How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Sparking at cathode tools during electrochemical machining in flow-through cells

The current density used in electrochemical machining can be increased only up to a certain value, above which the formation of electric sparks on the cathode (tool) is observed, whereby the latter is damaged and the anode surface becomes rough. The present work is devoted to the measurement of this critical density for small metal cathodes placed on the wall of a flow-through channel for Reynolds numbers from 1265 up to 5902 and static pressures ranging from 0.1 up to 1.0 MPa. The results are correlated by criterion equations which gave values of critical (sparking) cathodic current density,j _s, with an average error of 7.1 % for laminar flow and 4.1 % for turbulent flow. The equations can be used for the calculation of the sparking current density for industrial flow-through cells for electrochemical machining.     

Quantum phase transitions in 2D antiferromagnets

Quantum Monte Carlo results for the T = 0 order-disorder transition of two-dimensional dimerized quantum Heisenberg antiferromagnets are presented. For a two-layer model, with the dimers having one member on each plane, the finite-size scaling of the staggered structure factor and the staggered susceptibility is consistent with the 3D classical Heisenberg universality class, as required if the transition is described by the 2+1-dimensional non-linear sigma-model. However, for models with the dimers in a single plane, the behavior does not appear to be consistent with this universality class.     

The influence of preparation conditions on the electrochemical behaviour of CuO in a Li/CuO cell

A dozen CuO samples prepared under various conditions and from different starting materials were evaluated as cathode materials for a primary Li/CuO cell. The “thin electrode” method was used for rapid evaluation of the samples. Both coulombic efficiency and discharge voltage depend considerably on the method of synthesis. No correlation was found between the specific surface area and the resistivity of the samples on the one hand and the cathode performance on the other. Best results were obtained from CuO prepared by the oxidation of Cu₂O under controlled temperature and time of oxidation.     

基于移动Agent技术的QoS保障机制

介绍了移动Agent的基本特性。移动Agent可在异构的网络各个节点间自由地移动,它能感知网络的状态,监控系统并与其他Agent进行交互。IETF的IS模型采用了RSVP(ResourcereSerVationProtocol)协议对系统资源进行预留,从而达到一定程度上保障所需QoS的目的。QoS保障机制将移动agent技术与RSVP协议结合起来,通过资源预留和agent动态移动的实现可以达到更好地改善QoS的目的。     

The hydration phase and pore structure formation in the blends of sulfoaluminate-belite cement with Portland cement

Sulfoaluminate-belite (SAB) cements are an attractive class of low-energy cements from the viewpoint of saving energy and releasing less CO₂ into the atmosphere during their production. Their hydraulic activity, however, does not match that of the ordinary Portland cement (PC) and needs improvement before they can be used on their own. However, SAB cements when blended with PC have the potential to be used effectively in traditional applications as shown by this study. Mortars made with blends of SAB cements and PC, and a cement-to-sand ratio of 1:3 by weight and a water-to-cement ratio of 0.5, indicate a superior protection against corrosion of steel to those made with blends of PC and blast-furnace slag (BFSPC). The prepared mortars were stored at 20 °C for 90 days under either a 60% relative humidity (RH)-dry air, or 100% RH-wet air conditions. With further improvement in the SAB cement quality through better understanding of their characteristics, a genuine competition between SAB/PC and BFSPC can be expected in practice.     

Testability-analysis driven test-generation of analogue cores

A new definition of the testability transfer factor for circuit components that provides better sensitivity with respect to parametric deviations is presented. New equations for the testability measures in a mixed-signal core are given. Testability analysis is used for test-pattern generation and for consideration of inserting wrapper cells. The simulation results show the effectiveness of the approach.