Physical connection and disconnection control based on hot melt adhesives

Physical connection and disconnection control has practical meanings for robot applications. Compared to conventional connection mechanisms, bonding involving a thermal process could provide high connection strength, high repeatability, and power-free connection maintenance, etc. In terms of disconnection, an established bond can be easily weakened with a temperature rise of the material used to form the bond. Hot melt adhesives (HMAs) are such material that can form adhesive bonds with any solid surfaces through a thermally induced solidification process. This paper proposes a novel control method for automatic connection and disconnection based on HMAs. More specifically, mathematical models are first established to describe the flowing behavior of HMAs at higher temperatures, as well as the temperature-dependent strength of an established HMA bond. These models are then validated with a specific type of HMA in a minimalistic robot setup equipped with two mechatronic devices for automated material handling. The validated models are eventually used for determining open parameters in a feedback controller for the robot to perform a pick-and-place task. Through a series of trials with different wooden and aluminum parts, we evaluate the performance of the automatic connection and disconnection methods in terms of speed, energy consumption, and robustness. © 1996-2012 IEEE.

具有AGV和AS/RS的装配线物流系统分析

阐述了具有自动导引车(AGV)和自动存取系统(AS/RS)的物流系统的工作流程,建立了该类物流系统的排队网络模型,分析了系统的性能与系统设计参数之间的关系,为设计具有AGV和AS/RS的复杂物流系统提供依据。

五十万年来人类对黄土地区的适应性初步研究

After researching the coupling relationship among choosing raw material, stone technology, environmental change and Huaman evolution stage of archeological sites in different sediment in north China, the author thinks that: The human behavior is different in loessic region between glacial and interglacial ages. In Human evolution procession, Human erectus and early Human sapiens may co-exist in north China before L2, but after L2Human erectus disappear, and the stone technology of early Human sapiens become more progression. After comparing the age and environment, geology context, stone technology and using fire between them, we may make a preliminary conclusion that the environmental change during L2 maybe the outer reason and different capability of adaptation between Human erectus and early Human Sapiensis is the inner reason of Human erectus becoming disappear. The environmental change in last glacial climax and deglacial may result in new crowd and new culture entering into North China, which break the culture tradition which exist since early stage of palaeolithic. And play an important role from palaeolithic stage into neolithic stage. So unstable envirnmental change play an important role in Human evolution procession, and different scale environment change have different effect, large scale environmental change make small effect, but millenary scale even more short scale environmental change may bear more important role, some times it can transfer the evolution direction.

Recognition of Planar Segments in Point Cloud Based on Wavelet Transform

© 2005-2012 IEEE.Within industrial automation systems, three-dimensional (3-D) vision provides very useful feedback information in autonomous operation of various manufacturing equipment (e.g., industrial robots, material handling devices, assembly systems, and machine tools). The hardware performance in contemporary 3-D scanning devices is suitable for online utilization. However, the bottleneck is the lack of real-time algorithms for recognition of geometric primitives (e.g., planes and natural quadrics) from a scanned point cloud. One of the most important and the most frequent geometric primitive in various engineering tasks is plane. In this paper, we propose a new fast one-pass algorithm for recognition (segmentation and fitting) of planar segments from a point cloud. To effectively segment planar regions, we exploit the orthonormality of certain wavelets to polynomial function, as well as their sensitivity to abrupt changes. After segmentation of planar regions, we estimate the parameters of corresponding planes using standard fitting procedures. For point cloud structuring, a z-buffer algorithm with mesh triangles representation in barycentric coordinates is employed. The proposed recognition method is tested and experimentally validated in several real-world case studies.

Review of models for predicting the discharge rates of bulk particulates from silos and bins

Various models for predicting discharge rates have been developed over the last four decades by many research workers (notably Beverloo [1], Johanson [2], Brown [3], Carleton [4], Crewdson [5], Nedderman [6], Gu [7].). In many cases these models offer comparable approaches to the prediction of discharge rates of bulk particulates from storage equipment when solely gravity is acting to initiate flow (since they invariably consider the use of mass-flow design equipment). The models that have been developed consider a wide range of bulk particulates (coarse, incompressible, fine, cohesive) and most contemporary works have incorporated validation against test programmes. Research currently underway at The Wolfson Centre for Bulk Solids Handling Technology, University of Greenwich, has considered the relative performance of these models with respect to a range of bulk properties and with particular focus upon the flexibility of the models to cater for different geometrical factors for vessels.

