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DOE OSTI2024

The Long Neglected Cycloidal Mass Analyzer

Cycloid mass spectrometers offer powerful advantages for isotope ratio measurements, including double focusing (mass and energy), linear mass dispersion over a large spatial area, and a small footprint. However, the linear cycloid has not been adopted as widely as other mass analyzer designs, in part because of challenges with utilizing common ion detectors such as electron multipliers and Faraday cups. Integration of a linear cycloid with a capacitive transimpedance amplifier detector arrays can overcome these challenges, resulting in a compact powerful mass spectrometer for precision isotope ratio measurements.

47 OTHER INSTRUMENTATION↗

NASA NTRS1995

Blending Velocities In Task Space In Computing Robot Motions

Blending of linear and angular velocities between sequential specified points in task space constitutes theoretical basis of improved method of computing trajectories followed by robotic manipulators. In method, generalized velocity-vector-blending technique provides relatively simple, common conceptual framework for blending linear, angular, and other parametric velocities. Velocity vectors originate from straight-line segments connecting specified task-space points, called "via frames" and represent specified robot poses. Linear-velocity-blending functions chosen from among first-order, third-order-polynomial, and cycloidal options. Angular velocities blended by use of first-order approximation of previous orientation-matrix-blending formulation. Angular-velocity approximation yields small residual error, quantified and corrected. Method offers both relative simplicity and speed needed for generation of robot-manipulator trajectories in real time.

Volpe, Richard A.↗