Dual drive series actuator

Industrial robotic manipulators can be found in most factories today. Their tasks are accomplished through actively moving, placing and assembling parts. This movement is facilitated by actuators that apply a torque in response to a command signal. The presence of friction and possibly backlash have instigated the development of sophisticated compensation and control methods in order to achieve the desired performance may that be accurate motion tracking, fast movement or in fact contact with the environment. This thesis presents a dual drive actuator design that is capable of physically linearising friction and hence eliminating the need for complex compensation algorithms. A number of mathematical models are derived that allow for the simulation of the actuator dynamics. The actuator may be constructed using geared dc motors, in which case the benefits of torque magnification is retained whilst the increased non-linear friction effects are also linearised. An additional benefit of the actuator is the high quality, low latency output position signal provided by the differencing of the two drive positions. Due to this and the linearised nature of friction, the actuator is well suited for low velocity, stop-start applications, micro-manipulation and even in hard-contact tasks. There are, however, disadvantages to its design. When idle, the device uses power whilst many other, single drive actuators do not. Also the complexity of the models mean that parameterisation is difficult. Management of start-up conditions still pose a challenge.

Coating of Cotton Yarn with Poly(vinyl alcohol) and Poly(N-vinyl-2-pyrrolidone) Crosslinked via Ultraviolet Radiation

The coating of cotton fiber is used in the textile industry to increase the mechanical resistance of the yarn and their resistance to vibration, friction, impact, and elongation, which are some of the forces to which the yarn is subjected during the weaving process. The main objective of this study was to investigate the use of synthetic hydrophilic polymers, poly(vinyl alcohol) (PVA), and poly(N-vinyl-2-pyrrolidone) (PVP) to coat 100% cotton textile fiber, with the aim of giving the fiber temporary mechanical resistance. For the fixation of the polymer on the fiber, UV-C radiation was used as the crosslinking process. The influence of the crosslinking process was determined through tensile testing of the coated fibers. The results indicated that UV-C radiation increased the mechanical resistance of the yarn coated with PVP by up to 44% and the yarn coated with PVA by up to 67% compared with the pure cotton yarn, that is, without polymeric coating and crosslinking. This study is of great relevance, and it is important to consider that UV-C radiation dispenses with the use of chemical substances and prevents the generation of toxic waste at the end of the process. (C) 2010 Wiley Periodicals, Inc. J Appl Polym Sci 119: 2560-2567, 2011

Crosslinking of Poly(N-vinyl-2-pyrrolidone) in the Coating of Cotton Yarn

Coating of cotton yarn is employed in the textile industry to increase the mechanical resistance of the yarns and resistance to vibration, friction, impact, and elongation, which are some of the forces to which the yarn is subjected during the weaving process. The main objective of this study is to investigate the usage of a synthetic hydrophilic polymer, poly(N-vinyl-2-pyrrolidone) (PVP), to coat 100% cotton textile yarn, aiming to give the yarn a temporary mechanical resistance. For the improvement of the mechanical resistance of the yarn, the following crosslinking processes of PVP were investigated: UV-C (ultraviolet) radiation, the Fenton and photo-Fenton reactions, and sensitized UV-C radiation. The influence of each crosslinking process was determined through tensile testing of the coated yarns. The results indicated that the best crosslinking process employed was UV-C radiation; increasing the mechanical resistance of the yarn up to 44% if compared with the pure cotton yarn, that is, without polymeric coating and crosslinking. POLYM. ENG. SCI., 51:445-453, 2011. (C) 2010 Society of Plastics Engineers

Pt film electrodes prepared by the Pechini method for electrochemical decolourisation of Reactive Orange 16

Electrochemical decolourisation of Reactive Orange 16 was carried out in an electrochemical flow-cell, using as working electrodes a Pt thin film deposited on a Ti substrate (Pt/Ti) prepared by the Pechini method and a pure platinum (Pt) foil. Using the Pt/Ti electrodes better results for dye decolourisation were obtained under milder conditions than those used for pure Pt. For the Pt electrode, colour removal of 93 % (lambda = 493 nm) was obtained after 60 min, at 2.2 V vs. RHE, using 0.017 mol L(-1) NaCl + 0.5 mol L(-1) H(2)SO(4) solution. For the Pt/Ti electrode there was better colour removal, 98%, than for the Pt electrode. Moreover, we used 0.017 mol L(-1) NaCl solution and the applied potential was 1.8 V. Under this condition after 15 min of electrolysis, more than 80% of colour was removed. The rate reaction constant, assuming a first order reaction, was 0.024 min(-1) and 0.069 min(-1), for Pt and Pt/Ti electrodes, respectively.

