Tracking and force control for a class of robotic manipulators

The increasing utilization of robotic manipulators in industrial tasks, such as assembly, forming or shaping of surfaces, and handling hazardous materials, depends greatly on available hybrid force and position control schemes. Since the robot and its environment are often subject to parameter uncertainties that cannot be neglected, it is necessary to design controllers that are robust with respect to these uncertainties. In addition, the dynamics of the robot are nonlinear, requiring consideration of nonlinear control concepts. Another aspect to be taken into account is the relative stiffness of the robot, the force sensor, and the manipulated surface. That is, the behavior of the system normal to the surface is relatively stiff, while that tangential to the surface is relatively free. Separation of the controller for these two directions is therefore indicated. We propose a controller design that accounts for this point of view and demonstrate its efficacy with respect to robustness and accuracy of position and force tracking by means of numerical simulations. The design is based on the control concept of Corless and Leitmann [l]. The example considered is a Manutecr3 robot with three degrees of freedom. In addition, we account for the dynamics of the actuator, which also possesses three degrees of freedom. The considered parameter uncertainties are friction moments in the links and friction between the end effector and the manipulated object, as well as nonlinear dynamics, which are difficult to characterize.Recommended by J. Skowronski     

Microstructural engineering applied to the controlled cooling of steel wire rod: Part I. Experimental design and heat transfer

The goal of this study was to develop a mathematical model which incorporates heat flow, phase transformation kinetics, and property-structure-composition relationships to predict the mechanical properties of steel rod being control cooled under industrial conditions. Thus, the principles of microstructural engineering have been brought to bear on this interdisciplinary problem by combining computer modeling with laboratory measurements of heat flow, austenite decomposition kinetics, microstructure and mechanical properties, and industrial trials to determine heat transfer and obtain rod samples under known conditions. Owing to the length and diversity of the study, it is reported in three parts,_[8191]the first of which is concerned with the heat flow measurements. A relatively simple and reliable technique, involving a preheated steel rod instrumented with a thermocouple secured at its centerline, has been devised to determine the cooling rate in different regions of the moving bed of rod loops on an operating Stelmor line. The measured thermal response of the rod has been analyzed by two transient conduction models (lumped and distributed parameter, respectively) to yield overall heat-transfer coefficients for radiation and convection. The adequacy of the technique has been checked by cooling instrumented rods under well-defined, air crossflow conditions in the laboratory and comparing measured heat-transfer coefficients to values predicted from well-established equations. The industrial thermal measurements have permitted the characterization of a coefficient to account for radiative interaction among adjacent rod loops near the edge and at the center of the bed. Formerly Graduate Student, The University of British Columbia.     

FMR and EXAFS modeling of heat-treated Fe-rich and Co-rich TM-M thin films

Ion-beam sputter-deposited alloy films of Co/sub 74/Fe/sub 6/B/sub 15/Si/sub 5/ and Fe/sub 75/Ni/sub 5/B/sub 15/Si/sub 5/ were examined for their magnetic and structural properties. Films were characterized by ferromagnetic resonance, vibrating sample magnetometry, and extended X-ray absorption fine structure (EXAFS) analysis. Using atomic parameters deduced from EXAFS modeling and fitting procedures, magnetic properties were calculated with no adjustable parameters. Correlation between perpendicular FMR measurements and EXAFS first-shell modeling suggests a low-temperature formation of cobalt-borides in the Co/sub 74/Fe/sub 6/B/sub 15/Si/sub 5/ alloy. Annealed Fe/sub 75/Ni/sub 5/B/sub 15/Si/sub 5/ samples did not display evidence of structural and/or magnetic instabilities until the onset of long-range crystallization near T/sub ann/=400 degrees C.<>     

Lateral habits ofn-alkane single crystals

The lateral crystal habits ofn-alkanes (n-C _n H_2n+2) have been observed just below the melting points by optical microscopy forn=18, 19, 20, 22, 24, 34, 44, 50 and 65. The shape of the crystals depends on the crystal phase: circular in the rotator phase, lenticular in phase C, and diamond in the low-temperature phase. The rounding of the lateral shape can be explained in terms of thermal roughening of the lateral faces in the disordered phases at high temperature.