Comparisons between “sand blast” and “centripetal effect accelerator” type erosion testers

There are two major types of erosion testing devices that are used throughout the world for quantifying particle impact erosion against a solid surface. The first of these uses pressurised air to accelerate abrasive particles through a nozzle so that they impinge upon a target specimen. The second adopts a rotating disc to accelerate abrasive particles using the centripetal effect so that they impinge upon a series of targets arranged around the periphery of the disc. This paper reports the findings of a collaborative project that was designed to compare the performance and results obtained from a rig of each of the two types mentioned above. The sand blast type rig was provided by The Department of Powder Science Technology (POSTEC) at The Telemark Technological Research and Development Centre (TEL-TEK), Porsgrunn, Norway while the centripetal effect accelerator was provided by The Wolfson Centre for Bulk Solids Handling Technology, University of Greenwich, London, UK. The test programme included tests against a wide range of materials that are commonly used in pneumatic handling facilities. (Pneumatic handling is a means of conveying and transporting powders and granular solid materials in bulk in industrial process plant, through pipelines using a gas as the carrier medium.) Olivine sand was used as the abrasive and it was projected against the test specimens at velocities and concentrations commensurate with those seen in pneumatic conveyors. In all instances the materials used in the test programme were taken from the same batch so that scatter of experimental results due to specimen variation was minimised. The paper contains a series of recommendations for erosion testing equipment. A discussion based on the results and their applicability to the prediction of wear in pneumatic conveyors concludes the paper.

Chert Nastapoka : caractérisation chimique et exploitation au Paléoesquimau, baie d’Hudson, Nunavik

Les assemblages lithiques dominent la plupart des sites archéologiques du Nunavik et constituent ainsi une véritable mine d’informations. Le nombre limité de travaux sur les matériaux de la côte est de la baie d’Hudson, nous a amené à nous pencher sur une source présente dans ce secteur. Notre objectif était alors de caractériser la matière première provenant de cette formation géologique, le chert Nastapoka. Pour ce faire, nous avons choisi la technique de fluorescence aux rayons X. Les résultats ont permis de constater, en plus des observations macroscopiques, la nature très variable de ce chert présentant une signature chimique complexe. Pour compléter le portrait, nous avons évalué l’utilisation du chert Nastapoka par les Paléoesquimaux par une comparaison d’analyses technologiques déjà effectuées sur les sites GhGk-4, GhGk-63 et IcGm-5. Cet examen a révélé que l’évolution des stratégies d’exploitation des matériaux lithiques dans cette région appui le continuum culturel Prédorsétien-Dorsétien observé ailleurs.

Planning And Operation Problems Of Indian Major Ports With Special Emphasis On Cochin Port

Rapid changes in the technological environment of marine logistics and the increasing integration of waterborne, air and land transport systems have fostered a revolution in the design and operations of transport vehicles, cargo handling technology, and terminal facilities. This in turn has caused major changes in the functions of and uses of ports. From literature, it was found that these changes were very slow in case of Indian ports and the performances of port operations were poor when compared with similar ports in the same region. It was also found that a very few studies were conducted to identify the reasons for slow improvements in the performances of Indian major ports. In this thesis, an attempt is made to find out the operational problems of Indian major ports and to analyze the reasons for it. Some solutions have also been found out using management tools

Análisis y diseño para la construcción de un plan estratégico de manejo eficiente de energía en la Universidad del Rosario

De acuerdo con el Programa de la Naciones Unidas para el Medio Ambiente (PNUMA), la producción más limpia «es una estrategia ambiental preventiva integrada que se aplica a los procesos, productos y servicios a fin de aumentar la eficiencia y reducir los riesgos para los seres humanos y el ambiente.» (Programa de las Naciones Unidas para el Medio Ambiente (PNUMA), 2006) Esta estrategia es aplicable para cualquier proceso, producto o servicio y contiene diversas acciones que incluyen sencillos pasos que van desde pequeños cambios en los procedimientos operacionales de fácil e inmediata ejecución, hasta cambios mayores que impliquen la sustitución de materias primas, insumos o líneas de producción a unas más eficientes. De acuerdo con la investigación realizada, se formuló un plan estratégico de PML para la Universidad del Rosario que permita la conservación de las materias primas, como el agua y el manejo energético eficiente, la reducción de las materias primas toxicas, en cuanto a toxicidad y cantidad, y la reducción de emisiones y residuos que van al agua y a la atmósfera impactando el entorno a causa de los procesos que se desarrollan en la Universidad para la prestación de sus servicios. En este orden de ideas, la Producción más Limpia implementada en la Universidad requiere que se modifiquen ciertas actitudes, el desarrollo de una gestión ambiental responsable, la creación de políticas convenientes y la evaluación de nuevas opciones tecnologías que impacten de manera positiva su implementación a través de las siguientes técnicas: • Mejoras en el proceso • Buenas prácticas operativas • Mantenimiento de equipos • Reutilización y reciclaje • Cambios en la materia prima • Cambios en la tecnología De esta manera los resultados presentarán un modelo transformador para la Institución, que permita su perdurabilidad, convirtiéndola en una Universidad pionera capaz de disminuir su impacto de operaciones en la sociedad.