Heterogeneous photocatalytic degradation of acid dyes in aqueous TiO2 suspensions: Kinetics and toxicity

This work assesses the photocatalytic (TiO2/UV) degradation of a simulated acid dye bath (Yellow 3, Red 51, Blue 74, and auxiliary chemicals). Color and phytotoxicity removal were monitored by spectrophotometry and lettuce (Lactuca sativa) seeds as the test organism, respectively. Mineralization was determined by DOC analyses. Photocatalytic, photolytic, and adsorption experiments were performed, showing that adsorption was negligible. After 240 minutes of irradiation, it was achieved 96% and 78% of color removal with photocatalysis and photolysis, respectively. 37% of mineralization occurred with photocatalysis only. The dye bath was rendered completely non-toxic after 60 minutes of photocatalytic treatment; the same result was only achieved with photolysis after 90 minutes. A kinetic model composed of two first-order in series reactions was used. The first photocatalytic decolorization rate constant was k(1) = 0.062 min(-1) and the second k(2) = 0.0043 min(-1), approximately two times greater than the photolytic ones.

Heterogeneous photocatalytic degradation of reactive dyes in aqueous TiO(2) suspensions: Decolorization kinetics

This work assesses the photocatalytic (TiO(2)/UV) degradation of a simulated reactive dye bath (Black 5, Red 239, Yellow 17, and auxiliary chemicals). Color removal was monitored by spectrophotometry. Mineralization was determined by DOC analyses. Photocatalytic, photolytic, and adsorption experiments were performed, showing that adsorption was negligible. After 30 min of irradiation, it was achieved 97% and 40% of color removal with photocatalysis and photolysis, respectively. No mineralization occurred within 30 min. A kinetic model composed of two, first-order in-series reactions was used. The first photocatalytic decolorization rate constant was k(1) = 2.6 min(-1) and the second k(2) = 0.011 min(-1). The fast decolorization of Reactive Black 5 dye is an indication that the number of azo and vinylsulfone groups in the dye molecule maybe a determining factor for the increased photolytic and photocatalytic color removal and degradation rates. (C) 2008 Elsevier B.V. All rights reserved.

Fakalakalaka : The impact of a Tongan notion of development in a contemporary transnational world

This paper aims to explore a Tongan notion of development –'fakalakalaka' – in light of Western notions of development. Two case studies of international development aid schemes illustrate the impact of Tongan development ideas in practice. Drawing on a number of ethnographers' work on Tonga, 'fakalakalaka' appears broader than the Western notion of development. The latter is characterised by influential ideals of controllability and industrialisation. The notion of development among Tongans, on the other hand, tends to be directed by an underlying persistence that, for instance, reflects Tongan core values regarding social organisation. The production of textile 'koloa', controlled by women, emerges as central to the accomplishment of this three-dimensional development notion of intertwined physical, mental and spiritual aspects. The importance attributed to this specific kind of textile has increased in recent years and found two additional roles, or development strategies, in Tongans' contemporary transnational world.

Förpackningsproduktion samt studie om hur reumatikervänliga förpackningar är idag

AssiDomän Frövi board mill has in cooperation with students from Graphic Technologyat the University of Dalarna a degree project that involves developing package solutionsin carton material from AssiDomän Frövi. This year the basic condition was to use theweights 270g/m2, 300g/m2 and 330g/m2 and choose between Frövi Bright, Frövi Lightand Frövi Carry.The packages were supposed to be in the segments industrial products,chocolate/sweets and beauty products/cosmetics. Two packages were produced in thesegments industrial products and beauty products/cosmetics.The first package, produced in the industrial segment, contains textile color and templatesand the second package is a gift package and contains nail polish.The investigation part of the project deals with how the packages today are fit forrheumatics in opening purpose.

Separation and Execution of graphical engine on a cross platform IDE to enhance performance

“Biosim” is a simulation software which works to simulate the harvesting system.This system is able to design a model for any logistic problem with the combination of several objects so that the artificial system can show the performance of an individual model. The system will also describe the efficiency, possibility to be chosen for real life application of that particular model. So, when any one wish to setup a logistic model like- harvesting system, in real life he/she may be noticed about the suitable prostitution for his plants and factories as well as he/she may get information about the least number of objects, total time to complete the task, total investment required for his model, total amount of noise produced for his establishment in advance. It will produce an advance over view for his model. But “Biosim” is quite slow .As it is an object based system, it takes long time to make its decision. Here the main task is to modify the system so that it can work faster than the previous. So, the main objective of this thesis is to reduce the load of “Biosim” by making some modification of the original system as well as to increase its efficiency. So that the whole system will be faster than the previous one and performs more efficiently when it will be applied in real life. Theconcept is to separate the execution part of ”Biosim” form its graphical engine and run this separated portion in a third generation language platform. C++ is chosenhere as this external platform. After completing the proposed system, results with different models have been observed. The results show that, for any type of plants of fields, for any number of trucks, the proposed system is faster than the original system. The proposed system takes at least 15% less time “Biosim”. The efficiency increase with the complexity of than the original the model. More complex the model, more efficient the proposed system is than original “Biosim”.Depending on the complexity of a model, the proposed system can be 56.53 % faster than the original “Biosim”.

