Joint stiffness identification of six-revolute industrial serial robots

Although robots tend to be as competitive as CNC machines for some operations, they are not yet widely used for machining operations. This may be due to the lack of certain technical information that is required for satisfactory machining operation. For instance, it is very difficult to get information about the stiffness of industrial robots from robot manufacturers. As a consequence, this paper introduces a robust and fast procedure that can be used to identify the joint stiffness values of any six-revolute serial robot. This procedure aims to evaluate joint stiffness values considering both translational and rotational displacements of the robot end-effector for a given applied wrench (force and torque). In this paper, the links of the robot are assumed to be much stiffer than its actuated joints. The robustness of the identification method and the sensitivity of the results to measurement errors and the number of experimental tests are also analyzed. Finally, the actual Cartesian stiffness matrix of the robot is obtained from the joint stiffness values and can be used for motion planning and to optimize machining operations.     

Retrieval of microphysical and optical properties in aerosol plumes with hyperspectral imagery: L-APOM method

This paper presents the retrieval method L-APOM which aims at characterizing the microphysical and optical properties of aerosol plumes from hyperspectral images with high spatial resolution. The inversion process is divided into three steps: estimation of the ground reflectance below the plume, characterization of the standard atmosphere (gases and background aerosols) and estimation of the plume aerosols properties. As using spectral information only is not sufficient to insure uniqueness of solutions, original constraints are added by assuming slow spatial variations of particles properties within the plume. The whole inversion process is validated on a large set of simulated images and reveals to remain accurate even in the worst cases of noise: relative estimation errors of aerosol properties remain between 10% and 20% in most cases. L-APOM is applied on a real AVIRIS hyperspectral image of a biomass burning plume for which in situ measurements are available. Retrieved properties appear globally consistent with measurements.     

Global Interoperability Using Semantics, Standards, Science and Technology (GIST)

“Global Interoperability Using Semantics, Standards, Science and Technology” is a concept that is predicated on the assumption that the semantic integration, frameworks and standards that support information exchange, and advances in science and technology can enable information-systems interoperability for many diverse users. This paper recommends technologies and approaches for enabling interoperability across a wide spectrum of political, geographical, and organizational levels, e.g. coalition, federal, state, tribal, regional, non government, and private. These recommendations represent steps toward the goal of the Semantic Web, where computers understand information on web sites through knowledge representations, agents, and ontologies.     

Tissue engineering of the synovial joint: the role of cell density

The ultimate goal in the tissue engineering of the synovial joint is to fabricate biologically derived analogues that can replace severely degenerated or traumatized synovial joint components. A number of challenges must be addressed before reaching this ultimate goal. In this report, the relevance of cell seeding density in the synthesis of chondrogenic and osteogenic matrices from human mesenchymal stem cells is explored. Human mesenchymal stem cells (hMSCs) were differentiated into chondrogenic cells and osteogenic cells ex vivo and encapsulated in poly(ethylene glycol) diacrylate (PEGDA) hydrogel at densities of 5 x 106 cells/ml, 40 x 10(6) cells/ml, and 80 x 10(6) cells/ml, in addition to a cell-free poly(ethylene glycol) (PEG) control group (0 x 10(6) cells/ml). Cell-seeded or cell-free PEG constructs were separately incubated in vitro for 4 weeks or implanted in vivo in the dorsum of immunodeficient rats for 4 weeks. In-vitro data demonstrated that hMSC-derived chondrocytes or hMSC-derived osteoblasts maintained their lineages per Safranin O and von Kossa staining after incubation for 4 weeks. The general pattern of initial cell seeding densities of 5 x 10(6) cells/ml, 40 x 10(6) cells/ml, and 80 x 10(6) cells/ml were preserved following in-vitro cultivation. Similarly, in-vivo data revealed that hMSC-derived chondrocytes and hMSC-derived osteoblasts maintained their respective lineages and the pattern of cell-seeding densities. An attempt was made to fabricate a composite construct with PEGDA hydrogel and polycaprolactone (PCL) with designed internal porosity for an osteochondral graft. Various cell-seeding densities as delineated in this report can be realized in the composite PEG-PCL graft. The findings demonstrate that cell-seeding density is likely a key parameter to consider in tissue-engineering design. The source of cells can either be transplanted cells or internally recruited cells.     

