Pepper to fall: a perception method for sweet pepper robotic harvesting

Intelligent Service Robotics - In this paper we propose a robotic system for picking peppers in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped...     

Spin probe study of semi‐interpenetrating polymer networks based on polyurethane and polymethacrylate functional prepolymers

The motional transition and heterogeneity of semi‐interpenetrating networks (SIPNs) based on polyurethane (PU) with carboxylic groups and methacrylic copolymer (PM) with tertiary amine groups were studied by the electron spin resonance (ESR) spin probe method. The concentration of functional groups in both prepolymers varied from 0 to 0.45 mmol g^?1. Spin‐probed SIPNs show that the temperature‐dependent spectra are sensitive to polymer interactions imposed by functional groups. These interactions determine the free volume distribution in the matrix and temperature at which motional transition takes place. The fraction of free volume increases with functional group concentration and reaches its maximum at 0.25 mmol g^?1. Further increases in the functional group concentration reduce the free volume. The results of the networks with strong interactions are discussed in terms of the interference of the plasticizing effect of the PU component and the formation of possible cluster cross‐links, which restricts segmental motions. Copyright © 2003 Society of Chemical Industry     

A concise process technology for 3-D suspended radio frequency micro-inductors on silicon substrate

In this letter, a concise process technology is proposed for the first time to enable the fabrication of good quality three-dimensional (3-D) suspended radio frequency (RF) micro-inductors on bulk silicon, without utilizing the lithography process on sidewall and trench-bottom patterning. Samples were fabricated to demonstrate the applicability of the proposed process technology.     

Influence of weld misalignment and weld metal overmatch on the prediction of fracture in pipeline girth welds

$\text{J-}\text{integral}$ estimates using elastic-plastic finite element calculations, are shown to compare well with experimental results from single edge-notch bend (SENB) specimens made of X483 grade line pipe steel.The influence of weld misalignment and weld metal overmatch on fracture of cracked girth welds is predicted, also using elastic-plastic finite element calculations. Weld metal overmatch reduces plastic strain levels in the weld and appears beneficial in reducing $\text{J-}\text{integral}$ magnitudes. Predicted values of $\text{J-}\text{integral}$ are shown to increase with weld misalignment. However, $\text{J-}\text{integral}$ magnitudes near the critical value for crack growth initiation were only attained after considerable plastic straining at or near limit load. This result suggests that limit load calculations may be more appropriate for prediction of failure of cracked girth welds than conventional fracture techniques.     

Effect of Microstructure on the Accelerated Creep of 20CrMoV12‐1 and P 91 Steels

In the initial part the change of microstructure for steel X20 CrMoV 121 is discussed in terms of the distribution of carbide precipitates and its effects on accelerated creep resistance and hardness are presented. In the following, experimental results of microstructure and accelerated creep resistance are presented for the steels X20CrMoV 121 and P91 annealed for up to 8760 hours at 650°C and 750°C before the testing. A similar evolution of the distribution of carbide particles of a size above 102 nm is found for both steels, while the accelerated creep resistance is diminished much stronger for the steel X20CrMoV 121. This difference is due to a greater stability of NbC than that of VC precipitates, both related to the evolution of the chemical composition of complex chromium, molybdenum and iron carbide particles.     

Functionalized oligopolysiloxanes by heterogeneously catalyzed equilibration polymerization reactions

Summary A new general procedure for preparation of functionalized oligopolysiloxanes of predetermined molecular weight is described. It utilizes heterogeneously catalyzed siloxane equilibration polymerization reactions which do not require troublesome and sometimes difficult post-preparative work-up procedures usually encountered with the well known homogeneously catalyzed corresponding reactions. The method is described using as example the preparation of , -telechelic vinyldimethylsiloxy-oligopolydimethylsiloxanes from octamethylcyclotetrasiloxane and 1,3-divinyltetramethyldisiloxane, but reference to the preparations of trimethylsiloxy-, dimethylsiloxy-and carboxypropyldimethylsiloxyoligopolydimethylsiloxanes, oligopolymethylhydridosiloxanes or their copolymers is also made.     

On the critical molecular chain length of polydimethylsiloxane

Because a study of the results reported for the chain dimensions of polydimethylsiloxane (PDMS), critical for the onset of this polymer's non-Newtonian flow behavior, obtained from the viscosity-molecular weight relationships available from the literature, clearly revealed that considerable differences exist between the reported data, a detailed analysis of these data was performed together with an additional examination of 10 new PDMS samples that were selected so as to have molecular weights that would fill the gaps observed in the polymer viscosity–chain length relationship constructed from the accepted literature data. The results obtained were analyzed by using several different procedures integrated into a recently described comparative method that could allow for determination of what is called the most realistic critical value, Z_wc. The latter was determined as 930 PDMS main-chain atoms, which corresponds to this polymer's degree of polymerization of 464.5 and the weight-average molecular weight of 34,500. It is not only shown that after elimination of some clearly erroneous data points from the previously reported relationships the obtained critical chain-length values could very well fit the earlier relationships, but also that appropriate “master” relationships were constructed including 48 pairs of the old and 10 pairs of the new data points. It is suggested that this relationship be accepted as the best-fit viscosity–polymer chain-length dependence for PDMS, and it is pointed out that the obtained PDMS critical chain-length value ranks this polymer's macromolecules as the most flexible of the corresponding long-chain molecules presently known. © 1993 John Wiley & Sons, Inc.     

The effect of cooling rate on the impact performance and dynamic mechanical properties of rotationally molded metallocene catalyzed linear low density polyethylene

This article examines changes to the morphology of rotationally molded metallocene catalyzed linear low density polyethylene brought about by varying the cooling rate during processing. These changes in morphology lead to variations in the impact performance, which is reflected in the dynamic mechanical characteristics of the materials. Various analytical techniques are used in an attempt to explain the differences in impact behavior. Slow cooling is shown to result in high crystallinity, and in the formation of large spherulites, which in turn is detrimental to the impact performance of the material, particularly at low temperatures. The high crystallinity corresponds with a shift in the β transition of the material to a higher temperature, and is shown to result in a higher brittle–ductile transition. A case study was also carried out on samples from a finished part provided by an industrial molder, one section of which failed in a brittle manner when impact tested while the other failed in a ductile manner. Microscopy results showed that the brittle material had large spherulites at the inside surface, while the ductile material showed incipient degradation at this surface, which has previously been shown to be of benefit to impact strength in rotationally molded parts. Dynamic mechanical studies again showed a β transition at a higher temperature in the brittle samples. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 101: 1963–1971, 2006