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  • Cambridge University Press (CUP)  (5)
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  • Cambridge University Press (CUP)  (5)
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  • 1
    Online Resource
    Online Resource
    Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg
    Cambridge University Press (CUP) ; 2013
    In:  Robotica Vol. 31, No. 2 ( 2013-03), p. 183-191
    Details
    In: Robotica, Cambridge University Press (CUP), Vol. 31, No. 2 ( 2013-03), p. 183-191
    Abstract: A novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism.
    Type of Medium: Online Resource
    ISSN: 0263-5747 , 1469-8668
    URL: Article
    DOI: 10.1017/S0263574712000215
    Language: English
    Publisher: Cambridge University Press (CUP)
    Publication Date: 2013
    detail.hit.zdb_id: 2002662-6
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  • 2
    Online Resource
    Online Resource
    Performance of rapid-grown KDP crystals with continuous filtration
    Cambridge University Press (CUP) ; 2015
    In:  High Power Laser Science and Engineering Vol. 3 ( 2015)
    Details
    In: High Power Laser Science and Engineering, Cambridge University Press (CUP), Vol. 3 ( 2015)
    Abstract: Rapid growth processing of KDP crystals was improved by employing continuous filtration to eliminate bulk defects. The performances of the KDP crystals, including scattering defects, laser damage resistance and transmittance, were measured and analyzed. Compared with rapid-grown KDP without continuous filtration, the transmittance in the near-infrared was increased by at least 2%, almost all of ‘micron size’ defects were eliminated and ‘sub-micron size’ defects were decreased by approximately 90%. Laser damage testing revealed that the laser-induced damage thresholds (LIDTs), as well as the consistency of the LIDTs from sample to sample, were improved greatly. Moreover, it identified that ‘micron size’ defects were the precursors which initiated laser damage at relative lower laser fluence (4–6 J cm −2 ), and there was a lower correlation between smaller size scattering defects and laser damage initiation. The improved consistency in the LIDTs, attributed to elimination of ‘micron size’ defects, and LIDT enhancement originated from the decreased absorption of the KDP crystals.
    Type of Medium: Online Resource
    ISSN: 2095-4719 , 2052-3289
    URL: Article
    DOI: 10.1017/hpl.2015.7
    Language: English
    Publisher: Cambridge University Press (CUP)
    Publication Date: 2015
    detail.hit.zdb_id: 2723155-0
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  • 3
    Online Resource
    Online Resource
    Variation of the band structure in DKDP crystal excited by intense sub-picosecond laser pulses
    Cambridge University Press (CUP) ; 2018
    In:  High Power Laser Science and Engineering Vol. 6 ( 2018)
    Details
    In: High Power Laser Science and Engineering, Cambridge University Press (CUP), Vol. 6 ( 2018)
    Abstract: The nonlinear absorption (NLA) properties of potassium dideuterium phosphate crystals at 515 nm under different excitation laser intensities are investigated with the Z-scan technique. Two critical intensities are highlighted: the critical intensity for exciting the NLA and the critical intensity of the multiphoton absorption mechanism transition. Experimental results indicate the existence of defect states located in the band gap, which can be manipulated by varying laser intensity. A model based on the change of multiphoton absorption mechanism induced by the transformation of defect species is proposed to interpret the experiments. Modeling results are in good agreement with the experiment data.
    Type of Medium: Online Resource
    ISSN: 2095-4719 , 2052-3289
    URL: Article
    DOI: 10.1017/hpl.2018.35
    Language: English
    Publisher: Cambridge University Press (CUP)
    Publication Date: 2018
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  • 4
    Online Resource
    Online Resource
    Path Planning of UGV Based on Bézier Curves
    Cambridge University Press (CUP) ; 2019
    In:  Robotica Vol. 37, No. 6 ( 2019-06), p. 969-997
    Details
    In: Robotica, Cambridge University Press (CUP), Vol. 37, No. 6 ( 2019-06), p. 969-997
    Abstract: An effective path planner is critical for autonomous traversal of unmanned ground vehicles (UGVs) in harsh environments. This paper describes a novel path planning method considering Bézier curves and a two-layer planning framework. In the two-layer framework, a road centerline (RCL) estimator located on the upper layer works as a global planner to obtain the local target for the bottom local planner. The RCL is estimated from a series of candidate Bézier curves based on a safety criterion. In the bottom layer, an optimal trajectory planner and a speed planner make up the local planner to obtain the desired steering turning angle and linear speed. The criteria for optimal trajectory selection are designed for comfortable driving. Road safety is considered in the speed planner for robust driving. Three sets of simulations are used to evaluate and quantify the relative performance of variations of our path planning algorithm. The proposed path planning method is implemented on a modified Polaris RZR 800 UGV, too. Two experiments based on this UGV are set up in the country road environment to demonstrate the viability of the proposed method.
    Type of Medium: Online Resource
    ISSN: 0263-5747 , 1469-8668
    URL: Article
    DOI: 10.1017/S026357471800139X
    Language: English
    Publisher: Cambridge University Press (CUP)
    Publication Date: 2019
    detail.hit.zdb_id: 2002662-6
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  • 5
    Online Resource
    Online Resource
    Rapid growth of a long-seed KDP crystal
    Cambridge University Press (CUP) ; 2020
    In:  High Power Laser Science and Engineering Vol. 8 ( 2020)
    Details
    In: High Power Laser Science and Engineering, Cambridge University Press (CUP), Vol. 8 ( 2020)
    Abstract: To reduce the seed length while maintaining the advantages of the cuboid KDP-type crystal, a long-seed KDP crystal with size $471~\text{mm}\times 480~\text{mm}\times 400~\text{mm}$ is rapidly grown. With almost the same high cutting efficiency to obtain third harmonic generation oriented samples, this long-seed KDP-type crystal can be grown with a shorter seed than that of the cuboid KDP-type crystal. The full width at half maximum of the high-resolution X-ray diffraction of the (200) crystalline face is 28.8 arc seconds, indicating that the long-seed KDP crystal has good crystalline quality. In the wavelength range of 377–1022 nm, the transmittance of the long-seed KDP crystal is higher than 90%. The fluence for the 50% probability of laser-induced damage (LID) is $18.5~\text{J}/\text{cm}^{2}$ (3 ns, 355 nm). Several test points survive when the laser fluence exceeds $30~\text{J}/\text{cm}^{2}$ (3 ns, 355 nm), indicating the good LID performance of the long-seed KDP crystal. At present, the growth of a long-seed DKDP crystal is under way.
    Type of Medium: Online Resource
    ISSN: 2095-4719 , 2052-3289
    URL: Article
    DOI: 10.1017/hpl.2019.54
    Language: English
    Publisher: Cambridge University Press (CUP)
    Publication Date: 2020
    detail.hit.zdb_id: 2723155-0
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