Mathematical model of an industrial robot with articulated configuration and six degrees of freedom

This paper analyses the load influence on a d.c. drive motor servo system for all six degrees of freedom of industrial robots with an articulated configuration. Through the analyses, the analytical equations of total inertia and gravitation moments of an industrial robot servo system for external coordinate function were obtained. A mathematical model of an electro-mechanical industrial robot system was also developed.     

Optimal correlation attack on the multiplexer generator

The security of the well-known multiplexer generator with respect to correlation attacks on the data shift register is investigated. Apart from the basic correlation attack exploiting the bitwise correlation between the output sequence and any data input sequence, two new correlation attacks are introduced. One is based on computing the a posteriori probabilities and is statistically optimal, whereas the other makes use of the accumulated bitwise correlation to all data input sequences. It is theoretically argued and experimentally confirmed that the optimal attack requires a significantly shorter output sequence to be successful than the basic attack. The experiments also show that the less complex accumulated correlation attack requires a somewhat longer output sequence than the optimal attack.     

Characterization of New Bimetallic Oxycarbide (MoWC0.5O0.6) for Bifunctional Isomerization of n-Heptane

A new bimetallic oxycarbide was synthesized and characterized by XRD, TEM, EDS, XPS and adsorption–desorption of probe molecules. All the molybdenum was reduced and 35% of tungsten was present as WO_x. The number of metallic sites, Lewis and Br?nsted acid sites were estimated. A turnover rate of 0.1 s⁻¹ was measured at 300 °C for the first order n-heptane isomerization.     

Nanoscale Magnetic Behavior of C60 Thin Films in Earth Magnetic Field under Polarization Light Influences

Magnetic behavior of C₆₀ thin films in the Earth's magnetic field under polarization light influence is presented. Transformation of magnetic field for two fullerene thin films of different thickness is investigated. Two proton magnetometers were used for these measurements. Samples of 30 nm and 250 nm thickness illustrate a significant change of magnetic field intensity under the influence of polarization light, in range from 3.4 to 12.9 nT, for 200 measurement data per sample.     

Perspective,Cartography and Dynamic Notions: From the Plane <Emphasis Type="Italic">Bozzetto</Emphasis> to Solid Perspective in Two Examples in Tuscany

In order to create a perspective drawing on a curved surface, the quadraturista had to face, in addition to the flat perspective drawing issues, also the ones related to the mapping of the three dimensional surface. In literature we can find two methodologically different approaches related to the flat design transposition procedures onto the curved surface: indirect and direct method. The indirect one, partially described by Vignola, is based on the use of pre-designed cartoons on the ground. The direct one, described by Andrea Pozzo, is based on the direct projection of a flat grid onto the curved surface. Both the ceiling painting of the Church of San Matteo in Pisa and the parietal one of the Church of S. Caterina in Livorno show, even if observed from the privileged viewpoints, some irregularities. These irregularities, as we are going to show, are actually the consequences of the method applied for the transposition of the flat drawings onto the curved surfaces.     

Densification and phase transformation of Si3N4 in the presence of mechanically activated BaCO3–Al2O3–SiO2 mixture

Densification as well as the →β phase transformation of Si₃N₄ were monitored as a function of activation time of the BaCO₃–Al₂O₃–SiO₂ additive mixture. The composition of the ternary mixture corresponded to celsian (BaAl₂Si₂O₈—BAS). Previously, mechanically activated powder mixtures for various lengths of time were added to Si₃N₄ in the amount of 10–30%. Sintering was performed at 1650–1700°C in nitrogen atmosphere up to 8 h. The changes in densification degree, as well as phase composition, were followed as a function of heating time and the time of mechanical activation of the additive mixture. The results obtained showed that mechanical activation retarded densification in samples heated up to 1700°C. On the other hand, for the constant sintering time, →β transformation of Si₃N₄ was enhanced with increasing activation time, and the amount of additives.     

Lipid oxidative changes in chitosan-oregano coated traditional dry fermented sausage Petrovská klobása

The effect of a chitosan coating with added essential oil of oregano (Origanum vulgare) on lipid oxidation of dry fermented sausage (Petrovská klobása) was investigated. Fatty acid profile, aldehyde contents and sensory analysis of odor and flavor were determined after drying and during seven months of storage.     

The effect of the shape and size of the pores on the mechanical properties of porous HAP-based bioceramics

In this study, the influence of the shape and size of the pores on the mechanical properties of the obtained porous HAP-based bioceramics was investigated. The porous HAP-based bioceramics were obtained starting from spherical calcium hydroxyapatite powder, obtained by hydrothermal syntheses. The number of shapeless inter-agglomerate pores decreased and amount of spherical intra-agglomerate pores increased on increasing the sintering temperature from 1100 °C to 1250 °C. The shape of pores also changed with thermal treatment of specimens; the small pores remained spherical while the larger pores became more spherical in shape, as was proved by image analysis. A three-dimensional, finite element unit cell model was applied to evaluate the influence of pore shape on the mechanical strength of HAP ceramics. By analyzing the effect of the shape of pores to the fracture toughness of sintered porous HAP bioceramics, it was observed that the more spherical the pores were, the tougher became the bioceramics. After sintering at 1250 °C for 2 h, measured toughness was 1.31 MPa m^1/2, which is a relatively high value for this type of bioceramics.     

Measurement of the transient electrical and shaft torques in an induction motor drive by the indirect two-speed method

Contents This paper presents a new method, called Indirect Two-Speed Method (ITSM), for obtaining electrical and shaft torques in an induction motor drive by means of measuring the speeds of both lumped-inertia elements assigned to a second order model. The measuring is realized by using high-resolution digital tachometers (represented by incremental encoders), two frequency measurement systems based on the Double-Buffered Method, digitalfiltering of the raw speed data and numerical differentiation of the filtered speed data.

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Messung transienter Drehmomente eines Induktionsmotor-Antriebs mittels der Indirekten Zwei-Drehzahlen-Methode

Übersicht Im Beitrag wird ein neues Verfahren zur Ermittlung des elektrischen Moments und des Wellen-Drehmoments eines Induktionsmotor-Antriebs vorgestellt. Das als Indirekte Zwei-Drehzahlen-Methode (ITSM) bezeichnete Verfahren geht aus von einem mechanischen Modell zweiter Ordnung und mißt die Drehzahlen beider als konzentrierte Parameter betrachteten Drehmassen. Für die Durchführung werden hochauflösende digitale Tachometer eingesetzt. Die Frequenzmessung erfolgt durch ein Verfahren mit doppelter Pufferung, und es werden die Rohdaten nach digitaler Filterung numerisch differenziert.