Modeling Robot Dynamic Performance for Endpoint Force Control

This research aims to understand the fundamental dynamic behavior of servo-controlled machinery in response to various types of sensory feedback. As an example of such a system, we study robot force control, a scheme which promises to greatly expand the capabilities of industrial robots by allowing manipulators to interact with uncertain and dynamic tasks. Dynamic models are developed which allow the effects of actuator dynamics, structural flexibility, and workpiece interaction to be explored in the frequency and time domains. The models are used first to explain the causes of robot force control instability, and then to find methods of improving this performance.

Proposal of a dynamic performance index to analyze driving pattern effect on car emissions

The contributions of driver behaviour as well as surrounding infrastructure are decisive on pollutant emissions from vehicles in real traffic situations. This article deals with the preliminary study of the interaction between the dynamic variables recorded in a vehicle (driving pattern) and pollutant emissions produced over a given urban route. It has been established a “dynamic performance index”-DPI, which is calculated from some driving pattern parameters, which in turn depends on traffic congestion level and route characteristics, in order to determine whether the driving has been aggressive, normal or calm. Two passenger cars instrumented with a portable activity measurement system -to record dynamic variables- and on-board emission measurement equipment have been used. This study has shown that smooth driving patterns can reduce up to 80% NOX emissions and up to 20% of fuel in the same route

Improvement of the Dynamic Performance of a Buck Converter using Controlled Current Source as an Additional Energy Path

This work is related to the improvement of the dynamic performance of the Buck converter by means of introducing an additional power path that virtually increase s the output capacitance during transients, thus improving the output impedance of the converter. It is well known that in VRM applications, with wide load steps, voltage overshoots and undershoots ma y lead to undesired performance of the load. To solve this problem, high-bandwidth high-switching frequency power converter s can be applied to reduce the transient time or a big output capacitor can be applied to reduce the output impedance. The first solution can degrade the efficiency by increasing switching losses of the MOSFETS, and the second solution is penalizing the cost and size of the output filter. The additional energy path, as presented here, is introduced with the Output Impedance Correction Circuit (OICC) based on the Controlled Current Source (CCS). The OICC is using CCS to inject or extract a current n - 1 times larger than the output capacitor current, thus virtually increasing n times the value of the output capacitance during the transients. This feature allows the usage of a low frequency Buck converter with smaller capacitor but satisfying the dynamic requirements.

Improvement of the Dynamic Performance of a Multiphase Current Controlled Buck Converter using an Auxiliary Synchronous Buck Converter as an Additional Energy Path

This work is related to the output impedance improvement of a Multiphase Buck converter with Peak Current Mode Control (PCMC) by means of introducing an additional power path that virtually increases the output capacitance during transients. Various solutions that can be employed to improve the dynamic behavior of the converter system exist, but nearly all solutions are developed for a Single Phase Buck converter with Voltage Mode Control (VMC), while in the VRM applications, due to the high currents, the system is usually implemented as a Multiphase Buck Converter with Current Mode Control. The additional energy path, as presented here, is introduced with the Output Impedance Correction Circuit (OICC) based on the Controlled Current Source (CCS). The OICC is used to inject or extract a current n-1 times larger than the output capacitor current, thus virtually increasing n times the value of the output capacitance during the transients. Furthermore, this work extends the OICC concept to a Multiphase Buck Converter system while comparing proposed solution with the system that has n times bigger output capacitor. In addition, the OICC is implemented as a Synchronous Buck Converter with PCMC, thus reducing its influence on the system efficiency.

Evaluation of FMVSS 214. Side impact protection: dynamic performance requirement.

Mode of access: Internet.

Performance appraisal of collection development librarians /

"February 1992."

Civil service reform oversight, 1980--performance appraisal [microform] : hearings before the Subcommittee on the Civil Service of the Committee on Post Office and Civil Service, House of Representatives, Ninety-sixth Congress, second session, May 13, 15, 1980.

Reuse of record except for individual research requires license from Congressional Information Service, Inc.

A study of factors relating to favorable attitudes toward the salary plan and the effectiveness of the performance appraisal program; the second phase of an exploratory investigation of the feasibility of including the measurement of "motivation" in the study of human behavior in the work situation.

"A technical account of this study appears as part 2 of a report entitled 'Motive patterns of managers and specialists!'"

A study of the performance appraisal interview; a study carried out in the Small Aircraft Engine Department at the Lynn Plant,

Cover title.

Performance appraisal and recognition system handbook : appendix A.

Mode of access: Internet.

Some aspects of the dynamic performance of machine tool structural joints

The work presented in this thesis is concerned with the dynamic behaviour of structural joints which are both loaded, and excited, normal to the joint interface. Since the forces on joints are transmitted through their interface, the surface texture of joints was carefully examined. A computerised surface measuring system was developed and computer programs were written. Surface flatness was functionally defined, measured and quantised into a form suitable for the theoretical calculation of the joint stiffness. Dynamic stiffness and damping were measured at various preloads for a range of joints with different surface textures. Dry clean and lubricated joints were tested and the results indicated an increase in damping for the lubricated joints of between 30 to 100 times. A theoretical model for the computation of the stiffness of dry clean joints was built. The model is based on the theory that the elastic recovery of joints is due to the recovery of the material behind the loaded asperities. It takes into account, in a quantitative manner, the flatness deviations present on the surfaces of the joint. The theoretical results were found to be in good agreement with those measured experimentally. It was also found that theoretical assessment of the joint stiffness could be carried out using a different model based on the recovery of loaded asperities into a spherical form. Stepwise procedures are given in order to design a joint having a particular stiffness. A theoretical model for the loss factor of dry clean joints was built. The theoretical results are in reasonable agreement with those experimentally measured. The theoretical models for the stiffness and loss factor were employed to evaluate the second natural frequency of the test rig. The results are in good agreement with the experimentally measured natural frequencies.

The significance of performance appraisal in improving managerial affectiveness

DUE TO COPYRIGHT RESTRICTIONS ONLY AVAILABLE FOR CONSULTATION AT ASTON UNIVERSITY LIBRARY AND INFORMATION SERVICES WITH PRIOR ARRANGEMENT

Effectiveness of performance appraisal:an integrated framework

Based on a robust analysis of the existing literature on performance appraisal (PA), this paper makes a case for an integrated framework of effectiveness of performance appraisal (EPA). To achieve this, it draws on the expanded view of measurement criteria of EPA, i.e. purposefulness, fairness and accuracy, and identifies their relationships with ratee reactions. The analysis reveals that the expanded view of purposefulness includes more theoretical anchors for the purposes of PA and relates to various aspects of human resource functions, e.g. feedback and goal orientation. The expansion in the PA fairness criterion suggests certain newly established nomological networks, which were ignored in the past, e.g. the relationship between distributive fairness and organization-referenced outcomes. Further, refinements in PA accuracy reveal a more comprehensive categorization of rating biases. Coherence among measurement criteria has resulted in a ratee reactions-based integrated framework, which should be useful for both researchers and practitioners.