Implementations of a four-level mechanical architecture for fault-tolerant robots

This paper describes a fault tolerant mechanical architecture with four levels devised and implemented in concert with NASA (Tesar, D. & Sreevijayan, D., Four-level fault tolerance in manipulator design for space operations. In First Int. Symp. Measurement and Control in Robotics (ISMCR '90), Houston, Texas, 20–22 June 1990.) Subsequent work has clarified and revised the architecture. The four levels proceed from fault tolerance at the actuator level, to fault tolerance via in-parallel chains, to fault tolerance using serial kinematic redundancy, and finally to the fault tolerance multiple arm systems provide. This is a subsumptive architecture because each successive layer can incorporate the fault tolerance provided by all layers beneath. For instance a serially-redundant robot can incorporate dual fault-tolerant actuators. Redundant systems provide the fault tolerance, but the guiding principle of this architecture is that functional redundancies actively increase the performance of the system. Redundancies do not simply remain dormant until needed. This paper includes specific examples of hardware and/or software implementation at all four levels.     

Change in Refractive Index of a Borosilicate Glass Fiber Annealed Below the Glass Transformation Temperature

Glass fibers pulled from multihole bushings can have a slight difference in thermal history that causes a distribution in the refractive index that can be narrowed by annealing the fibers. The kinetics for the initial stage change in refractive index for fiber annealed between 300° and 500°C are best described by a second-order reaction with an activation energy of 120° 17 kj/mol. The improved uniformity in refractive index for annealed fibers is indicated by a decrease in the half-height width of the optical transmission versus temperature curve for glass fiber immersed in a liquid. The standard deviation in the refractive index of glass fibers with a bimodal distribution in diameter decreases from 8 × 10^-4≤0.0002 to 4 × 10^-4 0.0002 after the fibers are annealed at 400°C for 1 h.     

Glass Formation and Properties in the System Calcia-Gallia-Silica

The glass-formation region of the calcia-gallia-silica system was determined. The glasses within this region were measured to have a density of 3 to 4 g/cm³, a refractive index of 1.6 to 1.73, an Abbe number between 35 and 58, a thermal expansion coefficient of 6.5 × 10⁻⁷/°C to 11.5 × 10⁻⁷/°C, softening temperatures between 730° and 790°C, and a Vickers microhardness of 5.2 to 7.3 GPa. Crystalline phases were identified along the glass-formation boundary. Infrared transmission spectra were used to explain glass structures and their effect on glass properties. The results suggest that the role of calcia in the glass structure is similar to that for calcia in calcium aluminosilicate glasses.     

Color and Selected Properties of PbO─BiO1.5─GaO1.5 Glasses

The density; molar volume; thermal expansion coefficient; dissolution rate in water, HC1, and NaOH; glass transition and crystallization temperatures; and the absorption edge in the ultraviolet-visible and infrared were measured for PbO─BiO1.5─GaO1.5 glasses. The range of compositions investigated was x PbO (100 − (x + y) )BiO_1.5. yGaO_1.5 for x between 20 and 60 cat% and y of 20, 25, 30, and 35 cat%. The glass-forming tendency increased with increased GaO_1.5 and decreased with increased PbO or BiO_1.5. The compositional dependence of these properties was consistent with the weight, size, charge, and bond strength of the cations. The Ga^{3 +} ions in these glasses are believed to act primarily as network-forming cations, whereas the majority of the Bi³⁺ and Pb²⁺ ions behave as network-modifying cations. It is suggested that a small friction of the lead ions are present as Pb⁴⁺. Depending upon melting conditions, these glasses ranged in color from brown to yellow. Various attempts, including containerless melting, were made to obtain colorless glasses, but no conditions were found which totally eliminated the color. The least color (pale yellow) was obtained when the glasses were melted in an air or nitrogen atmosphere in an alumina or gold crucible.     

Early Stages of Calcium Phosphate Formation on Bioactive Borosilicate Glass in Aqueous Phosphate Solution

The conversion of bioactive glass to a calcium phosphate material, typically hydroxyapatite (HA), by solution–precipitation reactions in aqueous phosphate solution, has been commonly reported. This paper describes the structural and compositional characteristics of the calcium phosphate material formed during the early-stage conversion (<5 h) of a borosilicate glass (designated H12) in aqueous phosphate solution. Disks of H12 glass were reacted with 0.25 M K₂HPO₄ solution with a starting pH=7.0 at 37°C. The structure and composition of the product layer were characterized using thin film X-ray diffraction, scanning electron microscopy, and Fourier transform infrared reflectance spectroscopy. For reaction times <5 h, the results indicated the formation of brushite (CaHPO₄·2H₂O) with coarse, plate-like crystals. In comparison, the formation of HA with small needle-like crystals was found at later times. This early-stage formation of brushite has not been reported in previous studies of converting bioactive silicate and borate glasses in aqueous phosphate solution.     

益生素和益生元在水产养殖中应用新进展

经过近20年的研究和实践,益生素和益生元在水产养殖场和鱼苗繁殖场的规模化使用已成为现实。目前研究主要集中在环境友好型菌类/群的选择,及抗生素替代产品的选择。益生菌和益生素主要为宿主肠道菌群提供直接或间接的选择性优化产品,可能的作用机制是增加胃肠道有益菌的数量(如乳酸菌和其它有益杆菌),产生特殊的抑制化合物,并对潜在的病原菌产生抑制,抑制毒力基因的表达,增强机体的免疫反应,改善胃肠形态和提高消化机能。因此,益生素和益生菌的使用可提高鱼体健康状况,提高鱼体抗病力,促进生长性能,改善体组成,降低畸形率和保持更好的胃肠道微生态平衡。目前大量的研究正在证实益生素和益生元在水产养殖上应用的可靠性,但目前研究中的产品使用方案与养殖实践中的使用方案存在较大的差异。因此,制定合适的使用方案对于商业水平的应用显得至关重要。未来研究应集中于益生素和益生元的使用方案上。     

Simulation of adaptive controlled machining

This paper presents a basic digital simulation structure for adaptive controlled machining processes. The use of this approach to determine the feasibility of adaptive control is discussed and illustrated in the context of a turning operation.