Viewer,converter and preprocessor for smart machining process using an industrial robot

In this paper, viewer and converter softwares are presented for smart machining process using an industrial robot. The viewers for NC, CLS, DXF and STL files illustrate their surface representation with normal direction vectors. For example, the DXF is a data format developed by Autodesk to realize data interoperability among different makers’ CAD systems. The STL means Stereolithography which is a file format proposed by 3D Systems and recently is supported by many design tools and CAD/CAM softwares. In addition, the converters for DXF and STL files generate the corresponding CLS files with normal direction vectors for machining. Further, the proposed preprocessor allows the developed machining robot to work based on information included in STL files. The convenience and user-friendliness of the proposed integrated system are confirmed through experiments of viewing, converting and machining.     

Biodegradable polymers based on renewable resources. VI. Synthesis and biodegradability of poly(ester carbonate)s containing 1,4:3,6‐dianhydro‐D‐glucitol and sebacic acid units

Poly(ester carbonate)s with different compositions were synthesized by bulk polycondensation of 1,4:3,6‐dianhydro‐D ‐glucitol with diphenyl sebacate and diphenyl carbonate in the presence of zinc acetate as a catalyst. Most of the poly(ester carbonate)s as well as the corresponding polycarbonate were amorphous, except the poly(ester carbonate) with a small carbonate content and the corresponding polyester, which are semicrystalline. All these poly(ester carbonate)s are soluble in chloroform, pyridine, dimethylformamide, dimethyl sulfoxide, and N,N‐dimethylacetamide. Soil burial degradation tests, biochemical oxygen demand (BOD) measurements in an activated sludge, and enzymatic degradation tests indicated that these poly(ester carbonate)s are potentially biodegradable. The biodegradability was found to be maximum for the poly(ester carbonate)s with carbonate contents of 10–20 mol % and to decrease markedly for the poly(ester carbonate)s with the carbonate content above 50 mol %. The biodegradability of the poly(ester carbonate)s is discussed in terms of the crystallinity, glass transition temperature, and surface hydrophobicity of the polymer films. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 86: 872–880, 2002     

A discontinuous exponential stabilization law for an underactuated X4-AUV

In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi’s discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller.     

Charge injection and decay of nanoscale dielectric films resolved via dynamic scanning probe microscopy

To satisfy continual demands for higher performance dielectrics in multi-layer ceramic capacitors and related microelectronic devices, novel characterization methods are necessary for mapping materials properties down to the nanoscale, where enabling materials developments are increasingly relevant. Accordingly, an atomic force microscopy-based approach is implemented for characterizing insulator performance based on the mapping of discharging dynamics. Following surface charging by biasing a conducting tip contacting a dielectric surface, consecutive non-contact Kelvin force surface potential mapping (KPFM) reveals charge dissipation via exponential decay. In barium titanate (BTO) thin films engineered with distinct microstructures but identical thicknesses, discharging rates vary by up to a factor of 2, with smaller grain size correlating to longer dissipation times, providing insight into optimal microstructures for improved capacitor performance. High-resolution potential mapping as a function of time thereby provides a route for directly investigating charge injection and discharging mechanisms in dielectrics, which are increasingly engineered down to the nanoscale and have global implications given the trillions of such devices manufactured each year.     

Adhesion properties of polyurethane pressure-sensitive adhesive

In this study, the adhesion properties of polyurethane (PUR) pressure-sensitive adhesive (PSA) were investigated. The PUR-PSA was prepared by the cross-linking reaction of a urethane polymer consisting of toluene-2,4-diisocyanate and poly(propylene glycol) components using polyisocyanate as a cross-linking agent. The peel strength increased with the cross-linking agent content and exhibited cohesive failure until the maximum value, after which it decreased with interfacial failure. The PUR-PSA exhibited frequency dependence of the storage modulus obtained from dynamic viscoelastic measurements, but did not show dependence of the tack on the rolling rate measured using a rolling cylinder tack test under the experimental conditions used, which is quite different from the acrylic block copolymer/tackifier system. The PUR-PSA showed strong contact time dependence of tack measured by a probe tack test. The tendency was significantly larger than for the acrylic block copolymer/tackifier system. Therefore, the storage modulus increased, whereas the interfacial adhesion seems to be decreased with increase in the rolling rate for this PUR-PSA system. It was estimated that the influence of rolling rate on the interfacial adhesion and the storage modulus was offset, and, as a result, the rolling cylinder tack did not exhibit rate dependency.     

Residual stress measurement of Al/steel dissimilar friction stir weld

ABSTRACT

The dissimilar welds between aluminium (Al) alloy, A6061-T6, and stainless steel, type 304, were fabricated by a friction stir welding (FSW) technique. The FSW tool was offset to Al side and the probe was inserted only into Al plate. The softening occurred in Al side due to the heat input during FSW, while the hardness increased by the post-ageing treatment. Tensile strength of dissimilar weld also increased about 8.5% by the post-ageing. The residual stresses were measured based on the cos α method. The residual stresses parallel to the weld line, σ_xr, were predominantly tensile, while those perpendicular to the weld line, σ_yr, were compressive. Post-ageing treatment had little effect on the residual stresses.     

Fabrication of Monodispersed Barium Titanate Nanoparticles with Narrow Size Distribution

Pulsed laser ablation (PLA) was used to prepare nanoparticles of barium titanate (BaTiO₃). PLA using a titanium-rich Ba–Ti–O ceramic target in oxygen ambience at 400 Pa and following online annealing at 1073 K enabled the production of BaTiO₃ nanoparticles (BTNPs) with a perovskite structure having nearly stoichiometric composition. These nanoparticles were directly introduced into a differential mobility analyzer for size classification, leading to the production of monodispersed and nonagglomerated BTNPs with an average particle size of 13.5 nm. The size distribution of the size-classified BTNPs was found to be reasonably narrow with a geometric standard deviation of 1.07.     

High-performance object tracking and fixation with an online neural estimator.

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.     

Controlling a robot manipulator with fuzzy voice commands using a probabilistic neural network

Natural language commands are generated by intelligent human beings. As a result, they contain a lot of information. Therefore, if it is possible to learn from such commands and reuse that knowledge, it will be a very efficient process. In this paper, learning from such information rich voice commands for controlling a robot is studied. First, new concepts of fuzzy coach-player system and sub-coach are proposed for controlling robots with natural language commands. Then, the characteristics of the subjective human decision making process are discussed and a Probabilistic Neural Network (PNN) based learning method is proposed to learn from such commands and to reuse the acquired knowledge. Finally, the proposed concept is demonstrated and confirmed with experiments conducted using a PA-10 redundant manipulator.