Evaluación del nivel de seguridad ocupacional en laboratorios universitarios de ingeniería en Bogotá

Antecedentes: Los laboratorios estudiantiles ofrecen riesgos para los estudiantes, la normatividad específica vigente no es de carácter obligatorio y en Bogotá aproximadamente hay 387 laboratorios. Objetivo: Evaluar el nivel de seguridad referente a salud, higiene y seguridad industrial en las prácticas que se desarrollan en los laboratorios de pregrado de Ingeniería en universidades de Bogotá. Métodos: Estudio descriptivo con un muestreo estratificado por conglomerado en ocho (8) universidades de la ciudad de Bogotá, con una confiabilidad del 95% y una precisión absoluta del 6% para una proporción máxima esperada; para evaluar los laboratorios se utilizó el Cuestionario de seguridad para laboratorios de secundaria (NTP 921) del Instituto Nacional de Seguridad e Higiene del Trabajo de España Resultados: Se evaluaron 166 laboratorios de 8 universidades de Bogotá, 65 de los laboratorios evaluados presentaron un riesgo bajo de los aspectos evaluados. Los aspectos con un porcentaje mayor o igual al 80% de cumplimiento de condiciones fueron aspectos generales del laboratorio, trabajo de los alumnos, manipulación de material, manipulación del producto, protección contra Incendios, eliminación de residuos, seguridad eléctrica y formación. Los ítems con un porcentaje menor del 60% de cumplimiento son los siguientes: sistemas de alarma contra incendios o emergencias; mantenimiento preventivo de la red eléctrica del laboratorio, capacitaciones anuales sobre seguridad en los laboratorios. aspectos generales del laboratorio, trabajo de los alumnos, manipulación de material, manipulación del producto, protección contra Incendios, eliminación de residuos, seguridad eléctrica y formación. Se realizó una prueba de asociación entre el tipo de laboratorio y cada ítem de las condiciones de seguridad del laboratorio. Los laboratorios que cumplen con un mayor número de condiciones de seguridad fueron los laboratorios químicos, el aspecto que obtuvo un porcentaje bajo de cumplimiento fue protección personal (40%); los aspectos que se cumplieron son aspectos generales del laboratorio, trabajo de los alumnos, manipulación de material, manipulación del producto, protección contra Incendios, eliminación de residuos, seguridad eléctrica y formación.

Evaluación de la gestión de residuos derivados del proceso de impresión en Datapoint de Colombia S.A.S, y propuesta de mejora

Este trabajo se centra en el análisis de las actividades desarrolladas en torno a los servicios de procesos de impresión que ofrece la organización DATAPOINT de Colombia SAS para identificar los puntos críticos en la gestión de los residuos de impresión y las decisiones tomadas por parte de los involucrados durante todo el proceso (proveedores, clientes y la empresa), con el fin de revisar medidas y estrategias que permitan fortalecer la gestión integral de residuos de impresión a partir de una revisión y comparación de las mejores prácticas planteadas por los actores del sector. También se efectuaron recomendaciones con acciones de mejora que se podrían desarrollar con el fin de mitigar el impacto ambiental generado por estos residuos. Con la finalidad de cumplir con lo planteado se realizó inicialmente un estudio sobre la organización, sus clientes y proveedores para entender de manera integral la cadena de valor en torno a los tóner y su gestión inversa, (explicar) al igual que el entorno normativo tanto de manera nacional como internacional. Posteriormente, se identificaron los puntos de mejora comparando lo planteado por el proveedor versus lo ejecutado por los involucrados en el proceso, labor se realizó en campo con los clientes para entender la situación actual, sus necesidades y en que basan la toma de decisiones relacionada con el manejo de los residuos de impresión. Finalmente se listaran una serie de acciones de mejora y recomendaciones las cuales pueden ser incorporadas a los procesos críticos de DATAPOINT.