How do designers represent to themselves the users' needs?

This paper reports on an ergonomic study carried out during the design of a cutting machine-tool for the composite material in carbody parts casting. During this design process, the users’ needs were inferred by the designers on the basis of their own mental representations of the use of the new device. These representations of the users’ needs, correct or false, play a decisive role in the choice of a solution. The aim of the study is to identify their particularity. Analyzing the design meetings, we have highlighted that users are considered either as subsystems or basic design principles or elements of an imagined scenario. We have shown that these representations are linked to the types of meetings held during the design process. Accordingly, a diversification of the types of meetings should be promoted by the project leader, so that designers extend their points of view of the operators.     

Diffusive Behavior of Bedform-Induced Hyporheic Exchange in Rivers

Solute transport in natural streams is a complex phenomenon that involves both in-stream dispersion and mass exchange with the porous zones surrounding the water body. Due to the complex nature of the riverine systems several models may be used to simulate and analyze the transport of solutes with different degrees of complexity. The bedform-induced hyporheic transport is a stream-subsurface exchange mechanism that can be reproduced in controlled systems, such as laboratory flumes. Application of a simple Fickian diffusion model to laboratory data obtained with passive solutes and stationary bedforms proves successful within a range of durations of the contamination process. A dimensionless form of the diffusion coefficient, scaled with dynamic, physical, and geometric properties of the system is derived by comparison with another physically based model. A prediction of the dimensionless diffusion coefficient is obtained as a function of the timescale of the exchange process and is validated with a few sets of results from laboratory tests.     

Deep Drawing of Friction Stir Welded Thin Sheet Aluminium Steel Tailored Hybrids

Friction stir welding undergoes a steep evolution in industrial applications since the invention in the early 1990s. Especially for aluminium alloys in sheet thicknesses over 2 mm a lot of applications are established, whereas a lack in knowledge about friction stir welding of thin sheets with sheet thickness less than 2 mm exists. This article deals with friction stir welding of thin sheet aluminium steel tailored hybrids and their formability. These investigations tend to close the gap of availability of friction stir welded blanks in the range of 1 mm sheet thickness and to offer new applications of this joining technology. For production of aluminium steel tailored hybrids AA5182 with a thickness of 1.2 mm and DC04 in 1.0 mm are used, the joining partners are friction stir welded in a lap joint. Different tool geometries and process parameters are performed to achieve the highest strength and elongation at fracture of the tailored hybrids. The influence of the stirring on the arrangement and distribution of both materials in the welding zone and its microstructure is analysed using light optical and scanning electron microscopy. In addition to tensile tests planar microhardness measurements help to detect the local changes of the mechanical properties in the characteristic zones of the weld seam. Tailored hybrids, which were friction stir welded with the best welding parameters in accordance to the mechanical properties of the weld seams, were used for deep drawing tests of friction stir welded thin sheet aluminium steel tailored hybrids. The maximum drawing ratio of these tailored hybrids coincides with the one of the parent material of AA5182.     

A non-invasive form finding method with application to metal forming

Inverse form finding aims in determining the optimal material configuration of a workpiece for a specific forming process. A gradient- and parameter-free (nodal-based) form finding approach has recently been developed, which can be coupled non-invasively as a black box to arbitrary finite element software. Additionally the algorithm is independent from the constitutive behavior. Consequently, the user has not to struggle with the underlying optimization theory behind. Benchmark tests showed already that the approach works robustly and efficiently. This contribution demonstrates that the optimization algorithm is also applicable to more sophisticated forming processes including orthotropic large strain plasticity, combined hardening and frictional contact. A cup deep drawing process with solid-shell elements and a combined deep drawing and upsetting process to form a functional component with external teeth are investigated.