Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

适用于稠油开采的游梁式抽油机设计分析

在稠油开采中,抽油杆在液体中运动时,所受到的摩擦阻尼力很大,有时高达几十千牛。上冲程时,该力有加大悬点载荷的作用;下冲程时,该力使抽油杆下行困难,甚至悬点载荷为零。为了开采稠油,必须根据其特点设计适应的游梁式抽油机。文章分析了稠油用抽油机的受力特点,提出了该类抽油机的设计要求。     

A new curvature technique calculation for surface tension contribution in PLIC-VOF method

The volume of fluid (VOF) methods have been used for numerous numerical simulations. Among these techniques used to define the moving interface, the piecewise linear interface reconstruction (PLIC-VOF) is one of the most accurate. A study of the superficial tension impact on two-phase flow with free surface is presented. A new method based on direct staggered grid is developped to include surface tension in PLIC-VOF. The new numerical curvature calculation method doesn't need smoothed colour function and leads to less “spurious current”. This technique is applied to the calculus of surface tension force in the case of the rise of air bubble in viscous liquid and the fall of liquid drop in the same liquid on free surface. Droplets, thin layer and capillarity waves are observed after the free surface rupture for different Bond number. The influence of surface tension calculus is then obvioused and when the drop hit the free surface, wavelets propagate toward the virtual boundaries imposed.     

Experimental investigation of the normal spectral emissivity and other thermophysical properties of pulse-heated Ni-Ti and Au-Ni alloys into the liquid phase

1. Introduction Metal working industry needs accurate thermo- physical properties of liquid metals and alloys as input data for different simulation routines to im- prove the performance of their products. Within this paper we continue the systematic investigation of the dependence of emissivity of binary alloys on the relative concentration of the constituent elements (for a previous paper see [1]). 2. Experimental method A fast ohmic pulse heating technique is applied to heat metallic wire-s…     

参数强迫激励下非线性振子尖点型奇点的分叉

本文首先研究了不具有Z_2—对称性时的规范形理论和退化向量场的普适开折理论。然后利用这些理论研究了参数激励与强迫激励联合作用下非线性振动系统的尖点型奇点的余维2退化分叉。     

Tearing, folding and deformation of a carbon-carbon sp-bonded network

A monolayer and a few layers of carbon sp²-bonded networks were torn and folded by the tip of an atomic force microscope at the steps on newly cleaved highly oriented pyrolytic graphite. It was found that the preferential breaking directions and folding axes are along the symmetry directions of the graphite hexagonal structure. Depending on the force exerted by the tip, breaking may occur along other directions. The torn part of the graphene sheet can even be stretched and deformed, and does not resume its original shape after release from the tip.     

Optical scattering in beef steak to predict tenderness using hyperspectral imaging in the VIS-NIR region

The objective of this research is to develop a non-destructive method for predicting cooked beef tenderness using optical scattering of light on fresh beef muscle tissue. A hyperspectral imaging system (λ = 496–1,036 nm) that consists of a CCD camera and an imaging spectrograph, was used to acquire beef steak images. The hyperspectral image consisted of 120 bands with spectral intervals of 4.54 nm. Sixty-one fresh beef steaks, including 44 strip loin and 17 tenderloin cuts, were collected. After imaging, the steaks were cooked and Warner-Bratzler shear (WBS) force values were collected as tenderness references. The optical scattering profiles were derived from the hyperspectral images and fitted to the modified Lorentzian function. Parameters, such as the peak height, full scattering width at half maximum (FWHM), and the slope around the FWHM were determined at each wavelength. Stepwise regression was used to identify 7 key wavelengths and parameters. The parameters were then used to predict the WBS scores. The model was able to predict WBS scores with an R = 0.67. Optical scattering implemented with hyperspectral imaging shows limited success for predicting current status of tenderness in beef steak.     

Interconnected power systems with superconducting magnetic energy storage

The objective of this work is to discuss the concept of back‐to‐back interconnection systems with energy storage, especially with a Superconducting Magnetic Energy Storage (SMES) incorporated into a back‐to‐back DC link. In this case, each converter of the back‐to‐back system is used as a power conditioning system for the SMES coils. Since the AC–DC converter can be designed independently of the frequency of the power system, a two‐way switch is connected to the AC side of each converter. This two‐way switch can select the interconnected power systems. By using the two‐way switches, this system can provide the stored energy in the SMES system to each interconnected power system through two AC–DC converters. For instance, lower‐cost power of each power network can be stored through two converters during the off‐peak hours and made available for dispatch to each power network during periods of demand peak. Then this system increases the reliability of electric power networks and enables the economical operations depending on the power demand. This paper describes the unique operations of the back‐to‐back interconnection with SMES and discuses the optimal SMES configuration for a 300‐MW‐class back‐to‐back interconnection. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 164(2): 37–43, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20482     

Fixed point theorems on fuzzy normed linear spaces

In this paper, definitions of strongly fuzzy convergent sequence, l-fuzzy weakly convergent sequence and l-fuzzy weakly compact set are given in a fuzzy normed linear space. The concepts of fuzzy normal structure, fuzzy non-expansive mapping, uniformly convex fuzzy normed linear space are introduced and fixed point theorems for fuzzy non-expansive mappings are proved.     

A physically based method for triangulated surface flattening

This paper introduces a new method of generating 2D flat patterns from a 3D triangulated surface by opening the bending configuration of each winged triangle pair. The flattening can be divided into four steps. First, a 3D triangulated surface is modeled with a mass-spring system that simulates the surface deformation during the flattening. Second, an unwrapping force field is built to drive the mass-spring system to a developable configuration through the numerical integration. Third, a velocity redistribution procedure is initiated to average velocity variances among the particles. Finally, the mass-spring system is forced to collide with a plane, and the final 2D pattern is generated after all the winged triangle pairs are spread onto the colliding plane. To retain the size and area of the original 3D surface, a strain control mechanism is introduced to keep the springs from over-elongation or over-shrinkage at each time step.