Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools t
o induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.
We report on the impact of hydrostatic pressure on the superconductivity of optimally (Indium) doped SnTe which is established to be derived from a topological crystalline insulating phase. Single crystals of Sn1-xInxTe were synthesized by a modified
Bridgman method that exhibited maximum superconducting Tc of 4.4 K for x= 0.5. Hydrostatic pressure upto 2.5 GPa was applied on the crystals of Sn0.5In0.5Te and electrical resistivity as a function of temperature and pressure was measured. We observed decrease in onset superconducting transition temperature from 4.4 K to 2.8 K on increasing pressure from ambient to 2.5 GPa. The normal state resistivity also decreased abruptly by an order of magnitude at 0.5 GPa but for higher pressures, the same decreased marginally. From onset, offset and zero resistivity values, dTc/dP of -0.6K/GPa was confirmed. The low temperature normal state resistivity followed T^2 dependence suggesting Fermi liquid behaviour both for ambient and high pressure data. This increase in metallic characteristics accompanied by normal state Fermi liquid behaviour is in accordance with a dome structure for Tc variation with varying carrier concentration.
The magnetic and magnetocaloric properties of polycrystalline La0.70(Ca0.30-xSrx)MnO3:Ag 10% manganite have been investigated. All the compositions are crystallized in single phase orthorhombic Pbnm space group. Both, the Insulator-Metal transition t
emperature (TIM) and Curie temperature (Tc) are observed at 298 K for x = 0.10 composition. Though both TIM and Tc are nearly unchanged with Ag addition, the MR is slightly improved. The MR at 300 K is found to be as large as 31% with magnetic field change of 1Tesla, whereas it reaches up to 49% at magnetic field of 3Tesla for La0.70Ca0.20Sr0.10MnO3:Ag0.10 sample. The maximum entropy change (DeltaSMmax) is 7.6 J.Kg-1.K-1 upon the magnetic field change of 5Tesla, near its Tc (300.5 K). The La0.70Ca0.20Sr0.10MnO3:Ag0.10 sample having good MR (31%1Tesla, 49%3Tesla) and reasonable change in magnetic entropy (7.6 J.Kg-1.K-1, 5 Tesla) at 300 K can be a potential magnetic refrigerant material at ambient temperatures.
We study the effect of synthesis temperature on the phase formation in nano(n)-SiC added bulk MgB2 superconductor. In particular we study: lattice parameters, amount of carbon (C) substitution, microstructure, critical temperature (Tc), irreversibili
ty field (Hirr), critical current density (Jc), upper critical field (Hc2) and flux pinning. Samples of MgB2+(n-SiC)x with x=0.0, 0.05 & 0.10 were prepared at four different synthesis temperatures i.e. 850, 800, 750, and 700oC with the same heating rate as 10oC/min. We found 750oC as the optimal synthesis temperature for n-SiC doping in bulk MgB2 in order to get the best superconducting performance in terms of Jc, Hc2 and Hirr. Carbon (C) substitution enhances the Hc2 while the low temperature synthesis is responsible for the improvement in Jc due to the smaller grain size, defects and nano-inclusion induced by C incorporation into MgB2 matrix, which is corroborated by elaborative HRTEM (high-resolution transmission electron microscopy) results. We optimized the the Tc(R=0) of above 15K for the studied n-SiC doped and 750 0C synthesized MgB2 under 140 KOe field, which is one of the highest values yet obtained for variously processed and nano-particle added MgB2 in literature to our knowledge.
