THEORETICAL ANALYSIS OF COORDINATES MEASUREMENT BY FLEXIBLE 3D MEASURING SYSTEM

The system mathematical model of flexible 3D measuring system is built by theoretical analysis,and the theoretical formula for measuring space point coordinate is also derived. Frog-jumping based coordinate transform method is put forward in order to solve measuring problem for large size parts. The frog-jumping method is discussed,and the coordinate transform mathematical model is method of the space point coordinate compared to original value,and an advanced method is provided. Form the space point coordinate transform formula can derive the calculation measuring method for measuring large size parts.     

The development and control of a flexible-spine for a human-form robot

In this paper, the development of a robot which has a flexible spine is presented. By embedding a multi-d.o.f. soft structure into a robot body as a spine, the robot can increase its ability to absorb shock and to work in various environment such as narrow places. As a result of these abilities, the robot can expand its opportunity to work in the human environment. Moreover, its motion could be more natural. The developed full-body human-form robot has a five-jointed flexible spine. Each joint (vertebra) has 3 d.o.f. Between each vertebrae is a 'disk' made of silicone rubber. The spine is controlled by eight tendons, whose tensions can be controlled using tension sensors and locally distributed microcontrollers. This paper describes the development of the flexible spine and the control of the posture of the spine and body.     

Biological Insights Into Robotics: Honeybee Foraging Behavior by a Waggle Dance

A honeybee informs her nestmates of flower locations by a unique behavior called a 'waggle dance'. We regard this behavior as a good model of the 'propagation and sharing of knowledge' to maintain a society. We have attempted to reveal how this dance benefits the colony using mathematical models and computer simulation based on parameters obtained from observations of bee behavior. Our simulation indicated that the most successful forages were made by a putative bee colony that used the dance to communicate. Video analysis of worker honeybee behavior in the field showed that a bee does not dance in a single, random place in the hive, but waggles several times in one place and several times in another. The orientation and duration of waggle runs varied from run to run, within ranges of ±15° and ±15%, respectively. We also found that most of the bees that listened to the waggle dance turned away from the dancer after listening to one or two runs. These data suggest that honeybees use the waggle dance as a method of communication, but that they must base their forages on ambiguous information about the location of a food source.     

Synthesized articulated behavior using space-temporal on-line principal component analysis

This paper presents a new framework to synthesize humanoid behavior by learning and imitating the behavior of an articulated body using motion capture. The video-based motion capturing method has been developed mainly for analysis of human movement, but is very rarely used to teach or imitate the behavior of an articulated body to a virtual agent in an on-line manner. Using our proposed applications, new behaviors of one agent can be simultaneously analyzed and used to train or imitate another with a novel visual learning methodology. In the on-line learning phase, we propose a new way of synthesizing humanoid behavior based on on-line learning of principal component analysis (PCA) bases of the behavior. Although there are many existing studies which utilize PCA for object/behavior representation, this paper introduces two criteria to determine if the dimension of the subspace is to be expanded or not and applies a Fisher criterion to synthesize new behaviors. The proposed methodology is well-matched to both behavioral training and synthesis, since it is automatically carried out as an on-line long-term learning of humanoid behaviors without the overhead of an expanding learning space. The final outcome of these methodologies is to synthesize multiple humanoid behaviors for the generation of arbitrary behaviors. The experimental results using a humanoid figure and a virtual robot demonstrate the feasibility and merits of this method.     

SIEMENS 840D系统在曲轴内铣机床控制上的应用

介绍SIEMENS 840D系统的硬件配置、软件编程思路及在曲轴内铣机床控制上的主要应用。     

Simplified GIS based methodology to quantify risk factors for alternative route evaluation for transport of radioactive materials

Abstract

The risk associated with the transport of radioactive materials can be impacted by many factors of the transport system, as well as by the area through which the materials may travel. Informed decision making requires a quantitative evaluation of pertinent information or conditions. Geographic information systems are often used to display spatial information. The authors have developed a simplified methodology that can be used to quantify the conditions that impact risk over a segment of a transport route. The methodology aggregates the impact of a condition based on the magnitude of the impacting condition and its location with respect to the transport corridor. This paper is a proof-of-concept demonstration for the methodology for the factors of the population in the vicinity of the roadway and the highway design criteria with respect to access ramps and medians. The methodology is particularly suited to a comparison of alternative routes for decision making, where an easily implemented methodology is needed to narrow down multiple alternatives to those few requiring a more detailed analysis.     

Numerical modelling for rotational moulding with non-isothermal heating

Abstract

In the rotational moulding process, the internal air temperature has been widely recognised as a tool to predict an optimum cycle time. This paper presents a new numerical approach to predict the internal air temperature in a two-dimensional (2-D) static model without requiring the consideration of the tumbling motion of polymer powder. The initial non-isothermal heating of the static model is actually formed by two changeable plastic beds (stagnant and mixing beds), which represent the actual stagnant and mixing pools inside a rotating mould respectively. In the numerical approach, the lumped-parameter system and coincident node technique are proposed to incorporate with the Galerkin Finite Element Method in order to account for the complex thermal interaction of the internal air. It helps to overcome the difficulty of multidimensional static models in predicting an accurate internal air temperature during the heating stage of rotationally powdery plastic. Importantly, the predicted temperature profiles of the internal air, oven times for different part thicknesses and process conditions accord with the available experimental results.     

Development of reactive rotational moulding process

Abstract

A recent revival of industrial interest in rotational moulding of reactive liquid polymers has led to renewed research efforts in this area of polymer processing. This paper describes the design and construction of a reactive liquid polymer feed system for use in reactive rotational moulding. This feed system allows multiple material shots to be added to the mould without the need to stop mould rotation. The paper also describes work to develop a control technique that explores the exploitation of changes in ultrasound signal properties to monitor viscosity during cure in reactive rotational moulding (RRM). Tests have been conducted on dicyclopentadiene (DCPD) in a static off-line rig, to simulate the conditions that are expected during rotational moulding. The signals propagated through the DCPD indicate a rise in ultrasonic velocity during cure, associated with mechanical property changes owing to increased crosslinking. This technique is non-intrusive, and measurements can be obtained real-time for the duration of cure.