Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

Mechanical properties of iron processed by severe plastic deformation

In the present study, the mechanical properties of Fe processed via severe plastic deformation (equal-channel angular pressing (ECAP)) at room temperature were investigated for the first time. The grain size of annealed Fe, with an initial grain size of about 200 μm, was reduced drastically during ECAP. After eight passes, the grain size reaches 200 to 400 nm, as documented by means of transmission electron microscopy (TEM). The value of microhardness during pressing increases 3 times over that of the starting material after the first pass and increases slightly during subsequent pressing for higher-purity Fe. Examination of the value of microhardness after eight passes as a function of post-ECAP annealing temperature shows a transition from recovery to recrystallization, an observation that resembles the behavior reported for heavily deformed metals and alloys. The tensile and compression behaviors were examined. In tension, a drop in the engineering stress-engineering strain curve beyond maximum load was observed both in the annealed Fe and the ECAP Fe. This drop is related to the neck deformation. The fracture surface, examined by scanning electron microscopy (SEM), shows vein patterns, which is different from the dimples found on the fracture surface of annealed Fe. In compression, an initial strain-hardening region followed by a no-strain-hardening region was observed in the ECAP Fe. The yield strength in tension of the ECAP Fe was observed to be higher than that in compression. The strengthening mechanisms and softening behavior are discussed.     

Formation and retention of local melted films in AZ91 friction stir spot welds

The formation of local melted films during friction stir spot welding of as-cast AZ91D and thixomolded AZ91 material is investigated. The average temperatures close to the tip of the rotating pin vary from 438 to 454 °C during the dwell period in friction stir spot welding. These measured temperature values are higher than the melting temperature of α-Mg + Mg₁₇Al₁₂ eutectic (437 °C). It is suggested that the temperature in the stir zone during the dwell period is determined by the relative proportions of α-Mg and (α-Mg + Mg₁₇Al₁₂) eutectic material, which are incorporated during friction stir spot welding. Based on the stir zone temperature measurements and a detailed examination of material located at the root of the pin thread it is suggested that material is moved downwards via the pin thread and into the stir zone during the dwell period in friction stir spot welding. Evidence of local melted film formation is observed in the stir zone of AZ91 spot welds. It is suggested that melted films are retained since their dissolution rate is much slower in the high temperature stir zone than it is when melted films is formed in the stir zone during Al 7075-T6 friction stir spot welding. The spontaneous melting temperature, solute diffusion rate and the thermodynamic driving force for droplet dissolution are much higher during Al 7075-T6 friction stir spot welding.     

Failure Analysis of Fuel System Assemblies

Fuel system assemblies used on recreational watercraft failed after a short time in service in a seawater environment. Examination of the assemblies revealed significant degradation of the polyacetal connectors of the wire subassemblies. Optical and microscopic evaluations indicated the complete loss of connector material implying decomposition of the resin, along with mud-cracking and a rough surface morphology signifying chemical attack. An elemental analysis performed on both an intact connector and degraded connector suggested a potential chemical agent in the form of zinc chloride. At elevated temperatures, concentrated zinc chloride solutions are known to decompose polyacetal resins. The source of the zinc chloride was established as corrosion products that resulted during the dezincification of the internal brass connector through exposure to saltwater in the application.     

1D selection of 2D objects in head-worn displays

In current desktop user interfaces, selection is usually accomplished easily with a mouse or a similar two-dimensional locator. In wearable computing, however, controlling two dimensions simultaneously gets significantly harder: a change in one dimension results easily in an undesired change in the other dimension as well when the user is occupied with a parallel task – such as walking. We present a way to overcome this problem by applying one-dimensional selection for graphical user interfaces in head-worn displays. Our new interaction technique allows a wearable computer user to perform object selection tasks easily and accurately. The technique is based on a visible circle on the screen. The user controls the circle, altering its radius with a one-dimensional valuator. The midpoint of the circle is in the middle of the screen. The object currently on the perimeter of the circle is highlighted and can be selected. Our preliminary usability evaluation, applying our custom evaluation method designed especially for walking users, indicates that the proposed technique is usable also when walking.     

