1st Mediterranean Conference on Heat Treatment and Surface Engineering

Abstract

Energy and the environment are not only receiving mass public attention, but are also indisputably the main drivers for the development of present day scientific, industrial, economic and social progress. However, anyone attempting to review these topics faces two huge problems: the overwhelming volume of often conflicting information and the rapidly evolving national, international and global situation. Thus, the survey presented here, with heat treatment and surface engineering in mind, is a selection of ideas, discussion material and data that is designed to trigger focused discussion and substantive contributions.     

浅谈压力管道的检验

针对压力管道检验环节薄弱的现状,分析了各种检验手段,介绍了压力管道检验要点     

Parallel Programming and Performance Evaluation with the URSA Tool Family

This paper contributes to the solution of several open problems with parallel programming tools and their integration with performance evaluation environments. First, we propose interactive compilation scenarios instead of the usual black-box-oriented use of compiler tools. In such scenarios, information gathered by the compiler and the compiler's reasoning are presented to the user in meaningful ways and on-demand. Second, a tight integration of compilation and performance analysis tools is advocated. M any of the existing, advanced instruments for gathering performance results are being used in the presented environment and their results are combined in integrated views with compiler information and data from other tools. Initial instruments that assist users in data mining this information are presented and the need for much stronger facilities is explained. The URSA Family provides two tools addressing these issues. URSA MINOR supports a group of users at a specific site, such as a research or development project. URSA MAJOR complements this tool by making available the gathered results to the user community at large via the World-wide Web. This paper presents objectives, functionality, experience, and next development steps of the URSA tool family. Two case studies are presented that illustrate the use of the tools for developing and studying parallel applications and for evaluating parallelizing compilers.     

3-D Finite Element Analysis of the Effect of Welding Residual Stress on Hydrogen Diffusion in Hydrogen Contained Environment

The hydrogen distribution of 16MnR steel weldment in hydrogen contained environment was calculated using the finite element method (FEM). The effect of welding residual stress on hydrogen diffusion has been discussed using a 3-D sequential coupling finite element analysis procedure complied by Abaqus code. The hydrogen diffusion coefficient in weld metal, the heat affected zone (HAZ), and the base metal of the 16MnR steel weldment were measured using the electrochemical permeation technique. The hydrogen diffusion without the effect of stress was also calculated and compared. Owing to the existence of welding residual stress, the hydrogen concentration was obviously increased and the hydrogen would diffuse and accumulate in the higher stress region.     

Robust RBPF-SLAM for Indoor Mobile Robots Using Sonar Sensors in Non-Static Environments

We propose a robust simultaneous localization and mapping (SLAM) with a Rao-Blackwellized particle filter (RBPF) algorithm for mobile robots using sonar sensors in non-static environments. The algorithm consists of three parts: sampling from multiple ancestor sets, estimating intermediate paths for map updates and eliminating spurious landmarks using negative information from sonar sensors. The proposed sampling method, in which particles are sampled from multiple ancestor sets, increases the robustness of the estimation of the robot's pose, even if environmental changes corrupt observations. This step increases the probability of some particles being sampled from correct ancestor sets that are updated by observations reflected from stationary objects. When particles are sampled from several time steps earlier, however, observations at intermediate time steps cannot be used to update the map because of the lack of information about the intermediate path. To update the map with all sensor information, the intermediate path is estimated after particles are sampled from ancestor sets. Finally, spurious landmarks still exist on the map representing objects that were eliminated or that were extracted by error in cluttered areas. These are eliminated in the final step using negative information from the sonar sensors. The performance of the proposed SLAM algorithm was verified through simulations and experiments in various non-static environments.     

Synchronization control for physics-based collaborative virtual environments with shared haptics

In this paper, we propose a synchronization scheme to achieve a high level of consistency in peer-to-peer-based shared virtual environments (SVEs), as well as to display natural and realistic motions of virtual objects, in collaborative haptic tasks. The synchronization scheme utilizes an advanced feedback controller to compensate for the state error between geographically separated sites with a significant amount of time delay. It is designed using the mathematical model of a two-user SVE manipulating a freely moving object represented as a mass with damping resistance, with a haptic interface. Thanks to feedback control theory of time delay systems, the controller is shown to result in closed-loop stability and is be robust to perturbations in the time delay. Together with the synchronization control, a recovery filter is also designed and integrated so as to preserve the natural behavior of the synchronized object, which is, otherwise, affected by the feedback control action. In addition to verifying the theoretical results, two experiments using real Internet and local area network communications are carried out. These tests clearly support the validity of the analyses and demonstrate the applicability of the synchronization scheme.     

Analysis of creeping locomotion of a snake-like robot

Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important for generating a new type of locomotion and expanding the possible uses of robots. In this study, we developed a simulator to simulate the creeping locomotion of the snake-like robot, in which the robot dynamics is modeled and the interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze creeping locomotion with normaldirection slip, adding to the glide along the tangential direction. Through the developed simulator, we investigate the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side and discuss the optimal creeping locomotion of the snake-like robot that is adapted to the environment.     

AIX4．3．3环境下Oracle9i的安装与配置

IBM小型机AIX环境下Oracle的安装与配置，比NT环境要复杂许多。在AIX环境下安装Oracle．必须先为Oracle用户授权并配置相应环境变量。事实上，在Oracle安装中所遇到的绝大多数问题，基本上都是由于环境变量的设置错误造成的．这些错误要么是用户系统没有正确建立，要幺完成一些重专操作的步骤次序不对。对配置Oracle用户环境，顺利完成Oracle数据库安装做了详细的介绍。     

AIX4.3.3环境下Oracle9i的安装与配置

IBM小型机AIX环境下Oracle的安装与配置,比NT环境要复杂许多。在AIX环境下安装Oracle,必须先为Oracle用户授权并配置相应环境变量。事实上,在Oracle安装中所遇到的绝大多数问题,基本上都是由于环境变量的设置错误造成的,这些错误要么是用户系统没有正确建立,要么完成一些重要操作的步骤次序不对。对配置Oracle用户环境,顺利完成Oracle数据库安装做了详细的介绍。