Efficient manipulator collision avoidance by dynamic programming

This paper describes a research effort in the area of collision avoidance path planning for robotic manipulators. A robotic arm with known geometry is to perform a spatial manipulation in the presence of known obstacles in its workspace. The task is to generate a series of waypoints for its path to pass through which will guarantee a safe, collision-free trajectory from its predefined starting point to its predefined goal position.This is an important topic in the area of automated manufacturing. Automated factories are becoming increasingly important for the goals of greater manufacturing efficiency, better equipment utilization, and lower overall manufacturing costs. Robotic devices, including manipulator arms and assembly devices, are finding more uses in these factories.The approach is to discretize the robot's workspace into a transition network. The optimal path through this network, in terms of angular displacement of the manipulator's joints, is generated by dynamic programming. While this approach has been used previously, this paper adds the innovation of variable-node spacing, with the node density in various parts of the network reflecting the need for precise position control in each local area of the workspace. In this way, precise motion control is possible without an undue computational burden.     

A survey on the occurrence of Fusarium mycotoxins in Bavarian cereals from the 1987 harvest

Summary Bavarian cereals and wheat flour from the 1987 harvest were analysed for nivalenol (NIV) and deoxynivalenol (DON) using high performance liquid chromatography (HPLC) and for T-2 toxin and zearalenone (ZEA) by enzyme-linked-immunosorbent as say (ELISA). The study included 190 field samples of wheat, barley, rye and oat with visibly damaged ears, 45 samples of wheat intended for feed production and two series of wheat flour (type 550) and whole wheat flour collected in October 1987 and June 1988. The field samples examined showed a high DON contamination of wheat (87%) with an average of 3.96 mg/kg and a maximum of 43.8 mg/kg. Mean levels between 0.33 mg/kg and 0.27 mg/kg DON could be detected in barley, rye and oat. Of the wheat samples, 58% contained ZEA with a maximum of 1.560 mg/kg. The highest levels of ZEA were detected in samples which also showed high concentrations of DON. The NIV and T-2 toxin levels were comparatively low. Thirty percent of the samples showed NIV concentrations between 0.04 mg/kg and 0.29 mg/kg and 38% contained between 0.005 and 0.60 mg/kg of T-2. In the wheat samples for feed production, only DON was detected with an average of 0.190 mg/kg and a maximum of 0.75 mg/kg. The highest DON levels (0.58 mg/kg) from October 1987 were found in the wheat flour samples which were lower than the highest DON concentration (3.24 mg/kg) detected in the samples collected during June 1988. This fact was probably due to a substantial amount of non-contaminated wheat from 1986. The toxin concentrations in the whole wheat flour were not higher than in the type 550 flour. The regional distribution of the mean DON concentrations showed the highest levels in Middle and Lower-Franconia.

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Vorkommen von Fusarium Mykotoxinen in bayerischem Getreide der Ernte 1987

