a certain way, and independently analyze the information received is shown.To achieve the goal of rapid provision of information, the development of specialized information system is considered on the example of the creation of the software package for the dissemination of operational space information, as well as a software package for predicting the yield of grain crops.The structure of the software package for the dissemination of operational space information is shown. The technical and functional characteristics of the separate components of the package are given. The relations of the subsystems of the package are shown during data receiving, processing, analyzing and providing information to interested specialists and researchers. Attention is drawn to the possibilities of wide application of the software package for the dissemination of operational space information for solving scientific and applied problems in various fields of knowledge.The practical application of vegetation indexes in the analysis of operational space information is shown. The data of the practical results of forecasting of the grain crops development, as well as the quantitative indicators of satellites sessions are presented. The possibility of further improvement and development of the created information system is shown.