Self-tuning algorithm for dsp-based motion control in cnc applications

This thesis describes the development of an adaptive control algorithm for Computerized Numerical Control (CNC) machines implemented in a multi-axis motion control board based on the TMS320C31 DSP chip. The adaptive process involves two stages: Plant Modeling and Inverse Control Application. The first stage builds a non-recursive model of the CNC system (plant) using the Least-Mean-Square (LMS) algorithm. The second stage consists of the definition of a recursive structure (the controller) that implements an inverse model of the plant by using the coefficients of the model in an algorithm called Forward-Time Calculation (FTC). In this way, when the inverse controller is implemented in series with the plant, it will pre-compensate for the modification that the original plant introduces in the input signal. The performance of this solution was verified at three different levels: Software simulation, implementation in a set of isolated motor-encoder pairs and implementation in a real CNC machine. The use of the adaptive inverse controller effectively improved the step response of the system in all three levels. In the simulation, an ideal response was obtained. In the motor-encoder test, the rise time was reduced by as much as 80%, without overshoot, in some cases. Even with the larger mass of the actual CNC machine, decrease of the rise time and elimination of the overshoot were obtained in most cases. These results lead to the conclusion that the adaptive inverse controller is a viable approach to position control in CNC machinery.

LIVE-Fab – CNC-Programmierung und Montageplanung in einer virtuellen Lernfabrik. Konzepte, Grundlagen, Technik, Anwendung

Am Institut für Arbeitswissenschaft und Betriebsorganisation (ifab) Universität Karlsruhe wird zurzeit das Projekt LIVE-Fab (Lernen in der virtuellen Fabrik) gemeinsam mit der Fachhochschule Landshut, Fachbereich Maschinenbau, durchgeführt. Dieses Projekt wird vom Bundesministerium für Bildung und Forschung (BMBF) im Rahmen des Programms „Neue Medien in der Bildung“ gefördert. Das Ziel des Projektes ist die Entwicklung eines anschaulichen Lehr- und Lernmodells für eine Fabrik als funktionierendes Ganzes. Dazu soll im Rechner eine Modellfabrik mit den Bereichen Wareneingang, Fertigung, Montage und Qualitätssicherung abgebildet werden. Die Fabrik mit ihren Anlagen (Maschinen, Transportsysteme etc.) und Materialflüsse soll in einem 3D-Modell visuell erfassbar sein. Die Grundlagen zur Schaffung einer virtuell funktionierenden Produktion einschließlich Anlagenplanung, Arbeitsvorbereitung, die Mechanismen, Kundenbestellungen und Qualitätsmanagement sollen in einzelnen Fallstudien den Studierenden vermittelt werden. Den Studierenden aus den Fachbereichen Maschinenbau, Wirtschaftsingenieurwesen, Elektrotechnik und Betriebswirtschaft mit technischer Ausrichtung soll mit der virtuellen Fabrik ein Werkzeug an die Hand gegeben werden, mit dem sie die komplexen, ineinander verzahnten Vorgänge eines Produktionsprozesses besser verstehen lernen. Dies bedeutet, dass in der virtuellen Fabrik die inhaltlichen Aspekte mehrerer vorgelagerter Vorlesungen kombiniert werden und dadurch ein Verbund zum Verständnis der Produktionsprozesse geschaffen wird.(DIPF/Orig.)

Architecture for machining process and production monitoring based in open computer numerical control

This paper proposes an architecture for machining process and production monitoring to be applied in machine tools with open Computer numerical control (CNC). A brief description of the advantages of using open CNC for machining process and production monitoring is presented with an emphasis on the CNC architecture using a personal computer (PC)-based human-machine interface. The proposed architecture uses the CNC data and sensors to gather information about the machining process and production. It allows the development of different levels of monitoring systems with mininium investment, minimum need for sensor installation, and low intrusiveness to the process. Successful examples of the utilization of this architecture in a laboratory environment are briefly described. As a Conclusion, it is shown that a wide range of monitoring solutions can be implemented in production processes using the proposed architecture.

AtPIN: Arabidopsis thaliana Protein Interaction Network

Background: Protein-protein interactions (PPIs) constitute one of the most crucial conditions to sustain life in living organisms. To study PPI in Arabidopsis thaliana we have developed AtPIN, a database and web interface for searching and building interaction networks based on publicly available protein-protein interaction datasets. Description: All interactions were divided into experimentally demonstrated or predicted. The PPIs in the AtPIN database present a cellular compartment classification (C(3)) which divides the PPI into 4 classes according to its interaction evidence and subcellular localization. It has been shown in the literature that a pair of genuine interacting proteins are generally expected to have a common cellular role and proteins that have common interaction partners have a high chance of sharing a common function. In AtPIN, due to its integrative profile, the reliability index for a reported PPI can be postulated in terms of the proportion of interaction partners that two proteins have in common. For this, we implement the Functional Similarity Weight (FSW) calculation for all first level interactions present in AtPIN database. In order to identify target proteins of cytosolic glutamyl-tRNA synthetase (Cyt-gluRS) (AT5G26710) we combined two approaches, AtPIN search and yeast two-hybrid screening. Interestingly, the proteins glutamine synthetase (AT5G35630), a disease resistance protein (AT3G50950) and a zinc finger protein (AT5G24930), which has been predicted as target proteins for Cyt-gluRS by AtPIN, were also detected in the experimental screening. Conclusions: AtPIN is a friendly and easy-to-use tool that aggregates information on Arabidopsis thaliana PPIs, ontology, and sub-cellular localization, and might be a useful and reliable strategy to map protein-protein interactions in Arabidopsis. AtPIN can be accessed at http://bioinfo.esalq.usp.br/atpin.