Arbetsorganisation i träbränslefabriker

The objective of this study has been to describe and analyse existing forms of organisation in wood fuel plants regarding work tasks, organisational structure, work content, skill demands, crew recruitment, working hours and wage conditions. The study has been introductory, con¬sisting of 2-3 hour visits to 12 plants.The production of refined wood fuels is carried out in rather small plants. The number of employees ranges from 6 to 15 persons in the factories producing between 20 and 100 thousand tons per year. Generally one shift crew consists of only two persons. The operator job requires multiskill capacity, dexterity and autonomous problem-solving.The job can be considered as qualified, responsible, autonomous, meaningful and variable. It was generally considered that it takes about a year to become a good operator. And even after that, one is still learning. Negative factors are shift work, partly poor physical working environment (dust and noise) and, occasionally, mental pressure and overtime.Modern organisation concepts are, to a large extent, applied in the wood fuel plants. The organisation is flat, lean and customer-oriented.

Grafisk profil till ett företag som tillverkar handgjorda textilprodukter av naturmaterial : Hur kan en hemsida kommunicera ett varumärke?

Målet med detta examensarbete var att skapa en grafisk profil till företaget Lyst Form AB som bedriver större delen av sin affärsverksamhet via en hemsida. Företaget säljer handgjorda kläder och accessoarer i lintyg. En teoretisk del i arbetet tar upp hur varumärket kan kommuniceras genom hemsidan. Den grafiska profilen utformades utifrån företagets identitet. Det är viktigt att företaget speglas på ett korrekt sätt. Ett företags identitet kan beskrivas som organisationens själ och den visas utåt i form av bland annat den grafiska profilen. Denna ses därför som en viktig identitetsbärare och den kan kallas för den visuella identiteten. En grafisk profil innehåller bland annat logotyp, profilfärger samt typografi. Företagets målgrupp ansågs vara en viktig del i hela processen eftersom de i slutändan ska tilltalas av den grafiska profilen. Först gjordes en grundlig undersökning och research av företaget för att få en god uppfattning av dess identitet. Även konkurrenterna granskades. En enkätundersökning gjordes för att kunna samla information utifrån målgruppens perspektiv. Denna informationsinsamling gav ett bra underlag och en riktlinje i framtagningen av den grafiska profilen.   Under designprocessens gång diskuterades de logotypförslag som togs fram med hjälp av en sammansatt fokusgrupp. Diskussionen var givande och var till stor nytta i designprocessen. Baserat på den grafiska profilen skapades en layout för hemsidan samt exempel på trycksaker för att visa hur den kan användas. En enklare grafisk manual skapades för att företaget ska kunna synas utåt på ett enhetligt sätt. En sista enkätundersökning gjordes för att se om målet uppnåtts. Resultatet visade att den nya framtagna grafiska profilen var en klar förbättring jämfört mot den nuvarande sett utifrån företagets identitet. I slutändan valde dock företaget en annan logotyp. Detta påvisar svårigheterna i processen att ta fram en grafisk profil. Alla delar i processen är viktiga och undersökningarna är bland annat en av de väsentliga delarna vilka bidrar med en större chans till ett bra slutresultat som tar hänsyn till både företagets och målgruppens åsikter.  

Bringing Japanese manufacturing systems to America: the feasibility of implementing just-in-time production in the United States

This paper addresses the feasibility of implementing Japanese manufacturing systems in the United States. The recent success of Japanese transplant companies suggests that Just-In-Time (JIT) production is possible within America's industrial environment. Once American workers receive proper training, they have little difficulty participating in rapid setup procedures and utilizing the kanban system. Japanese transplants are gradually developing Japanese-style relationships with their American supplier companies by initiating long-term, mutually beneficial agreements. They are also finding ways to cope with America's problem of distance, which is steadily decreasing as an obstacle to JIT delivery. American companies, however, encounter Significant problems in trying to convert traditionally organized, factories to the JIT system. This paper demonstrates that it is both feasible and beneficial for American manufacturers to implement JIT production techniques. Many of the difficulties manufacturers experience center around a general lack of information about JIT. Once a company realizes its potential for setup-time reduction, a prerequisite for the JIT system, workers and managers can work together to create a new process for handling equipment changeover. Significant results are possible with minimal investment. Also, supervisors often do not realize that the JIT method of ordering goods from suppliers is compatible with current systems. This "kanban system" not only enhances current systems but also reduces the amount of paperwork and scheduling involved. When arranging JlT delivery of supplier goods, American manufacturers tend to overlook important aspects of JIT supplier management. However, by making long-tenn commitments, initiating the open exchange of information, assisting suppliers in reaching new standards of performance, increasing the level of conununication, and relying more on suppliers' engineering capabilities, even American manufacturers can develop Japanese-style supplier relationships that enhance the effectiveness of the system.

