Deadlock-free Supervisor Design for Robotic Manufacturing Cells With Uncontrollable and Unobservable Events

In this paper,a deadlock prevention policy for robotic manufacturing cells with uncontrollable and unobservable events is proposed based on a Petri net formalism.First,a Petri net for the deadlock control of such systems is defined.Its admissible markings and first-met inadmissible markings(FIMs)are introduced.Next,place invariants are designed via an integer linear program(ILP)to survive all admissible markings and prohibit all FIMs,keeping the underlying system from reaching deadlocks,livelocks,bad markings,and the markings that may evolve into them by firing uncontrollable transitions.ILP also ensures that the obtained deadlock-free supervisor does not observe any unobservable transition.In addition,the supervisor is guaranteed to be admissible and structurally minimal in terms of both control places and added arcs.The condition under which the supervisor is maximally permissive in behavior is given.Finally,experimental results with the proposed method and existing ones are given to show its effectiveness.     

Comparative study of a variety of ATRP systems with high oxidation state metal catalyst system

MMA (methyl methacrylate) was polymerized in different ATRP systems using the different ligands of HMTETA (1, 1, 4, 7, 10, 10, hexamethyltriethylenetetraamine), TMEDA (N,N,N′,N′-Tetramethylethylenediamine) with copper salts (CuBr/CuBr₂) and EBriB was used as an initiator in toluene at a reaction temperature of 80 °C. Both conventional and a low catalyst to initiator ratios ranging from 1/1 to 0.01/1 were compared in this study. All four of the ATRP methods, such as normal, reverse, AGET and ATRP using a high oxidation state metal complex without any additives, were evaluated at different conditions. The ATRP using a high oxidation state metal system in the absence of a conventional radical initiator like AIBN, which is used in reverse ATRP, or reducing agents such as Sn (EH)₂ in AGET ATRP was a better controlled system in terms of both the catalytic activity and controllability (PDI ∼ 1.2).     

Synthesis and characterization of two-armed poly(ɛ-caprolactone) polymers initiated by the Schiff's base complexes of copper(II) and nickel(II)

Two-armed poly(?-caprolactone) (TAPCL) polymers were successfully synthesized via the ring opening polymerization (ROP) of ?-caprolactone (?-CL) using the Schiff's base complexes [Cu(SAEE)₂] (1) and [Ni(SAEE)₂] (2), which have two hydroxyl functional groups, as the two-site initiators and tin(II) 2-ethylhexanoate (Sn(Oct)₂) as the catalyst in bulk at 115 °C. The Schiff's base complexes (1 and 2) were synthesized by utilizing the concentrated template synthesis method starting from salicyl aldehyde, 2-(2-aminoethoxy) ethanol and related metal acetate salts. The synthesized TAPCL polymers were characterized by GPC, FTIR, UV–vis, and electron paramagnetic resonance (EPR). The molecular weights of TAPCL polymers linearly increased with increasing molar ratio of the monomer to the initiator. The results obtained from FTIR, UV–vis, and EPR studies indicated that TAPCL polymers had the Schiff's base complexes at the junction point of PCL arms. The crystallization behavior of TAPCL was studied by using differential scanning calorimetry (DSC) and polarizing optical microscopy (POM). Thermal behavior of TAPCL was also investigated by thermogravimetrical analysis (TGA).     

Investigation of Wear and Corrosion Behaviour of AISI 316 L Stainless Steel Coated By ESD Surface Modification

Protection of Metals and Physical Chemistry of Surfaces - AISI 316 L austenitic stainless steel is widely used in various sectors of the industry (chemical, petro-chemical industry, paper industry,...     