Fault detection in a cold forging process through feature extraction with a neural network

This paper investigates the application of neural networks to the recognition of lubrication defects typical to an industrial cold forging process employed by fastener manufacturers. The accurate recognition of lubrication errors, such as coating not being applied properly or damaged during material handling, is very important to the quality of the final product in fastener manufacture. Lubrication errors lead to increased forging loads and premature tool failure, as well as to increased defect sorting and the re-processing of the coated rod. The lubrication coating provides a barrier between the work material and the die during the drawing operation; moreover it needs be sufficiently robust to remain on the wire during the transfer to the cold forging operation. In the cold forging operation the wire undergoes multi-stage deformation without the application of any additional lubrication. Four types of lubrication errors, typical to production of fasteners, were introduced to a set of sample rods, which were subsequently drawn under laboratory conditions. The drawing force was measured, from which a limited set of features was extracted. The neural network based model learned from these features is able to recognize all types of lubrication errors to a high accuracy. The overall accuracy of the neural network model is around 98% with almost uniform distribution of errors between all four errors and the normal condition.

Experimental and numerical investigation of low pressure tube hydroforming on 409 stainless steel

Tube hydroforming has been widely used to produce automotive structural components due to the superior properties of the hydroformed parts in terms of their light weight and structural rigidity. Compared to the traditional manufacturing process for a closed-section member including stamping and followed by welding, tube-hydro forming leads to cost savings due to reduced tooling and material handling. However, the high pressure pumps and high tonnage press required in hydroforming, lead to increased capital investment reducing the cost benefits. This study explores low pressure tube hydro forming which reduces the internal fluid pressure and die closing force required to produce the hydroformed part. The experimental and numerical analysis was for low pressure hydro formed stainless steel tubes. Die filling conditions and thickness distributions are measured and critically analysed.

Avaliação de desempenho na gestão dos recursos materiais : proposta de um sistema baseado em indicadores numericos e de um software correspondente para uso em microcomputadores

Este trabalho, apresentado sob forma de dissertação, apesar de limitado .ao universo da gestão dos recursos materiais - GRM, representa uma tentativa para a criação de meios para medir a eficiência e a eficácia da função gerencial. Foram contemplados dois segmentos do universo da GRM: as relações comerciais com os fornecedores e as atividades de gerenciamento interno das diversas funções técnico-administrativas. Nestas, atingimos um amplo espectro, indo desde a infra-estrutura gerencial até os respectivos custos operacionais. Foram consideradas as seguintes funções: • Planejamento e Controle • Aquisição de Material • Controle e Distribuição de Material • Qualidade e Desenvolvimento o desempenho de cada uma das funções é avaliado por meio de indicadores, resultantes da combinação de dados operacionais, tais como: produção, venda, número de empregados envolvidos, valor das aquisições realizadas, custos de aquisição e de estocagem, valor dos estoques, carga transportada, custos de controle de qualidade e outros relacionados à GRM de uma organização. Consideramos que três orientações deste tabalho apresentam certo grau de originalidade. A primeira refere-se ao ajustamento dos valores monetários envolvidos, a fim de adequá-los às características inflacionárias da nossa economia. A segunda é o tratamento estatístico dos dados para que sejam reduzidas eventuais distorções. Assim, teremos indicadores próximos da realidade, baseados em números correntes e expurgados de variações aleatórias. A terceira orientação é o uso da informática para proporcionar a maior disseminação possível dos indicadores, seja na entrada de dados, no ajustamento, no cálculo, na armazenagem, na recuperação, no tratamento estatístico e na análise e criação de padrões de desempenho gerencial. Como anexo à dissertação, estamos incluindo disquetes em 3 1/2" e 5 1/4", contendo software interativo, denominado SIGMAT - Sistema de Indicadores para a Avaliação do Desempenho da Gestão dos Recursos Materiais. Este aplicativo executa todas as propostas apresentadas na presente dissertação.

Épocas de semeadura e manejos de corte de milheto cultivado no outono-inverno e efeitos na cultura da soja em sucessão sob plantio direto

Pós-graduação em Agronomia (Agricultura) - FCA