A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links. The outer link is held by the end-effector of a six-DOF (Degrees of freedom) serial articulated robot manipulator. The environment represented by the inner link can be either static or dynamic. A force-based approach and a d value approach are established to determine the type of contact that exists between the links of a cylindrical pair, and to extract control parameters. Based on the comparison and analysis of these two approaches, a hybrid methodology is established by combining a d value approach with a force-based approach for contact state determination. Formulations capable of extracting necessary control parameters, which ensure minimum contact forces between the links, are established from both planar and spatial viewpoints under both static and dynamic environmental conditions. Experimental results demonstrate the effectiveness of the proposed methodology.

Improving peak shapes with counter gradients in two-dimensional high performance liquid chromatography

To achieve the greatest peak capacity in two-dimensional high performance liquid chromatography (2D-HPLC) a gradient should be operated in both separation dimensions. However, it is known that when an injection solvent that is stronger than the initial mobile phase composition is deleterious to peak performance, thus causing problems when cutting a portion from one gradient into another. This was overcome when coupling hydrophilic interaction with reversed phase chromatography by introducing a counter gradient that changed the solvent strength of the second dimension injection. It was found that an injection solvent composition of 20% acetonitrile in water gave acceptable results in one-dimensional simulations with an initial composition of 5% acetonitrile. When this was transferred to a 2D-HPLC separation of standards it was found that a marked improvement in peak shape was gained for the moderately retained analytes (phenol and dimethyl phthalate), some improvement for the weakly retained caffeine and very little change for the strongly retained n-propylbenzene and anthracene which already displayed good chromatographic profiles. This effect was transferred when applied to a 2D-HPLC separation of a coffee extract where the indecipherable retention profile was transformed to a successful application multidimensional chromatography with peaks occupying 71% of the separation space according to the geometric approach to factor analysis.

Microstructure and mechanical properties of wrought and additive manufactured Ti-6Al-4V cylindrical bars

Titanium alloys are widely used in various engineering design application due to its superior material properties. The traditional manufacturing of titanium products is always difficult, time consuming, high material wastage and manufacturing costs. Selective laser melting (SLM), an additive manufacturing technology has widely gained attention due to its capability to produce near net shape components with less production time. In this technical paper,microstructure,chemical composition,tensile properties and hardness are studied for the wrought and additive manufactured SLM cylindrical bar. Microstructure,mechanical properties and hardness were studied in both the longitudinal and transverse directions of the bar to study the effect of orientation. It was found that additive manufactured bar have higher yield strength, ultimate tensile strength and hardness than the wrought bar. For both conventional and SLM test samples, the yield strength, ultimate tensile strength and hardness was found to be high in the transverse direction. The difference in the properties can be attributed to the difference in microstructure as a result of processing conditions. The tensile fracture area was quantified by careful examination of the fracture surfaces in the scanning electron microscope.

Using data mining for digital ink recognition: dividing text and shapes in sketched diagrams

The low accuracy rates of textshape dividers for digital ink diagrams are hindering their use in real world applications. While recognition of handwriting is well advanced and there have been many recognition approaches proposed for hand drawn sketches, there has been less attention on the division of text and drawing ink. Feature based recognition is a common approach for textshape division. However, the choice of features and algorithms are critical to the success of the recognition. We propose the use of data mining techniques to build more accurate textshape dividers. A comparative study is used to systematically identify the algorithms best suited for the specific problem. We have generated dividers using data mining with diagrams from three domains and a comprehensive ink feature library. The extensive evaluation on diagrams from six different domains has shown that our resulting dividers, using LADTree and LogitBoost, are significantly more accurate than three existing dividers.

How technology shapes assessment design: findings from a study of university teachers

A wide range of technologies has been developed to enhance assessment, but adoption has been inconsistent. This is despite assessment being critical to student learning and certification. To understand why this is the case and how it can be addressed, we need to explore the perspectives of academics responsible for designing and implementing technology-supported assessment strategies. This paper reports on the experience of designing technology-supported assessment based on interviews with 33 Australian university teachers. The findings reveal the desire to achieve greater efficiencies and to be contemporary and innovative as key drivers of technology adoption for assessment. Participants sought to shape student behaviors through their designs and made adaptations in response to positive feedback and undesirable outcomes. Many designs required modification because of a lack of appropriate support, leading to compromise and, in some cases, abandonment. These findings highlight the challenges to effective technology-supported assessment design and demonstrate the difficulties university teachers face when attempting to negotiate mixed messages within institutions and the demands of design work. We use these findings to suggest opportunities to improve support by offering pedagogical guidance and technical help at critical stages of the design process and encouraging an iterative approach to design.

Reducing the effect of wave dispersion in a timber pole based on transversely isotropic material modelling

Round timbers are used for telecommunication and power distribution networks, jetties, piles, short span bridges etc. To assess the condition of these cylindrical shape timber structures, bulk and elementary wave theory are usually used. Even though guided wave can represents the actual wave behaviour, a great deal complexity exists to model stress wave propagation within an orthotropic media, such as timber. In this paper, timber is modelled as transversely isotropic material without compromising the accuracy to a great extent. Dispersion curves and mode shapes are used to propose an experimental set up in terms of the input frequency and bandwidth of the signal, the orientation of the sensor and the distance between the sensors in order to reduce the effect of the dispersion in the output signal. Some example based on the simulated signal is also discussed to evaluate the proposed experimental set up.

Separation of longitudinal and flexural wave in a cylindrical structure based on sensor arrangement for non-destructive evaluation

Low strain integrity testing is commonly used to assess the in situ condition of the poles or piles. For poles, it is important to calculate the embedment length and location of damage which is highly influenced by the accurate determination of the wave velocity. In general, depending on impact location and orientation, both longitudinal and bending waves may generate inside the pole, and these two waves have very distinct characteristics and wave velocity. These differences are even more prominent in the low frequency which is usually induced in the low strain non-destructive testing. Consequently, it will be useful if these two waves can be separated for the condition assessment of the poles. In this paper, a numerical analysis is performed on a pole considering that both waves are generated, and a method is proposed to differentiate these two waves based on an appropriate sensor arrangement that includes the location and the orientation of the sensors. Continuous wavelet transform is applied on the numerical signal to calculate the phase velocity of the waves and compared with analytical phase velocity curves. From the results, it can be seen that appropriate location and orientation of the sensors can separate the longitudinal and flexural waves as they match significantly well with the corresponding analytical phase velocity curves of these two waves.

A field model for repairing 3D shapes

This paper proposes a field model for repairing 3D shapes constructed from multi-view RGB data. Specifically, we represent a 3D shape in a Markov random field (MRF) in which the geometric information is encoded by random binary variables and the appearance information is retrieved from a set of RGB images captured at multiple viewpoints. The local priors in the MRF model capture the local structures of object shapes and are learnt from 3D shape templates using a convolutional deep belief network. Repairing a 3D shape is formulated as the maximum a posteriori (MAP) estimation in the corresponding MRF. Variational mean field approximation technique is adopted for the MAP estimation. The proposed method was evaluated on both artificial data and real data obtained from reconstruction of practical scenes. Experimental results have shown the robustness and efficiency of the proposed method in repairing noisy and incomplete 3D shapes.