This paper describes measurement methods of temperature machining with WCCo-cBN composite cutting tools. Both contact and thermographic methods of cutting temperature measurements have been described and compared. As ...
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ISBN:
(纸本)9781509018666
This paper describes measurement methods of temperature machining with WCCo-cBN composite cutting tools. Both contact and thermographic methods of cutting temperature measurements have been described and compared. As well, methodology of emissivity evaluation of cutting tools materials has been mentioned. This paper also covers influence of anti-wear TiAlN PVD coating on cutting temperature in reference to machining with uncoated tools.
Ionic Polymer Metal Composites(IPMCs) belong to the class of wet Electro-active Polymers (EAPs) and is promising candidate actuator for various potential applications mainly due to its flexible, low voltage/power requ...
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ISBN:
(纸本)9781509018666
Ionic Polymer Metal Composites(IPMCs) belong to the class of wet Electro-active Polymers (EAPs) and is promising candidate actuator for various potential applications mainly due to its flexible, low voltage/power requirements, small and compact design and lack of moving parts. Among the smart materials available, IPMCs seem to fit nicely in the constraints of robotics because they react mechanically when stimulated by an electrical signal. However, being a widely used material in industry, it requires complex control methods due to its strongly nonlinear nature. This paper presents a novel approach to tuning multiple models adaptive controller. By adding additional filters we significantly improve convergence of the estimates to the true values of the IPMC parameters as compared to conventional adaptive controllers. Numerical results and comparison with experimental data are presented. The effectiveness of the proposed multiple models adaptive control strategy is verified in experiments.
Sensitivity methods have been originally developed for analysis of technical systems and recently have gained increasing importance in systems biology. Among others, they provide means to rank parameters of mathematic...
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ISBN:
(纸本)9781509018666
Sensitivity methods have been originally developed for analysis of technical systems and recently have gained increasing importance in systems biology. Among others, they provide means to rank parameters of mathematical models describing complex systems, according to their influence on system behavior. Parameter rankings can be derived using different sensitivity measures. This paper is focused on two types of norms, most often used in such analysis. Using simple, illustrative dynamical models as well as models of signaling pathways, it shows how much the results of sensitivity analysis depend on the choice of the norm.
In the paper the parameter idetification problem for new, non integer order, state space models of heat transfer process is presented. The solution of all proposed state equations bases directly onto definitions of su...
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ISBN:
(纸本)9781509018666
In the paper the parameter idetification problem for new, non integer order, state space models of heat transfer process is presented. The solution of all proposed state equations bases directly onto definitions of suitable non integer order differences. The parameters estimation is done with the use of MSE (Mean Square Error) cost function. The order of all proposed state-space models is also estimated. Results of experiments show, that all proposed non integer order models are more accurate in the sense of MSE cost function than known integer order model.
In the paper the results of development of measurement instrument dedicated to electrochemical biosensing are presented. The document covers the most important aspects of the hardware and software solutions used with ...
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ISBN:
(纸本)9781509018666
In the paper the results of development of measurement instrument dedicated to electrochemical biosensing are presented. The document covers the most important aspects of the hardware and software solutions used with presented device. Sample measurement results using Cyclic Voltammetry (CV) method are also shown, in comparison with similar measurements made with commercially available, professional measurement system Autolab from Metrohm.
The end-effector trajectory tracking of robotic manipulators with flexible links requires advanced control concepts. In order to compute the feedforward component of the control scheme, the inverse dynamics of such fl...
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ISBN:
(纸本)9781509018666
The end-effector trajectory tracking of robotic manipulators with flexible links requires advanced control concepts. In order to compute the feedforward component of the control scheme, the inverse dynamics of such flexible 3D multibody system is solved using an optimal control method. The robot is modeled using nonlinear finite elements formulated on the SE (3) group. Hence singularity and parameterization issues that can arise from 3D rotations are avoided. A numerical example of a 3D flexible arm is analyzed to demonstrate the capabilities of the method.
We discuss the design and control issues in creating continuous backbone continuum robots at lengths of multiple meters. At this scale, many of the design techniques and materials properties which have proved advantag...
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ISBN:
(纸本)9781509018666
We discuss the design and control issues in creating continuous backbone continuum robots at lengths of multiple meters. At this scale, many of the design techniques and materials properties which have proved advantageous in creating continuum robots at smaller scales are not applicable. This leads to problems with reduced load capacity and poor internal stability. Using two example cases, a thin tendril and an extensible pipe, we illustrate the issues and discuss potential successful design alternatives.
Image technologies nowadays are used not only for keeping personal events safe, but also are widely applied in conjunction with automated electronic systems. Computer vision is widely used for inspection of the produc...
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ISBN:
(纸本)9781509018666
Image technologies nowadays are used not only for keeping personal events safe, but also are widely applied in conjunction with automated electronic systems. Computer vision is widely used for inspection of the production quality in industries. Food industry is not an exception. Containers for food industry are made in very large quantities. This article contains of defect analysis of both external and side area of the bottleneck. Defects were divided into groups according to which the filters are created. For the control of PET preparation quality an automated computer vision algorithms were developed. The algorithms and methods were used for the detection of defective products mainly based on the image segmentation, digital production, erosion, smoothing. The most effective filters for the defect detection of the workpieces have been determined. It was carried out that efficiency of algorithms are close to 100 %.
This paper proposes several enhancements to the softPOSIT algorithm with applications to spacecraft pose estimation using a monocular camera. First, the proposed enhancements include a technique for reducing false mat...
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ISBN:
(纸本)9781509018666
This paper proposes several enhancements to the softPOSIT algorithm with applications to spacecraft pose estimation using a monocular camera. First, the proposed enhancements include a technique for reducing false matches as result of local minimum trapping. Second, this paper provides two strategies for iteration control parameter initialization by using the trace of the correspondence distance, and by using image centroid matching. The method of image centroid matching allows the world model center of geometry to align with the image centroid. The alignment result in reasonable correspondence weighting values used for match optimization. The various algorithm enhancements were tested on 26,180 simulations with varying geometries and initial pose conditions. Results show a significant increase in accuracy when compared with the original method.
Mathematical models Database (MMD) is an online repository of mathematical models that can be easily used for research purposes, in teaching or in performing comparative tests. In a single free-of-charge, freely acces...
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ISBN:
(纸本)9781509018666
Mathematical models Database (MMD) is an online repository of mathematical models that can be easily used for research purposes, in teaching or in performing comparative tests. In a single free-of-charge, freely accessible Internet service all the data from the database is available with an expected (in its final form) several ready-to-use models, either purely mathematical or physics-based. Apart from the models themselves there are also documents describing the background of their derivation included, references to bibliography for further reading where they have been used and numerous attachments, e.g. parts of the code, time plots, results of simulations, ready handouts, etc. Using a simple browser it is possible to constraint the search to selected classes of models. It is planned in the future to make MMD a platform where every interested researcher will be able to include their models. This should streamline the possibility of creating a single Internet site where models from a vast number of disciplines can be found, such as from the field of control engineering and robotics, electrotechnics, mechatronics, computer science, and other fields, even those not directly connected to the latter.
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