Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some non-contact processes. A new dynamic visual controller is proposed in order to control the 4-axis joint structure, where image information is used in the control loop to guide the robot tool in the machining task. In addition, this controller eliminates the chaotic joint behavior which appears during tracking of the quasi-repetitive trajectories required in machining processes. Moreover, this robot tool can be coupled to a manipulator robot in order to form a multi-robot platform for complex manufacturing tasks. Therefore, the robot tool could perform a machining task using a piece grasped from the workspace by a manipulator robot. This manipulator robot could be guided by using visual information given by the robot tool, thereby obtaining an intelligent multi-robot platform controlled by only one camera.

A cateterização dos seios petrosos inferiores no diagnóstico da doença de Cushing

Trabalho Final do Curso de Mestrado Integrado em Medicina, Faculdade de Medicina, Universidade de Lisboa, 2014

Avaliação dos internamentos em endocrinologia

Trabalho Final do Curso de Mestrado Integrado em Medicina, Faculdade de Medicina, Universidade de Lisboa, 2014

Association of secondary glioblastoma and pituitary adenoma : case report

Trabalho Final do Curso de Mestrado Integrado em Medicina, Faculdade de Medicina, Universidade de Lisboa, 2014

Measurement of Muon Antineutrino Oscillations with an Accelerator-Produced Off-Axis Beam

T2K reports its first measurements of the parameters governing the disappearance of νµ in an off-axis beam due to flavor change induced by neutrino oscillations. The quasimonochromatic νµ beam, produced with a peak energy of 0.6 GeV at J-PARC, is observed at the far detector SuperKamiokande, 295 km away, where the νµ survival probability is expected to be minimal. Using a dataset corresponding to 4.01×10²⁰ protons on target, 34 fully contained µ-like events were observed. The best-fit oscillation parameters are sin²(θ₂₃) = 0.45 and |∆m^2_32| = 2.51 × 10⁻³ eV² with 68% confidence intervals of 0.38 - 0.64 and 2.26 - 2.80 ×10⁻³ eV² respectively. These results are in agreement with existing antineutrino parameter measurements and also with the νµ disappearance parameters measured by T2K.

Nazi conspiracy and aggression, opinion and judgment. Office of United States Chief of Counsel for Prosecution of axis criminality.

Seals of Dept. of State, War Dept., and International Military Tribunal, on t.p.

Axis rule in occupied Europe : laws of occupation, analysis of government, proposals for redress /

Bibliography: p. 641-651.

The pituitary gland, clinical application of its hormone factors ...

Pages 59-67, advertising matter.

Horizontal-axis wind system rotor performance model comparison : a compendium /

"February 1983."

The Axis alliance and Japanese-American relations, 1941.

Mode of access: Internet.

The position of the sun's axis, as determined from photographs of the sun taken in the years 1874 to 1912 and measured at the Royal Observatory, Greenwich.

Mode of access: Internet.

The pituitary : a study of the morphology, physiology, pathology, and surgical treatment of the pituitary, together with an account of the therapeutical uses of the extracts made from this organ /

Bibliographical foot-notes.

[0 0 1] zone-axis bright-field diffraction contrast from coherent Ge(Si) islands on Si(0 0 1): Dedicated to Professor Fang-hua Li on the occasion of her 70th birthday

Coherent Ge(Si)/Si(001) quantum dot islands grown by solid source molecular beam epitaxy at a growth temperature of 700degreesC were investigated using transmission electron microscopy working at 300 kV. The [001] zone-axis bright-field diffraction contrast images of the islands show strong periodicity with the change of the TEM sample substrate thickness and the period is equal to the effective extinction distance of the transmitted beam. Simulated images based on finite element models of the displacement field and using multi-beam dynamical diffraction theory show a high degree of agreement. Studies for a range of electron energies show the power of the technique for investigating composition segregation in quantum dot islands. (C) 2003 Elsevier B.V. All rights reserved.