Development of a mobile robotic system for working in the double-hulled structure of a ship

Shipbuilding processes involve highly dangerous manual welding operations. Welding ship walls inside double-hulled structures presents a particularly hazardous environment for workers. This paper describes the “Rail Runner X” (RRX), a new robotic system that can move autonomously inside the walls of a double-hulled ship and automatically execute the required welding processes. The RRX robotic system is composed of a mobile platform and a welding robot consisting of a 3P3R serial manipulator. The robot is used to weld U-shaped trajectories located between two longitudinal stiffeners. The mobile platform enables traverse movements onto neighboring longitudinal stiffeners. The entire cross section of the robotic system is small enough to be placed inside the double-hulled structure via a conventional access hole from the outside shipyard floor. The overall engineering design process that led to the final robot solution developed is presented in this paper, including kinematic analysis data and experimental results for verifying the autonomous movement and welding performance.     

Using the Curriculum Vita to Study the Career Paths of Scientists and Engineers: An Exploratory Assessment

In this paper we assess the utility of the curriculum vita (CV) as a data source for examining the career paths of scientists and engineers. CVs were obtained in response to an email message sent to researchers working in the areas of biotechnology and microelectronics. In addition, a number of CVs were obtained "passively" from a search of the Internet. We discuss the methodological issues and problems of this data collection strategy and the results from an exploratory analysis using OLS regression and event history analysis. In sum, despite difficulties with coding and variation in CV formats, this collection strategy seems to us to hold much promise.     

Contact angle estimation and composite locomotive strategy of a stair-climbing mobile platform

This paper presents a stair-climbing mobile platform built on the Rocker–Bogie mechanism which enables to effectively climb up/down various sizes of stairs in indoor environments without violating its mobile stability. First, the link parameters of Rocker–Bogie mechanism are optimally chosen via the Taguchi method in order to make the trajectory of its center of mass (CM) as smooth as possible, which implies high mobile stability as well as excellent adaptability during climbing up/down stairs. Based on this optimization result, the proposed mobile platform is compactly and lightly constructed suitable for indoor applications by placing all motors and sensors inside the hollow links in order to prevent undesired interferences with stairs as well as to protect themselves from external impact. A simple, robust and cost-effective estimation algorithm is proposed to detect the contact angles between wheels and a stair with high fidelity. Through the kinematic and kinetic analysis combined with the wheel-stair contact angle information, a composite locomotive strategy is established not only to minimize the slip during climbing up a stair but also to prevent falling down during climbing down a stair. The extensive experiments against various types of stairs successfully demonstrate the capability of the proposed mobile platform to effectively and safely climb up/down stairs.     

Sliding mode cutting force regulator for turning processes

Continuous sliding mode control is applied to turning processes for cutting force regulation. The motivation of the use of the slide mode control scheme is to solve the nonlinearity problem caused by the feedrate override command element in the commercial CNC machine tool. When the adaptive control algorithm is applied to the commercial CNC machine tool, it is one of the practical methods that the programmed feedrate is overridden after the control algorithm is carried out. However, most CNC lathe manufacturers offer limited number of data bits for feedrate override, thus resulting in nonlinear behavior of the machine tools. Such nonlinearity brings ‘quantized' or discrete effect so that the optimal feedrate is rounded off before being fed into the CNC system. To compensate for this problem, continuous sliding mode control is applied. Simulation and experimental results are presented in comparison with those obtained from applying adaptive control which is a widely used approach in cutting force regulation. Adaptive control loses its effectiveness in the presence of nonlinearity since it generally requires linear parametrization of the control law or the system dynamics. Experiments are conducted under various machining conditions, subject to changes in spindle speed, material of work-piece, and type of machining process. The suggested slide mode controller shows smoother cutting force fluctuation, which cannot be achieved by the conventional adaptive controller. The experimental set-up reflects the emphasis on the practicality of the sliding mode controller. In order to avoid the use of a dynamometer in the course of measuring the cutting force, the indirect cutting force measuring system is used by means of feed drive servo-motor current sensing.     

A Novel High-Speed Multiplexing IC Based on Resonant Tunneling Diodes

A new multiplexing IC based on the resonant tunneling diode (RTD) is proposed. The unique negative differential resistance characteristics arising from quantum effects of the RTD enable us to develop a new functional low-power digital circuit. The proposed multiplexing IC consists of two current-mode-logic monostable-bistable transition logic elements (CML-MOBILEs) based on the RTD and a low-power selector circuit block. The proposed circuit has been fabricated by using an InP RTD/ heterojunction bipolar transistor monolithic microwave integrated circuit technology. The multiplexing operation of the fabricated quantum effect IC has been confirmed up to 45 Gb/s for the first time as a monolithic technology based on the quantum effect devices. The dc power consumption is only 23 mW, which is found to be one-fourth of the current state-of-the-art conventional transistor-based multiplexing IC.     

Excavator tele-operation system using a human arm

It is difficult, for those without experience, to operate and manipulate a mechanical excavator. There is a long learning process to gain the skills required in operating the excavator's overall swing motions as well as movements of its boom, arm and bucket. In addition it is dangerous to operate such excavators on an inclined plane as this can lead to instability and puts the operator at great risk. In this study, a simple light weight tele-operation system has been developed for the excavator for dealing with these problems. Three sensors are attached to the operator's arm, in order to detect his movements. The operating commands for the actuators of an excavator will be transmitted via Bluetooth wireless communications. The new tele-operation system developed is simple, cost effective and lighter compared to typical haptic devices using a force feedback mechanisms. The operating algorithm has been modified and verified in many test cases. Prior to testing, the algorithms have been verified using the visual simulator, OpenGL. The operating system to operate the excavator easily and safely is developed and the control algorithm verified by tests.     

Volumetric object reconstruction using the 3D-MRF model-basedsegmentation [magnetic resonance imaging]

A number of segmentation algorithms have been developed, but those algorithms are not effective on volume reconstruction because they are limited to operating only on two-dimensional (2-D) images. Here, the authors propose the volumetric object reconstruction method using the three-dimensional Markov random field (3D-MRF) model-based segmentation. The 3D-MRF model is known to be one of the most efficient ways to model spatial contextual information. The method is compared with the 2-D region growing scheme under three types of interpolation. The results show that the proposed method is better in terms of image quality than the other methods     

Elastic and plastic contributions to X-ray Line broadening of InGaAsP/InP Heterostructures

The coherency state of MOCVD grown InGaAsP/InP double-heterostructure wafers was examined and their effects on the structural properties were determined in this study. Lattice mismatches were measured using {511} asymmetric and (400) symmetric x-ray reflections. The chemical lattice misfit and the elastic strain were also calculated. Misfit dislocations were examined by both x-ray topography and photoluminescence imaging. The x-ray full width at half maximum (FWHM) varied with the degree of mismatch. The largest FWHM was obtained for samples containing the misfit dislocations. It was found that FWHM is influenced not only by the plastic deformation, but also by the elastic strain. To model the dependence of the FWHM, the radius of curvature was measured, and its contribution to the x-ray line broadening was calculated. Also, the contribution from misfit dislocations was taken into account. This model assumes that the dislocations are planar and interact weakly with each other. Good agreement between measured and calculated values was obtained. Thus, it is concluded that the major contribution to x-ray line broadening ofelastically strained sample is the lattice curvature induced by misfit strain, and that the dominant factor affecting x-ray FWHM ofplastically deformed sample is lattice relaxation induced by misfit dislocation.