Workspace comparisons of setup configurations for human-robot interaction

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. ©2010 IEEE.

Stability enhancement by casing grooves: The importance of stall inception mechanism and solidity

This paper concerns the optimisation of casing grooves and the important influence of stall inception mechanism on groove performance. Installing casing grooves is a well known technique for improving the stable operating range of a compressor, but the wide-spread use of grooves is restricted by the loss of efficiency and flow capacity. In this paper, laboratory tests are used to examine the conditions under which casing treatment can be used to greatest effect. The use of a single casing groove was investigated in a recently published companion paper. The current work extends this to multiple-groove treatments and considers their performance in relation to stall inception mechanisms. Here it is shown that the stall margin gain from multiple grooves is less than the sum of the gains if the grooves were used individually. By contrast, the loss of efficiency is additive as the number of grooves increases. It is then shown that casing grooves give the greatest stall margin improvement when used in a compressor which exhibits spike-type stall inception, while modal activity before stall can dramatically reduce the effectiveness of the grooves. This finding highlights the importance of being able to predict the stall inception mechanism which might occur in a given compressor before and after grooves are added. Some published prediction techniques are therefore examined, but found wanting. Lastly, it is shown that casing grooves can, in some cases, be used to remove rotor blades and produce a more efficient, stable and light-weight rotor. © 2010 by ASME.

Bulk forming of sheet metal

Ever increasing demands on functional integration of high strength light weight products leads to the development of a new class of manufacturing processes. The application of bulk forming processes to sheet or plate semi-finished products, sometimes in combination with conventional sheet forming processes creates new products with the requested properties. The paper defines this new class of sheet-bulk metal forming processes, gives an overview of the existing processes belonging to this class, highlights the tooling aspects as well as the resulting product properties and presents a short summary of the relevant work that has been done towards modeling and simulation. © 2012 CIRP.

Friction between carbon fibre reinforced polymers: Experiments and modelling

Carbon fibre reinforced polymers (CFRP) are well-known for the excellent combination of mechanical and thermal properties with light weight. However, their tribological properties are still largely uncovered. In this work an experimental study of friction between two CFRP at weak normal load (inferior to 20 N) was performed. Two effects were scrutinuously studied during the experiments: fibre volume friction and fibre orientation. In addition to this experimental work, a modelling of a contact between two FRP was realized. It is supposed that the real area of contact consists of a multitude of microcontacts of three types: fibre-fibre, fibre-matrix and matrix-matrix. The experimental work has shown a small rise in friction coefficient with the change of fibre orientation of two composites from parallel to perpendicular relative to the sliding direction. In parallel, the proposed analytical model predicts a independence of this angle. Regarding the influence of the fibre volume fraction, Vf, the experiments reveal a decrease in friction coefficient of 50% with a change of Vf from 0% to 62%. This observation corresponds to the qualitative dependence depicted with the model. © 2012 EDP Sciences.

Optical learning in a smart spatial light modulator

A synaptic plane rendered by an array of smart pixels was described regarding its application as a complementary component for neural network implementation. The smart spatial light modulator featured auto-modification abilities. Thus, an optical system incorporating this device can show self-reliant optical learning. Furthermore, the optical system design, in the area of its optical interconnection scheme, is highly flexible since the independent weight-plane pixels eliminated the difficulty between weight update calculation and weight representation.

Design of a compact reconfigurable optical interconnection using nematic liquid crystal spatial light modulator

The wavelength-division multiplexing (WDM) has been proposed as a promising technology to efficiently use the available bandwidth of a single optical fibre. This can be achieved by transmitting different channels on the optical fibre with each channel modulating a different wavelength. The aim of this paper is to propose a compact design (35 mm×65 mm) of a reconfigurable holographic optical switch in order to access and manipulate 4 channels at a node of a fibre-optic communication network. A vital component of such a switch is a nematic liquid crystal spatial light modulator offering control and flexibility at the channel manipulation stage and providing the ability to redirect light into the desired output fibre. This is achieved by the use of a 2-D analogue phase computer generated hologram (CGH) based on liquid crystal on silicon (LCOS) technology. © 2012 SPIE.

Thorium fuel cycles for light water reactors: homogeneous design

The proliferation potential of the present light water reactor (LWR) fuel cycle is related primarily to the quantity and the quality of the residual Pu contained in the spent-fuel stockpile, although other potentially “weapons usable” materials are also a concern. Thorium-based nuclear fuel produces much smaller amounts of Pu in comparison with standard LWR fuel, and consequently, it is more proliferation resistant than conventional slightly enriched all-U fuel; the long-term toxicity of the spent-fuel stockpile is also reduced

Correct biological timing in Arabidopsis requires multiple light-signaling pathways.

Circadian oscillators provide rhythmic temporal cues for a range of biological processes in plants and animals, enabling anticipation of the day/night cycle and enhancing fitness-associated traits. We have used engineering models to understand the control principles of a plant's response to seasonal variation. We show that the seasonal changes in the timing of circadian outputs require light regulation via feed-forward loops, combining rapid light-signaling pathways with entrained circadian oscillators. Linear time-invariant models of circadian rhythms were computed for 3,503 circadian-regulated genes and for the concentration of cytosolic-free calcium to quantify the magnitude and timing of regulation by circadian oscillators and light-signaling pathways. Bioinformatic and experimental analysis show that rapid light-induced regulation of circadian outputs is associated with seasonal rephasing of the output rhythm. We identify that external coincidence is required for rephasing of multiple output rhythms, and is therefore important in general phase control in addition to specific photoperiod-dependent processes such as flowering and hypocotyl elongation. Our findings uncover a fundamental design principle of circadian regulation, and identify the importance of rapid light-signaling pathways in temporal control.