Zusammenfassung Cerealien und Weizenmehle der bayerischen Ernte 1987 wurden mittels hochauflösender Flüssigchromatographie (HPLC) auf Nivalenol (NIV) und Deoxynivalenol (DON) Bowie mit Enzymimmunoassay auf T-2 Toxin und Zearalenon (ZEA) analysiert. Die Untersuchungen umfaßten 190 Feldproben von Weizen, Gerste, Roggen und Hafer, die alle optisch erkennbaren Fusarienbefall aufwiesen, 45 Futterweizenproben Bowie zwei Probenserien von Weizenmehlen der Type 550 und Vollkornweizenmehlen, die im October 1987 und im Juni 1988 gezogenwurden. — Die Untersuchungen der Feldproben ergaben eine hohe DON-Kontamination des Weizens (87%) mit einem durchschnittlichen Gehalt von 3,96 mg/kg und einem Maximalgehalt von 43,8 mg/kg. In Gerste, Roggen und Hafer konnten durchschnittlich zwischen 0,33 mg/kg und 0,27 mg/kg DON-nachgewiesen werden. 58% der Winterweizenproben wiesen Zearalenon mit einem Maximalgehalt von 1,56 mg/kg auf. Die höchsten ZEA-Werte wurden in Proben ermittelt, die gleichzeitig einen hohen DON-Gehalt aufwiesen. Die Konzentrationen von NIV und T-2 Toxin waren vergleichsweise niedrig. 30% der Proben hatten NIV-Gehalte zwischen 0,04 mg/kg und 0,29 mg/kg und 38% enthielten T-2 Toxin zwischen 0,005 mg/kg und 0,06 mg/kg. In den Futterweizenproben konnte DON als einziges Toxin mit einem Gehalt von durchschnittlich 0,19 mg/kg und maximal 0,75 mg/kg festgestellt werden. Die Weizenmehle, die im October 1987 gezogen wurden, wiesen maximal 0,58 mg/kg DON auf. Die Gehalte lagen damit medriger als die der Mehlproben vom Juni 1988, die maximal 3,24 mg/kg und durchschnittlich 0,26 mg/kg DON enthielten. Dieser Sachverhalt könnte auf Anteile von nicht kontaminiertem Weizen der Ernte 86 an den im October gezogenen Mehlproben zurückgeführt werden. Die Toxingehalte der Vollkornmehle waren nicht höher als die der Weizenmehle der Type 550. Die höchsten Durchschnittsgehalte von DON wurden in Mittel- und Unterfranken festgestellt.

     

Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator

3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator?s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations.     

Development and performance analysis of new spade bit designs

The purpose of this work is to present the development and experimental performance assessment of a new generation of spade drill bits. Rigorous point geometry and drilling force models that describe the topology of the drill and its cutting behaviour have guided the development of these new drills with unique topological features. It is shown, both analytically through simulations and through a systematic experimental study, that the performance of the newly developed topologies exceeds that of the commercially available designs. The new spade bits yield lower thrust and torque over the whole range of pragmatic operating conditions.     

Ern?hrung

Ohne Zusammenfassung     

Solution principles for a new generation of precision self-correcting multi-axis machines

Based on the premise that machinery cannot be built perfectly, this paper formulates plausible solutions for the active correction of the inherent inaccuracies of “less-than-perfect” machines in order to achieve or exceed the performance of precision machinery built by conventional methods which typically aim to build a “perfect machine”.

Three problem areas central to the attainment of active or self-correcting capabilities are addressed. First of all, error correcting strategies based on mathematical models of error propagation are addressed through the development of a generalized first order volumetric error model of a multi-axis machine. Second, examples of real-time in-process error sensing methods are analyzed. Finally, strategies based on adaptive and conventional control approaches by which corrections can be fed back and executed by the machine's controller are introduced.

For all three elements above, examples of developed systems are presented. It has been shown that the development of self-correcting machines is within the realm of current technology and that significant improvements in precision can be achieved at a relatively modest cost.     

Crash reductions related to traffic signal removal in Philadelphia

The effect on intersection crashes of converting one-way street intersections in Philadelphia from signal to multiway stop sign control was estimated. Using crash and traffic volume data for a comparison group, regression models were computed to represent the normal crash experience of signal controlled intersections of one-way streets, by impact type, as a function of traffic volume. An empirical Bayesian procedure was used to estimate what would have been the expected number of crashes at the converted intersections had they not been converted. The empirical Bayesian estimates were compared with actual counts of crashes after conversion. Estimates were obtained for different classes of crashes categorized by impact type, day/night condition, and impact severity. Aggregate results indicate that replacing signals by multiway stop signs on one-way streets is associated with a reduction in crashes of approximately 24%, combining all severities, light conditions, and impact types.     

Die einzelnen Lebensmittel (Chemie, Technologie, Analytik)

Ohne Zusammenfassung     

Buchbesprechungen

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