Robotic deburring

The next generation of robot application involves the automation of those processes for which the interaction forces between the robot and the environment are significant. Among the most economically important of this class of problems is the deburring process.

The desirable passive dynamics of a deburring end effector are interpreted in terms of the frequency contents of the desired edge profile and of the burr surface. Results are presented from experiments using end effectors that have been designed in accordance with the analysis.

Anticipated improvements due to closed loop control are described and a practical system for closed loop control using a microcomputer is discussed.     

Thermodynamic analysis of arsenic methylation

The Challenger mechanism for the methylation of arsenic is a repeating sequence of a two-electron reduction of pentavalent arsenic As(V) species to trivalent arsenic As(III) species followed by a methylation-oxidation reaction forming the successive methyl As(V) species. This unusual oxidation-reduction sequence prompted an examination of the thermodynamics of these reactions. Quantum chemical methods are employed to estimate the thermodynamic parameters for the methyl arsenic species. The sequence is thermodynamically favored at neutral pH for redox potentials with pe < 0 and methyl cation activities pCH3+ < -3 to -7 depending on the precise situation analyzed. The observed distribution of methyl arsenic species in human urine, which is remarkably constant across many studied populations, can be reproduced using an equilibrium model if the formation of TMA species is prevented. The estimated thermodynamic parameters are sufficiently accurate to evaluate questions of thermodynamic plausibility but not the precise details of speciation.     

The second EURADOS intercomparison of national network systems used to provide early warning of a nuclear accident

In 1999 and 2002, the EURADOS Working Group on Environmental Monitoring organised two European intercomparison exercises of national network systems used to provide early warning in case of a nuclear accident. In total, 12 European countries, represented by more than 40 scientists, participated in these two intercomparisons with more than 35 different dose rate detectors. In addition, an in situ gamma spectrometry intercomparison was performed by a group of European scientists during the 2002 exercise. Results of these spectrometry measurements will be reported elsewhere. This report summarises the results of the second intercomparison, performed in 2002, at the environmental dosimetry facilities of the Physikalisch-Technische Bundesanstalt (PTB) in Germany. The unique combination of the ultra-low background Underground Laboratory (UDO) and two free-field sites (a floating platform on a lake showing an almost pure cosmic radiation field and a free-field gamma ray irradiation facility) provide the particular opportunity to precisely quantify the inherent background of the detectors and to calibrate them almost free of any background and traceable to PTB's primary standards. In addition, the intercomparison comprised investigations on the energy and dose rate dependence of the detectors' response to gamma radiation as well as on the response to cosmic radiation. Finally, the sensitivity of the detector systems to small dose rate variations, similar to that caused by a passing overhead radioactive plume, was studied under realistic free-field conditions. Following the Council Directive 96/29/EURATOM, the participants of the 2002 intercomparison were asked to report their results in terms of the operational quantity ambient dose equivalent, H(*)(10). Although the verification of the individual calibrations showed smaller discrepancies than those in the 1999 intercomparison, in a few cases, these discrepancies would be still unacceptably high in the case of a real emergency situation as demonstrated by the plume results. This shows the clear need for further efforts towards a European harmonisation in environmental dosimetry. For this purpose, a further intercomparison shall be held at the PTB in 2006, especially with the participation of new members of the European Union.     

Capture of Organic Vapors Using Adsorption and Electrothermal Regeneration

Activated-carbon-fiber cloth (ACFC) is an alternative adsorbent to granular activated carbon (GAC) for removing and recovering organic vapors from gas streams. Electrothermal desorption (ED) of ACFC provides rapid regeneration while requiring less energy compared to traditional regeneration techniques used with GAC. This paper provides proof-of-concept results from a bench-scale ACFC adsorption system. The automated system captured 1,000 ppmv of hazardous air pollutants/volatile organic compounds (HAPs/VOCs) from air streams and demonstrated the use of ED, using ac voltage, to recover the HAP/VOC as a pure liquid. The desorbed HAP/VOC condensed onto the inner walls of the adsorber and was collected at the bottom of the vessel, without the use of ancillary cooling. Seventy percent of the HAP/VOC was collected per cycle as condensate, with the balance being retained in the regenerated adsorber or recycled to the second adsorber. ED with in-vessel condensation results in minimal N2 consumption and short regeneration cycle times allowing the process to be cost competitive with conventional GAC-based adsorption processes. This technology extends the application of carbon adsorption systems to situations that were previously economically and physically impractical.     

