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This paper presents the design and characteristics of a front-end readout application-specific integrated circuit (ASIC) dedicated to a multichannel-plate photodetector coupled to LYSO scintillating crystals. In our configuration, the crystals are oriented in the axial direction readout on both sides by individual photodetector channels allowing the spatial resolution and the detection efficiency to be independent of each other. Both energy signals and timing triggers from the photodetectors are required to be read out by the front-end ASIC. A current-mode charge-sensitive amplifier is proposed for this application. This paper presents performance characteristics of a 10-channel prototype chip designed and fabricated in a 0.35-μm complementary metal-oxide semiconductor process. The main results of simulations and measurements are presented and discussed. The gain of the chip is 13.1 mV/pC while the peak time of a CR-RC pulse shaper is 280 ns. The signal-to-noise ratio is 39 dB and the rms noise is 300 μV/√(Hz). The nonlinearity is less than 3% and the crosstalk is about 0.2%. The power dissipation is less than 15 mW/channel. This prototype will be extended to a 64-channel circuit with integrated time-to-digital converter and analog-to-digital converter together for a high-sensitive small-animal positron emission tomography imaging system.

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped workspace.

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According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed which corresponds to its partial motion decoupling property. 0 J J J

This paper presents a uniform method of evaluating both transmission quality and singularity applicable for a class of parallel Schönflies-motion generators (SMGs) with four RRΠRR limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, and the second one being related to the rotation of the mobile platform (MP). The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality and the detection of robot singularities. Four robots are compared based on the proposed indices as illustrative examples.

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