Generation of efficient and user-friendly queries for helper robots to detect target objects

We are developing a helper robot that carries out tasks ordered by users through speech. The robot needs a vision system to recognize the objects appearing in the orders. However, conventional vision systems cannot recognize objects in complex scenes. They may find many objects and cannot determine which is the target. This paper proposes a method of using a conversation with the user to solve this problem. The robot asks a question to which the user can easily answer and whose answer can efficiently reduce the number of candidate objects. It considers the characteristics of features used for object identification such as the ease for humans to specify them by word, generating a user-friendly and efficient sequence of questions. Experimental results show that the robot can detect target objects by asking the questions generated by the method.     

Characterisation of severely deformed austenitic stainless steel wire

Abstract

The microstructure of 8 μm diameter wire produced by the severe deformation of 316L austenitic stainless steel has been examined using TEM and X-ray diffraction. The deformation imparted amounts to a true strain of 6·3. Data from previous studies on strain induced transformation of this steel have been combined with new results to show that true strains >2 are required in order to observe mechanical stabilisation, i.e. the cessation of martensitic transformation when the martensite/austenite interfaces are unable to propagate through the dislocation debris created in the austenite.     

Distribution Around the Oxide-Substrate Interface of Alloying Elements in Low-Carbon Steel

In order to study the physicochemical evolutionduring oxidation of Fe-C-X_i alloyssurfaces (X_i = Cu, Ni, Al, Si, S, withX_i% < 0.5 wt.%, C% < 0.1 wt.%), anoriginal analysis method has been used. After separating the oxide from the metalsubstrate, the first atomic layers of both innersurfaces have been observed by Auger ElectronSpectroscopy (AES). The depth profiles obtained, around0.4 m thick on both sides of the oxide-metal interface,have been compared for four steels of differentcomposition. Significant differences have been observedand described in this paper. A qualitativeinterpretation of diffusion processes has been proposed. Ametallographic study illustrates some physicalconsequences of alloying elements, especially on thescale thickness.     

Multi-Fingered Bimanual Haptic Interface Robot with Three-Directional Force Display

This paper introduces a bimanual haptic interface robot and presents results from its trial operation. Our aim in developing a bimanual haptic interface is to display high-precision three-directional forces at all 10 fingertips of both hands of the operator. By installing two five-fingered robot hands and two robot arms, we construct a bimanual haptic interface. A haptic interface that consists of robot hands and robot arms can provide multi-point contact between the operator and a virtual environment. However, there is the risk that robot hands and robot arms will collide while an operator is manipulating the haptic interface. To solve this problem, we also propose a collision avoidance control law for the multi-fingered bimanual haptic interface. Finally, to determine the validity of the proposed interface, we carry out several experiments. These results show the validity and great potential of the proposed bimanual haptic interface.     

Effect of layer compliance on frictional behavior of soft robotic fingers

In this paper, the modeling and design for frictional loads applied by robotic fingertips through a soft contact interface are investigated. The dependence of the sustainable friction forces and moments due to the normal force applied on the contact area is studied. A model that considers the dependence of both the contact area and the coefficient of friction on the application of normal force is proposed. Specimens of simplified fingertips, made with different materials and shaped with different thickness of the covering soft layer, were tested in order to validate the proposed model via designed experiments. The results obtained have very important relevance to the design of robotic hands and fingers equipped with soft pads or skins, and can help in the choice of suitable features for the different layers of contact pads or skins.     

ASTM E1989-98 - The New Instrument Control Standard

The new ASTM E1989-98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facilitate “plug-and-play” integration of laboratory automation with standard hardware behavior and software interfaces. The LECIS standardizes laboratory equipment behavior and a message passing scheme between the controller and equipment that synchronizes this behavior. Commercial adoption of this new standard is well under way.     

Interface microstructure of diffusion bonded austenitic stainless steel and medium carbon steel couple

Abstract

In the present study, an austenitic stainless steel and medium carbon steel were diffusion bonded. The effect of bonding temperature on microstructural changes and shear strength across the joint region was investigated by optical and scanning electron microscopy, energy dispersive spectroscopy and microhardness measurements. The results showed that the best joint free from microcrack and micovoids was obtained at 900°C with maximum shear strength of 475 MPa.     

串并行接口适配器

ＲＳ２３２Ｃ和ＧＰＩＢ是两类通用接口，各有特点，但在有些情况下，两者要相互连接。本文介绍一个用ＭＣＳ５１单片机组成的串并行接口适配器，它可以实现串、并行接口之间的相互转换，充分利用两种接口各自的特点，并具有一定的故障诊断、操作失误检测等功能。     

Segregation at the Al2O3-FeCrAl Interface During High-Temperature Oxidation

Impurity segregation at theAl₂O₃-metal interface of Fe-Cr-Aland Fe-Cr-Al-Y alloys oxidized at 1100°C was studiedusing Auger electron spectroscopy (AES). A strong sulfursegregation of the order of a monolayer was found at the contactoxide-metal interface on the yttrium-free alloy, whilealmost no sulfur was detected at the interface on theyttrium-containing alloy. These results are in agreement with the AES studies of surface segregation onthe same alloys during heating at 900°C inultra-high vacuum. It is suggested that stresses in thealumina scale and underlying metal during oxidation may provide the driving force for impuritysegregation at the contact oxide-metalinterface.