Surface structure of human mucin using X-ray photoelectron spectroscopy

The stimulating effect of antiparkinsonian drugs, talipexole and bromocriptine, on the striatal postsynaptic dopamine receptors were studied by measuring contralateral rotational behavior in rats. The nigro-striatal dopamine system of rats was degenerated by unilateral injection of 6-hydroxydopamine (6-OHDA, 8 micrograms/rat) into substantia nigra. By subcutaneous administration, talipexole at 0.16 mg/kg and bromocriptine at 10.24 mg/kg induced significantly increased rotational behavior to the contralateral direction to the lesioned side. The onset of the effect was 30 min for talipexole and 90 min for bromocriptine. By intragastric administration, talipexole at 0.4 mg/kg and bromocriptine at 20.48 mg/kg significantly increased the rotational behavior, and the onset of the effect was 60 min for talipexole and 180 min for bromocriptine. Rotational behavior induced by talipexole was suppressed by a D2 antagonist, sulpiride (40 mg/kg, s.c.), but not by a D1 antagonist, SCH23390 (1 mg/kg, s.c.). In contrast, rotational behavior induced by bromocriptine was suppressed by both sulpiride and SCH23390. These results indicated that when the nigrostriatal dopaminergic functions are disrupted, talipexole stimulates the striatal postsynaptic dopamine receptors at much lower doses than bromocriptine. Also it was indicated that the stimulating effect of talipexole is solely mediated by dopamine D2 receptors, whereas the effect of bromocriptine is mediated by both D1 and D2 receptors.     

Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates

To consider large deformation problems in multibody system simulations afinite element approach, called absolute nodal coordinate.formulation,has been proposed. In this formulation absolute nodal coordinates andtheir material derivatives are applied to represent both deformation andrigid body motion. The choice of nodal variables allows a fullynonlinear representation of rigid body motion and can provide the exactrigid body inertia in the case of large rotations. The methodology isespecially suited for but not limited to modeling of beams, cables andshells in multibody dynamics.This paper summarizes the absolute nodal coordinate formulation for a 3D Euler–Bernoulli beam model, in particular the definition of nodal variables, corresponding generalized elastic and inertia forces and equations of motion. The element stiffness matrix is a nonlinear function of the nodal variables even in the case of linearized strain/displacement relations. Nonlinear strain/displacement relations can be calculated from the global displacements using quadrature formulae.Computational examples are given which demonstrate the capabilities of the applied methodology. Consequences of the choice of shape.functions on the representation of internal forces are discussed. Linearized strain/displacement modeling is compared to the nonlinear approach and significant advantages of the latter, when using the absolute nodal coordinate formulation, are outlined.     

Monte Carlo simulations of the photon calibration fields at the underground laboratory of PTB

A unique photon calibration facility operated by Physikalisch-Technische Bundesanstalt (PTB) provides photon fields with area dose rates in the order of the natural environmental radiation and even below. This facility is located in an underground laboratory in the Asse salt mine at a depth of 490 m below ground, where the ambient dose equivalent rate is only 2 nSv h(-1). Radioactive sources of the nuclides (241)Am, (57)Co, (137)Cs, (60)Co and (226)Ra are used to generate photon fields with different characteristics. In the past, the basic properties of the photon field, especially the area dose rate at the reference point and the mean energy of the photon spectra, were calculated by using analytic methods. However, information about scattered photons is only accessible through an investigation of spectra by performing Monte Carlos simulations. Therefore, the photon spectra at the reference point of the calibration facility were calculated using the Monte Carlo transport code MCNP. The results obtained by using this method are of relevance for the traceability of the reference dose rate values to PTB's primary standards, as well as for the determination of the mean photon energy of the spectra. The latter was calculated with respect to the different quantities 'photon fluence', 'air kerma' and 'ambient dose equivalent'. The origin of the scattered component in the photon spectrum is investigated in detail by studying the photon field produced by the quasi-monoenergetic gamma emitter (137)Cs (E(γ) = 662 keV) under various geometrical conditions. Implications of the Monte Carlo simulations on the traceability of the dose rate reference values as well as on the assessment of uncertainties will be described.     

The Photography of Freely Moving Particles

The photography of small moving particles can only be carried out with small depths of field since magnifications greater than unity must be employed for subsequent accurate analysis. Freely moving particles tend to wander from a straight path, particularly in the presence of strong convection fields, and thus may rapidly move out of focus. In this paper a technique is presented which helps to overcome this problem.     

Prior exposure to carbaryl alters behavior ofTetranychus urticae Koch on acaricide-treated leaf surfaces

Preadult exposure to carbaryl affected the subsequent behavior of two-spotted spider mites (Tetranychus urticae Koch) on leaf surfaces with discontinuous acaricide residues. In dicofol bioassays, preexposure to carbaryl caused a loss of avoidance behavior (eliminating the tendency of mites to feed and stand longer off treated areas). In amitraz bioassays, preexposure to carbaryl had the opposite effect. It increased the propensity of mites to feed and stand off amitraz-treated areas, resulting in increased avoidance of amitraz. Carbaryl preexposure therefore resulted in diametrically opposed behavioral changes in subsequent encounters with two acaricides. These effects provide additional evidence of the unpredictable nature of interactions between pesticides and show how a chemical, irrespective of degree of toxicity, can alter the behavior of arthropods in response to subsequent chemical encounters.