Mechanistic approach to predict real machining time for milling free-form geometries applying high feed rate

An accurate estimate of machining time is very important for predicting delivery time, manufacturing costs, and also to help production process planning. Most commercial CAM software systems estimate the machining time in milling operations simply by dividing the entire tool path length by the programmed feed rate. This time estimate differs drastically from the real process time because the feed rate is not always constant due to machine and computer numerical controlled (CNC) limitations. This study presents a practical mechanistic method for milling time estimation when machining free-form geometries. The method considers a variable called machine response time (MRT) which characterizes the real CNC machine`s capacity to move in high feed rates in free-form geometries. MRT is a global performance feature which can be obtained for any type of CNC machine configuration by carrying out a simple test. For validating the methodology, a workpiece was used to generate NC programs for five different types of CNC machines. A practical industrial case study was also carried out to validate the method. The results indicated that MRT, and consequently, the real machining time, depends on the CNC machine`s potential: furthermore, the greater MRT, the larger the difference between predicted milling time and real milling time. The proposed method achieved an error range from 0.3% to 12% of the real machining time, whereas the CAM estimation achieved from 211% to 1244% error. The MRT-based process is also suggested as an instrument for helping in machine tool benchmarking.

Children with Cushing`s syndrome: primary pigmented nodular adrenocortical disease should always be suspected

Primary Pigmented Nodular Adrenocortical Disease (PPNAD) is a rare form of bilateral adrenocortical hyperplasia that is inherited in an autosomal dominant manner and leads to ACTH-independent Cushing`s syndrome (CS). PPNAD may be isolated or associated with Carney Complex (CNC). For the diagnosis of PPNAD and CNC, in addition to the hormonal and imaging tests, searching for PRKAR1A mutations may be recommended. The aims of the present study are to discuss the clinical and molecular findings of two Brazilian patients with ACTH-independent CS due to PPNAD and to show the diagnostic challenge CS represents in childhood. Description of two patients with CS and the many sequential steps for the diagnosis of PPNAD is provided. Sequencing analysis of all coding exons of PRKAR1A in the blood, frozen adrenal nodules (patients 1 and 2) and testicular tumor (patient 1) is performed. After several clinical and laboratory drawbacks that misled the diagnostic investigation in both patients, the diagnosis of PPNAD was finally established and confirmed through pathology and molecular studies. In patient 1, sequencing of PRKAR1A gene revealed a novel heterozygous 10-bp deletion in exon 3, present in his blood, adrenal gland and testicular tumor. The etiologic diagnosis of endogenous CS in children is a challenge that requires expertise and a multidisciplinary collaboration for its prompt and correct management. Although rare, PPNAD should always be considered among the possible etiologies of CS, due to the high prevalence of this disease in this age group.

A test of the ash-free dry weight technique on the developmental stages of Patiriella spp. (Echinodermata : Asteroidea)

Determination of the ash-free dry weight (AFDW) of marine specimens requires samples to be rinsed, soaked, and centrifuged. Problems associated with this technique were examined with the developmental stages of seastar species (Patiriella) with different modes of development. The influence of three rinsing solutions (ammonium formate [AF], filtered seawater [FSW], and reverse osmosis water [RO]) was assessed. The hypothesis that the AFDW technique is a measure of organic material was addressed by drying inorganic salts. Developmental stages of Patiriella calcar rinsed in FSW were twice as heavy as those rinsed in RO or AE indicating that samples should be rinsed in RO or AF before weighing. Soaking treatments had a significant effect on the AFDW of samples of P. calcar (planktonic developer), indicating that the rinsing period should be brief. Zygotes of Patiriella re gularis (planktonic developer) were significantly heavier than ova or gastrulae, regardless of treatment. In contrast, there were no significant differences in the AFDW of any stages or treatments of Patiriella exigua (benthic developer). This may be due to the presence of a modified fertilization envelope, which protects these benthic embryos. Inorganic salts with water of crystallization and FSW lost 20-75% and 14% of their dry weight, respectively, after ashing. We propose that salt ions may retain water, which does not evaporate during drying but is lost during ashing, resulting in the overestimation of sample AFDW. If a similar process occurs in the developmental stages of marine invertebrates, changes in the intracellular ionic composition through development may result in inaccurate estimates of biomass.

Reconhecimento, mensuração e divulgação na contabilização dos contratos plurianuais de construção: divergências entre o IASB, o FASB e o normativo português: a aplicação prática das normas nas empresas construtoras portuguesas.