Machinability of Elongated Coarse Grain Fe-Based Superalloys

□ In conventional metal cutting process, materials are assumed to be homogeneous and isotropic structure. However, some materials with a single crystal or coarse elongated polycrystalline demonstrate strong anisotropic behavior in physical and mechanical properties in machining of some superalloy materials. The anisotropic structure always leads to variation at machinability properties of the material. In this study, machinability properties of ferritic superalloy PM2000, which had elongated a few coarse grains, were investigated. These properties were determined by investigation of chip formation, cutting forces and surface roughness. Machinability was assessed by single-point turning on a CNC lathe and turning forces were measured by using a Kistler Lathe Dynamometer. The chip formation mechanisms in machining of PM2000 at various cutting speeds were determined by using a quick-stop device (QSD). Chip roots and machined surfaces were analyzed by means of scanning electron microscopy (SEM). The results indicated that the machinability properties of the PM2000 were changed by orientated coarse grain structure. Three types chip formation mechanism were determined at the same cutting conditions. Also, surface roughness on the machined each grain changed with changing the grain to be cut. Surface roughness and force fluctuations decreased with increasing the cutting speed; however, tool wearing increased.     

Virtual CNC system. Part II. High speed contouring application

This paper presents a trajectory planning strategy for maintaining the tool positioning accuracy in high speed cornering applications. A 3D contour error estimation algorithm is presented for determining the geometric deviation from arbitrarily shaped toolpaths. Two spline fitting strategies are developed for smoothening sharp corners. The under-corner approach reduces the toolpath length, and therefore the cornering time. This technique yields successful results when used with a high bandwidth servo controller (such as sliding mode control), capable of accurately tracking the commanded toolpath. The over-corner approach is based on stretching out the sharp corner with a smooth curve, which counteracts the ‘undercut’ caused by the large phase lag in low bandwidth servo controllers (such as P–PI control). The cornering feedrate is adjusted in the Virtual CNC platform, developed in the first part of this article, to ensure that contour error violation does not occur. The achieved cornering accuracy is verified in experiments, which are in close agreement with predictions obtained with the Virtual CNC.     

Synthesis, characterization and electrochromic properties of a conducting copolymer of pyrrole functionalized polystyrene with pyrrole

A well-defined polystyrene (PSt) based polymer containing at one end-chain 3,5-dibromobenzene moiety, prepared by atom transfer radical polymerization (ATRP), was modified in two reaction steps. First one constitutes a Suzuki coupling reaction between aromatic dibromine functional polymer and 3-aminophenylboronic acid, when a diamino-containing intermediate was obtained. The second step is a condensation reaction between the diamino functional polystyrene and 2-pyrrole aldehyde. Thus, a polymer containing a conjugated sequence having pyrollyl groups at the extremities was synthesized. The presence of oxidable pyrrole groups in the structure of the polymer permitted further electropolymerization. The structures of intermediate polymers were analyzed by spectral methods (¹H NMR, FTIR). Electrochemical copolymerization of pyrrole functionalized polymer (PStPy) with pyrrole was carried out in acetonitrile (ACN)-tetrabutylammonium tetrafluoroborate (TBAFB) solvent electrolyte couple. Characterization of the resulting copolymer were performed via Fourier transform infrared spectroscopy (FTIR), differential scanning calorimetry (DSC), scanning electron microscopy (SEM), spectroelectrochemical analysis, and kinetic study. Spectroelectrochemical analysis show that the copolymer of PStPy with Py has an electronic band gap (due to π-π* transition) of 2.4 eV at 393 nm, with a yellow color in the fully reduced form and a blue color in the fully oxidized form. Via kinetic studies, the optical contrast %ΔT was found to be 20% for P(PStPy-co-Py). Results showed that the time required to reach 95% of the ultimate T was 1.7 s for the P(PStPy-co-Py).     

Receptance coupling for end mills

Identification of chatter free cutting conditions, the chatter stability lobes, requires a measurement of the frequency response function (FRF) of each tool mounted on the spindle. This paper presents a method of assembling known dynamics of the spindle–tool holder with an analytically modeled end mill using the receptance coupling technique. The classical receptance technique is enhanced by proposing a method of identifying the end mill–spindle/tool holder joint dynamics, which include both translational and rotational degrees of freedom. The method requires measurement of FRFs with impact tests applied on the spindle–tool holder assembly and blank calibration cylinders attached to the spindle. The spindle and tool holder characteristics are completely identified from the two experiments, and used for the mathematical prediction of FRF for end mills with arbitrary dimensions. The proposed method is experimentally proven and verified in cutting tests.