AgNO<Subscript>3</Subscript> spray tests: advantages,weaknesses, and various applications to quantify chloride ingress into concrete. Part 1: Non-steady-state diffusion tests and exposure to natural conditions

Within the framework of the evaluation and the prediction of chloride-induced corrosion risks, simple and rapid AgNO₃ spray tests can be proposed for various issues. This paper forms the first part of a series. In this first part, the Maultzsch procedure (spraying of 0.1-N AgNO₃ solution + K₂CrO₄) as well as the procedure based on the use of a sole AgNO₃ solution have been investigated on a broad range of concretes. These procedures have also been compared to the Collepardi procedure (spraying of 0.1-N AgNO₃ + fluoresceine). The feasibility of these colorimetric techniques on saturated specimens cast in laboratory, after non-steady-state diffusion tests carried out in various conditions, is discussed. In addition, the results obtained from applying such spray tests in field conditions on cores drilled out from various RC test specimens exposed to a marine environment (tidal zone) and to a road and cold environment (freezing-thawing cycles and spraying of deicing salts) are presented. Colorimetric methods have in particular been applied here to the assessment of the average chloride penetration depth and of its evolution versus time (kinetics). Moreover, the detection threshold of these techniques has been investigated in various environments. The possible sources of discrepancy on the results have been analysed.     

A novel fuzzy clustering algorithm for the analysis of axillary lymph node tissue sections

Recently Fourier Transform Infrared (FTIR) spectroscopic imaging has been used as a tool to detect the changes in cellular composition that may reflect the onset of a disease. This approach has been investigated as a mean of monitoring the change of the biochemical composition of cells and providing a diagnostic tool for various human cancers and other diseases. The discrimination between different types of tissue based upon spectroscopic data is often achieved using various multivariate clustering techniques. However, the number of clusters is a common unknown feature for the clustering methods, such as hierarchical cluster analysis, k-means and fuzzy c-means. In this study, we apply a FCM based clustering algorithm to obtain the best number of clusters as given by the minimum validity index value. This often results in an excessive number of clusters being created due to the complexity of this biochemical system. A novel method to automatically merge clusters was developed to try to address this problem. Three lymph node tissue sections were examined to evaluate our new method. These results showed that this approach can merge the clusters which have similar biochemistry. Consequently, the overall algorithm automatically identifies clusters that accurately match the main tissue types that are independently determined by the clinician.     

Squeeze-film effects in MEMS devices with perforated plates for small amplitude vibration

Squeeze-film effects of perforated plates for small amplitude vibration are analyzed through modified Reynolds equation (MRE). The analytical analysis reckons in most important influential factors: compressibility of the air, border effects, and the resistance caused by vertical air flow passing through perforated holes. It is found that consideration of air compressibility is necessary for high operating frequency and small ratio of the plate width to the attenuation length. The analytical results presented in this paper agree with ANSYS simulation results better than that under the air incompressibility assumption. The analytical analysis can be used to estimate the squeeze-film effects causing damping and stiffness added to the system. Since the value of Reynolds number involved in this paper is low (< 1), inertial effects are neglected.     

On maximum norm contractivity of second order damped single step methods

In this paper we consider A(θ)-stable finite difference methods for numerical solutions of dissipative partial differential equations of parabolic type. Combining two rational approximation methods with different orders of accuracy, where the lower order method is applied n ₀ times (n ₀ fixed) at each time step, we prove the existence of a second order method which is contractive for all time steps. Moreover, we shed light on the conditions on the lower order method which are sufficient (and sometimes necessary) to obtain the optimal order of accuracy. For the one-dimensional heat equation we construct a family of numerical methods which are contractive in the maximum norm for all values of the discretization parameters. We also present numerical examples to illustrate our results. Received: May 2002 / Accepted: January 2003     

The thermal behavior of mechanically activated galena by thermogravimetry analysis

The thermal decompositions of mechanically activated and nonactivated galenas were studied by thermogravimetry analysis (TGA) at the heating rate of 10 K min⁻¹ in argon. Results indicate that the initial temperature of thermal decomposition (abbreviated as T _di) in the TGA curves for different galenas decreases gradually with increased grinding time. The specific granulometric surface area (S _G), the structural disorder, and the content of elemental sulfur of mechanically activated galenas were analyzed by an X-ray diffraction (XRD) laser particle-size analyzer, XRD analysis, and the gravimetric method, respectively, which shows that the specific granulometric surface area of mechanically activated galenas remains almost constant after a certain grinding time, but the lattice distortions (ε) rise, the crystallite sizes (D) decrease, and the elemental sulfur contents of mechanically activated galenas increase with increased grinding time. The results imply that the decrease of the initial temperature of thermal decomposition in the TGA curves for mechanically activated galenas is mainly caused by the increase of lattice distortions, and the formation of new dangling bonds resulted from the production of elemental sulfur of mechanically activated galenas with increased grinding time. Finally, the differences in the thermal-decomposition reactivity between nonactivated and mechanically activated galenas were also discussed.