Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; namely an equiform reconfigurability of the base. The instantaneous kinematics and singularities of this mechanism are studied, where especially "unavoidable singularities" are characterized. These are poses of the motion platform, which can only be realized by singular configurations of the mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure

Perturbations of the local gravity field due to mass distribution on precise measuring instruments: a numerical method applied to a cold atom gravimeter

We present a numerical method, based on a FEM simulation, for the determination of the gravitational field generated by massive objects, whatever geometry and space mass density they have. The method was applied for the determination of the self gravity effect of an absolute cold atom gravimeter which aims at a relative uncertainty of 10-9. The deduced bias, calculated with a perturbative treatment, is finally presented. The perturbation reaches (1.3 \pm 0.1) \times 10-9 of the Earth's gravitational field.Comment: 12 pages, 7 figure

Enlèvement de la matière organique dans les filtres CAB

Cet article présente les résultats d'une étude sur le traitement par filtration sur charbon actif biologique (CAB), utilisé en usine de production d'eau potable en second étage de filtration, en aval d'une étape d'ozonation. L'objectif principal de cette étude était de caractériser la matière organique bioéliminée au cours de la filtration sur charbon actif afin d'obtenir une meilleure compréhension de l'abattement du carbone organique dissous (COD) et de la demande en chlore par ce procédé. Le carbone organique dissous biodégradable (CODB) éliminé au cours de ce traitement peut être corrélé à l'abattement de la demande en chlore et ce CODB présente une réactivité au chlore supérieure à celle du carbone organique réfractaire.Le couplage de techniques d'ultrafiltration au suivi des différentes fractions en cours d'incubation en batch pendant 35 jours avec un inoculum de bactéries indigènes libres, permet de préciser la nature des molécules susceptibles d'être bioéliminées et d'appréhender leur impact sur la demande en chlore de l'eau issue du traitement biologique. La nature de la matière organique présente dans l'eau en amont des filtres varie considérablement au cours de l'année; ainsi, en été, une augmentation importante de la fraction de molécules de haute masse molaire (> 10000 daltons) est observée. La filtration biologique n'affecte pas de manière significative la répartition des différentes tailles de molécules et de petites molécules ( 10 000 daltons) is the least bioeliminable and the fraction in the low molecular weight ( 10 000 daltons), without any carbon elimination during incubation, suggests that these molecules undergo important structural changes under the action of biological treatment

Comparison between two mobile absolute gravimeters: optical versus atomic interferometers

We report a comparison between two absolute gravimeters: the LNE-SYRTE cold atoms gravimeter and FG5#220 of Leibniz Universit\"at of Hannover. They rely on different principles of operation: atomic and optical interferometry. Both are movable which enabled them to participated to the last International Comparison of Absolute Gravimeters (ICAG'09) at BIPM. Immediately after, their bilateral comparison took place in the LNE watt balance laboratory and showed an agreement of 4.3 +/- 6.4 {\mu}Gal

Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system

The geometry of a 3D octahedral parallel robot manipulator system is specified in terms of two rigid octahedral structures (the fixed and moving platforms) and six actuation legs. The symmetry of the system is exploited to determine the behaviour of (a new version of) the quality index for various motions. The main results are presented graphically

The electric double layer has a life of its own

Using molecular dynamics simulations with recently developed importance sampling methods, we show that the differential capacitance of a model ionic liquid based double-layer capacitor exhibits an anomalous dependence on the applied electrical potential. Such behavior is qualitatively incompatible with standard mean-field theories of the electrical double layer, but is consistent with observations made in experiment. The anomalous response results from structural changes induced in the interfacial region of the ionic liquid as it develops a charge density to screen the charge induced on the electrode surface. These structural changes are strongly influenced by the out-of-plane layering of the electrolyte and are multifaceted, including an abrupt local ordering of the ions adsorbed in the plane of the electrode surface, reorientation of molecular ions, and the spontaneous exchange of ions between different layers of the electrolyte close to the electrode surface. The local ordering exhibits signatures of a first-order phase transition, which would indicate a singular charge-density transition in a macroscopic limit

SAR image segmentation with GMMs

This paper proposes a new approach for Synthetic Aperture Radar (SAR) image segmentation. Segmenting SAR images can be challenging because of the blurry edges and the high speckle. The segmentation proposed is based on a machine learning technique. Gaussian Mixture Models (GMMs) were already used to segment images in the visual field and are here adapted to work with single channel SAR images. The segmentation suggested is designed to be a first step towards feature and model based classification. The recall rate is the most important as the goal is to retain most target's features. A high recall rate of 88%, higher than for other segmentation methods on the Moving and Stationary Target Acquisition and Recognition (MSTAR) dataset, was obtained. The next classification stage is thus not affected by a lack of information while its computation load drops. With this method, the inclusion of disruptive features in models of targets is limited, providing computationally lighter models and a speed up in further classification as the narrower segmented areas foster convergence of models and provide refined features to compare. This segmentation method is hence an asset to template, feature and model based classification methods. Besides this method, a comparison between variants of the GMMs segmentation and a classical segmentation is provided

Pose, posture, formation and contortion in kinematic systems

The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types

Probabilistic analysis of the upwind scheme for transport

We provide a probabilistic analysis of the upwind scheme for multi-dimensional transport equations. We associate a Markov chain with the numerical scheme and then obtain a backward representation formula of Kolmogorov type for the numerical solution. We then understand that the error induced by the scheme is governed by the fluctuations of the Markov chain around the characteristics of the flow. We show, in various situations, that the fluctuations are of diffusive type. As a by-product, we prove that the scheme is of order 1/2 for an initial datum in BV and of order 1/2-a, for all a>0, for a Lipschitz continuous initial datum. Our analysis provides a new interpretation of the numerical diffusion phenomenon

Self-Motions of General 3-RPR Planar Parallel Robots

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented