Research on the modeling of continuum robots, focused on ways to constrain the geometric models, while maintaining maximum specificities and mechanical properties of the robot. In this paper we propose a new numerical solution for solving the inverse geometric model of a planar flexible continuum robot, we assuming that each section is curved in an arc of a circle, while having the central axis of the inextensible structure. The inverse geometric model for one section is calculated geometrically, whereas the extreme points, of each section, used in calculating the inverse geometric model for multi-section is calculated numerically using a particle swarm optimization (PSO) method. Simulation examples of this method are carried to validate the proposed approach.
TiO2 thin films have been deposited on glass substrates with and without ZnO underlayer by sol-gel dip coating process. XRD patterns show the formation of anatase phase with the diffraction lines (1 0 1) and (2 0 0) in TiO2/glass sample. In TiO2/(ZnO/glass) sample, TiO2 is composed of anatase phase with the diffraction line (2 0 0) but the diffraction peaks of ZnO wurtzite are also well-defined. The determination of the refractive index and the thickness of the waveguiding layers has been performed by m-lines spectroscopy. The thickness of TiO2 thin films deduced by Rutheford Backscattering Geometry (RBS) agrees well with that obtained by m-lines spectroscopy. TiO2/glass sample exhibits one guided TE0 and TM0 polarized modes. In TiO2/(ZnO/glass) sample, only, TE0 single mode has been excited due to cutoff condition.
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