Avaliação do grau de contribuição das normas de garantia da qualidade ISO-9000 no desempenho competitivo das empresas

Este trabalho avalia o grau de contribuição da implementação de um sistema de garantia da qualidade, em conformidade com as normas de garantia da qualidade (ISO 9001, 9002 e 9003), na competitividade das indústrias. Para o desenvolvimento do tema, discute-se inicialmente as normas da série ISO 9000, identificando-se sua origem, os objetivos, a aplicação e os requisitos existentes, bem como a forma e o impacto de sua implementação. Posteriormente, analisa-se a competitividade no sentido amplo, identificando-se os fatores determinantes da competitividade, tanto no nível interno como externo às empresas, definindo-se as estratégias genéricas de competição bem como as principais dimensões selecionadas para a obtenção do sucesso no curto, médio e longo prazos. A partir de então, analisa-se a forma como as normas ISO 9000 influenciam os fatores determinantes da competitividade, para posteriormente avaliar o impacto recaído sobre as principais dimensões de competição. O trabalho se encerra com o relato das conclusões sobre o tema proposto, obtidas a partir do confronto das observações colhidas ao longo do trabalho com os resultados de pesquisas existentes.

A relevância da inteligência competitiva como recurso para a análise de informações da indústria moveleira da região de Bento Gonçalves-RS

O aumento da concorrência exige que as empresas sejam competitivas e conheçam profundamente o ambiente do qual fazem parte. Através da busca e da análise das informações concorrenciais, as empresas poderão identificar ameaças e oportunidades do mercado, possibilitando o reconhecimento de tendências e de pistas fundamentais sobre a concorrência, o que pode conduzir a obtenção de vantagens competitivas. A área que tem se preocupado principalmente com a recuperação e o tratamento de informações do ambiente concorrencial, é denominada internacionalmente de Inteligência Competitiva (IC). Este trabalho apresenta os resultados de um estudo exploratório, sobre a busca e a análise de informações do ambiente concorrencial nas empresas da indústria moveleira da região de Bento Gonçalves do Rio Grande do Sul, visando colocar em evidência a importância dessa área para um melhor posicionamento das indústrias desse setor no mercado nacional e internacional. Os resultados alcançados com a pesquisa, apresentam diversas características sobre a indústria moveleira, tais como: centralização da informação, subutilização da Tecnologia da Informação, monitoramento restrito e informal da concorrência, entre outras. Em síntese, revelam que a grande maioria das empresas não possuem um setor específico para o monitoramento do ambiente, onde poucas empresas utilizam a Inteligência Competitiva como recurso para a análise de informações. A subdivisão da amostra em três extratos distintos permitiu identificar as características de cada extrato da amostra quanto ao conhecimento do ambiente concorrencial.

O outro lado de cá: histórias e memórias de Cachoeira da Prata

O principal objetivo dessa dissertação é analisar, através de um estudo caso, como a questão do “preconceito intergrupal” pode ser percebida no desenvolvimento histórico de pequenos municípios brasileiros. Escolhendo a história da memória da cidade de Cachoeira da Prata como objeto central, buscamos discutir como ocorreu o processo de diferenciação social da pequena comunidade formada pelos descendentes do ex-escravo Nicolau Teixeira do restante da cidade. Para tanto, dividimos a dissertação em duas partes. A primeira é formada pelos três primeiros capítulos, nos quais apresentamos a vila fabril de Cachoeira de Macacos como o cenário, no qual o cel. Américo Teixeira é identificado como o líder maior de um projeto de domínio político e industrial que deixou marcas duradouras na memória da população mais antiga da cidade. Nesse contexto, buscamos discutir como o fenômeno do pós-emancipação da escravidão se manifestou na localidade, analisando parte da trajetória de vida do ex-escravo Nicolau Teixeira, um leal apoiador do projeto político do cel. Américo, que se tornou, na primeira metade do século XX, o patriarca de uma comunidade criada nas imediações da antiga vila fabril. Na segunda parte, composta exclusivamente pelo quarto capítulo, discutimos de maneira conjugada, a história da diferenciação social da comunidade e diferentes posicionamentos políticos e metodológicos que adotamos ao longo da pesquisa. Após essa análise, concluímos que só é possível entender os meandros do processo que levou os descendentes de Nicolau Teixeira à condição de exclusão social após percebê-los como atores capazes de elaborar narrativas e representações que auxiliam a população de Cachoeira da Prata a conhecer um “outro lado” da história local.