Mestrado em Auditoria

Metodologia para a selecção de funções de maquinagem em sistemas CAD/CAM, para operações de fresagem multi-eixos

O presente trabalho aborda a construção de protótipos utilizando um centro de maquinagem CNC multi-eixos. É feita também uma abordagem ao novo formato que se encontra em desenvolvimento para a transferência de dados entre os softwares de CAD/CAM e os controladores CNC. Este novo formato de dados conhecido por STEP-NC tem como objectivo principal a comunicação directa entre os controladores CNC e os softwares de CAD/CAM, o que actualmente não é possível, uma vez que existe a necessidade de recorrer sempre a um pós-processador de dados para converter as trajectórias de maquinagem criadas pelos softwares de CAD/CAM em linguagem ISO específica para cada controlador CNC. A inovação introduzida com a elaboração deste trabalho consiste na obtenção de protótipos num centro de maquinagem CNC utilizando um único aperto do bruto de maquinagem. Para isso recorreu-se à fixação do bruto de maquinagem directamente à bucha do eixo rotativo (4º Eixo), permitindo assim que este rode quando existe a necessidade de maquinar uma outra face do protótipo, evitando desta forma a criação de novas fixações e a presença de um operador junto da máquina. A utilização deste novo método permite-nos ainda uma grande aproximação entre os centros de maquinagem CNC e as máquinas de prototipagem rápida (por adição de camadas) dado que em ambas se podem obter protótipos sem a intervenção do operador durante a totalidade da sua construção. Os testes práticos foram realizados no Instituto Superior de Engenharia de Lisboa (ISEL), e a peça utilizada como protótipo para a realização dos ensaios foi facultada por uma empresa especializada na construção de componentes aeronáuticos (LAUAK Portuguesa).

O modelo das demonstrações financeiras de acordo com o SNC

Neste trabalho, discutimos e analisamos as Demonstrações Financeiras (DF) elaboradas de acordo com a proposta do Sistema de Normalização Contabilística (SNC), apresentada pela Comissão de Normalização Contabilística (CNC), comparativamente com as DF preparadas de acordo com o Plano Oficial de Contabilidade (POC), em vigor em Portugal por imposição do Decreto-Lei n.º 410/89, de 21 de Novembro. Assim, marcamos separadamente os aspectos normativos que norteiam a execução dessas DF com referências comparativas entre elas, não com intuito de subjugar umas em detrimento de outras, mas de mostrar as suas diferenças em relação à essência, forma e finalidade. In this work, we discuss and analyze the Financial Reports (FR) made in accordance with the essay of Sistema de Normalização Contabilística (SNC) and presented by Comissão de Normalização Contabilística (CNC). In addition, we made a comparison with the FR prepared following the Plano Oficial de Contabilidade (POC) that is in use in Portugal by legal origin (Decreto-Lei n.º 410/89, de 21 de Novembro). Therefore, we emphasize the normative issues that drive FR construction with systematic comparisons between both. We do not aim to determine which one is the best normative, but to examine their differences related with essence, methods and goals.

Comparison of deposited surface area of airborne ultrafine particles generated from two welding processes

This article describes work performed on the assessment of the levels of airborne ultrafine particles emitted in two welding processes metal-active gas (MAG) of carbon steel and friction-stir welding (FSW) of aluminium in terms of deposited area in alveolar tract of the lung using a nanoparticle surface area monitor analyser. The obtained results showed the dependence from process parameters on emitted ultrafine particles and clearly demonstrated the presence of ultrafine particles, when compared with background levels. The obtained results showed that the process that results on the lower levels of alveolar-deposited surface area is FSW, unlike MAG. Nevertheless, all the tested processes resulted in important doses of ultrafine particles that are to be deposited in the human lung of exposed workers.

Determination of airborne nanoparticles from welding operations

The aim of this study is to assess the levels of airborne ultrafine particles emitted in welding processes (tungsten inert gas [TIG], metal active gas [MAG] of carbon steel, and friction stir welding [FSW] of aluminum) in terms of deposited area in pulmonary alveolar tract using a nanoparticle surface area monitor (NSAM) analyzer. The obtained results showed the dependence of process parameters on emitted ultrafine particles and demonstrated the presence of ultrafine particles compared to background levels. Data indicated that the process that resulted in the lowest levels of alveolar deposited surface area (ADSA) was FSW, followed by TIG and MAG. However, all tested processes resulted in significant concentrations of ultrafine particles being deposited in humans lungs of exposed workers.

I Jornadas de contabilidade e fiscalidade do ISCAP: a apresentação das demonstrações financeiras de acordo com o SNC

Jornadas de Contabilidade e Fiscalidade promovidas pelo Instituto Superior de Contabilidade e Administração do Porto, em Abril de 2009

NCRF 9 – locações: implicações fiscais e de auditoria

Dissertação apresentada ao Instituto Superior de Contabilidade e Administração do Porto para a obtenção do Grau de Mestre em Auditoria ORIENTAÇÃO: DR. JOÃO COSTA