Design and manufacturing of mobile micro manipulation system with a compliant piezoelectric actuator based micro gripper

This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system.     

Pruning Algorithms for Rule Learning

Pre-pruning and Post-pruning are two standard techniques for handling noise in decision tree learning. Pre-pruning deals with noise during learning, while post-pruning addresses this problem after an overfitting theory has been learned. We first review several adaptations of pre- and post-pruning techniques for separate-and-conquer rule learning algorithms and discuss some fundamental problems. The primary goal of this paper is to show how to solve these problems with two new algorithms that combine and integrate pre- and post-pruning.     

Non-contact handling in microassembly: Acoustical levitation

Microassembly is currently of the utmost importance in industry. Nevertheless, the classical assembly processes are no longer usable for very small components, typically ranging from 10  m to 10 mm, since usually neglected surface forces disturb the handling task by inducing adhesion between the component and the gripper. A promising alternative to tackle surface forces consists in levitating the handled component. The various advantages of this contactless handling method are reviewed here and justify the choice of this approach. Consequently, the numerous physical principles suitable for contactless handling are briefly described together with their limitations. The evaluation shows that acoustic levitation is best fitted in the case of microassembly. A classification of literature applications is presented hereafter with special focus on acoustic levitation. Finally, the most common models of acoustical levitation are inspected in a general way. The described models come within the scope of non-linear acoustics.     

起重搬运作业的安全风险分析

用安全系统的理论和方法 ,以起重作业为研究对象 ,通过危险识别 ,对造成人员损伤的危险事件发生的可能性和导致伤害后果的严重程度 ,进行了定性的风险分析 ,介绍了我国采取的针对性综合管理对策     

Systematic modeling and model handling for manpower planning systems

The primary purpose of this paper is to show an efficient way of handling models and model data in a decision support system, in which it is usual to consider several variants of a model. The model data primarily consist of model-defining data, but the same approach may be used for the generated results as well. By efficient handling is meant the handling by the computer as well as by the user. For the user it is particularly important that new models can be conveniently defined as variants of existing models. The approach is introduced within the context of a decision support system for manpower planning based on Markov models. In the mean time the same approach has been used for the implementation of other decision support systems and has been found to be more generally applicable.     

Assessment of factors considered to be important in handling tasks by expert handlers

Twenty-eight experienced handlers, considered the best in two transport companies, were interviewed using a questionnaire consisting of partially closed-ended questions. They had to assess 20 videotape handling sequences showing two different handling methods to determine, for 10 factors and overall, which one was the best. They were asked about the inportance of these factors in their choices of the best method. The aims of the study were to verify whether there was a consensus among experienced handlers as to what was a good handling method and to identify the factors taken into consideration by them. Results show the lack of consensus on the best methods. Handlers favor different strategies depending on the worjk context and their own priorities.     

Java异常处理

异常处理是Java程序设计中一个非常重要的机制,也是程序设计的一大难点,就异常和异常处理方式等方面进行介绍,并通过一个实例来验证异常。     

An on-line learning neural controller for helicopters performing highly nonlinear maneuvers

This paper presents an on-line learning adaptive neural control scheme for helicopters performing highly nonlinear maneuvers. The online learning adaptive neural controller compensates the nonlinearities in the system and uncertainties in the modeling of the dynamics to provide the desired performance. The control strategy uses a neural controller aiding an existing conventional controller. The neural controller is based on a online learning dynamic radial basis function network, which uses a Lyapunov based on-line parameter update rule integrated with a neuron growth and pruning criteria. The online learning dynamic radial basis function network does not require a priori training and also it develops a compact network for implementation. The proposed adaptive law provides necessary global stability and better tracking performance. Simulation studies have been carried-out using a nonlinear (desktop) simulation model similar to that of a BO105 helicopter. The performances of the proposed adaptive controller clearly shows that it is very effective when the helicopter is performing highly nonlinear maneuvers. Finally, the robustness of the controller has been evaluated using the attitude quickness parameters (handling quality index) at different speed and flight conditions. The results indicate that the proposed online learning neural controller adapts faster and provides the necessary tracking performance for the helicopter executing highly nonlinear maneuvers.     

Exception handling analysis and transformation using fault injection: Study of resilience against unanticipated exceptions

ContextIn software, there are the error cases that are anticipated at specification and design time, those encountered at development and testing time, and those that were never anticipated before happening in production. Is it possible to learn from the anticipated errors during design to analyze and improve the resilience against the unanticipated ones in production?ObjectiveIn this paper, we aim at analyzing and improving how software handles unanticipated exceptions. The first objective is to set up contracts about exception handling and a way to assess them automatically. The second one is to improve the resilience capabilities of software by transforming the source code.MethodWe devise an algorithm, called short-circuit testing, which injects exceptions during test suite execution so as to simulate unanticipated errors. It is a kind of fault-injection techniques dedicated to exception-handling. This algorithm collects data that is used for verifying two formal contracts that capture two resilience properties w.r.t. exceptions: the source-independence and pure-resilience contracts. Then we propose a code modification technique, called “catch-stretching” which allows error-recovery code (of the form of catch blocks) to be more resilient.ResultsOur evaluation is performed on 9 open-source software applications and consists in analyzing 241 catch blocks executed during test suite execution. Our results show that 101/214 of them (47%) expose resilience properties as defined by our exception contracts and that 84/214 of them (39%) can be transformed to be more resilient.ConclusionOur work shows that it is possible to reason on software resilience by injecting exceptions during test suite execution. The collected information allows us to apply one source code transformation that improves the resilience against unanticipated exceptions. This works best if the test suite exercises the exceptional programming language constructs in many different scenarios.     

Struts异常处理机制研究及应用

Struts是一个优秀的开源框架,不仅在控制逻辑上有良好的表现能力,而且也提供了强大的异常框架。在这个框架下,异常定义和异常处理有许多方式,而自定义的异常类和可配置的异常处理方式成为开发者在处理异常时首选的技术。本文在对Struts中异常处理技术详细分析的基础上给出一个典型的应用案例。