Kitchen robot prod. line development. Proj. of Bowden cables cutting and thermal forming machine.

This document presents particular description of work done during student’s internship in PR Metal company realized as ERASMUS PROJECT at ISEP. All information including company’s description and its structure, overview of the problems and analyzed cases, all stages of projects from concept to conclusion can be found here. Description of work done during the internship is divided here into two pieces. First part concerns one activities of the company which is robotic chefs (kitchen robot) production line. Work, that was done for development of this line involved several tasks, among them: creating a single-worker montage station for screwing robots housing’s parts, improve security system for laser welding chamber, what particularly consists in designing automatically closing door system with special surface, that protects against destructive action of laser beam, test station for examination of durability of heating connectors, solving problem with rotors vibrations. Second part tells about main task, realized in second half of internship and stands a complete description of machine development and design. The machine is a part of car handle latch cable production line and its tasks are: cutting cable to required length and hot-forming plastic cover for further assembly needs.

High-Speed Solid-Rotor Induction Machine – Electromagnetic Calculation and Design

Within the latest decade high-speed motor technology has been increasingly commonly applied within the range of medium and large power. More particularly, applications like such involved with gas movement and compression seem to be the most important area in which high-speed machines are used. In manufacturing the induction motor rotor core of one single piece of steel it is possible to achieve an extremely rigid rotor construction for the high-speed motor. In a mechanical sense, the solid rotor may be the best possible rotor construction. Unfortunately, the electromagnetic properties of a solid rotor are poorer than the properties of the traditional laminated rotor of an induction motor. This thesis analyses methods for improving the electromagnetic properties of a solid-rotor induction machine. The slip of the solid rotor is reduced notably if the solid rotor is axially slitted. The slitting patterns of the solid rotor are examined. It is shown how the slitting parameters affect the produced torque. Methods for decreasing the harmonic eddy currents on the surface of the rotor are also examined. The motivation for this is to improve the efficiency of the motor to reach the efficiency standard of a laminated rotor induction motor. To carry out these research tasks the finite element analysis is used. An analytical calculation of solid rotors based on the multi-layer transfer-matrix method is developed especially for the calculation of axially slitted solid rotors equipped with wellconducting end rings. The calculation results are verified by using the finite element analysis and laboratory measurements. The prototype motors of 250 – 300 kW and 140 Hz were tested to verify the results. Utilization factor data are given for several other prototypes the largest of which delivers 1000 kW at 12000 min-1.

Rotation-electronic interaction in the 3p-complex Rydberg state of water

An energy theory is formulated for the rotational energy levels in a p-complex Rydberg state of an asymmetric top molecule of symmetry C2v. The effective Hamiltonian used consists of the usual rigid rotor Hamiltonian augmented with terms representing electronic spin and orbital angular momentum effects. Criteria for assigning symmetry species to the rotational energy levels, following Houganfs scheme that uses the full molecular group,are established and given in the form of a table. This is particularly suitable when eigenvectors are calculated on a digital computer. Also, an intensity theory for transitions to the Rydberg p-complex singlet states is presented and selection rules in terms of symmetry species of energy states are established. Finally, applications to HpO and DpO are given.

Article - "Fixed Wing to Whirly Bird"

An article written by Dorothy Rungeling about her experience flying a helicopter for the first time. She is instructed by Bert Ratliff of the Bell Helicopter Corp. in a Bell G2 Trooper.

Differences in atrial fibrillation properties under vagal nerve stimulation versus atrial tachycardia remodeling

Fond : Le substrat de fibrillation auriculaire (FA) vagale et celui secondaire à remodelage par tachycardie auriculaire (RTA) partagent beaucoup des caractéristiques : période réfractaire efficace (PRE) réduite, hétérogénéité accrue de PRE et quelques mécanismes moléculaires communs. Cette étude a comparé les 2 substrats à une abréviation comparable de PRE. Méthodes : Chez chacun de 6 chiens de groupe de stimulation vagal (SV), les paramètres de stimulation cervicale bilatérale de nerves vagaux ont été ajustés pour produire la même PRE moyenne (calculé à 8 sites des oreillettes gauche et droite) avec 6 chiens de groupe de RTA assorti à sexe et poids. Des paramètres électrophysiologiques, la durée moyenne de la fibrillation auriculaire (DAF) et les fréquences dominantes (FD) locales ont étés calculés. Résultats : En dépit des PREs assorties (SV: 80±12msec contre RTA: 79±12msec) la DAF était plus longue (*), l’hétérogénéité de conduction était plus élevée (*), la FD était plus rapide (*) et la variabilité de FD plus grande (*) chez les chiens SV. Les zones de maximum FD qui reflètent les zones d’origine de FA étaient à côté de ganglions autonomes chez les chiens SV. Conclusions : Pour un PRE atriale comparable, la FA secondaire à SV est plus rapide et plus persistante que la FA avec un substrat de RTA. Ces résultats sont consistants avec des modèles de travail suggérant que l'hyperpolarisation SV-induite contribue de façon important à la stabilisation et à l'accélération des rotors qui maintiennent la FA. La similitude de la distribution de FD du groupe vagal avec la distribution des lésions d’ablation après cartographie des électrogrammes atriales fragmentés suggère des nouvelles techniques d’ablation. La distribution des FD entre le SV et le RTA fournit de nouvelles idées au sujet de possible rémodelage neuroreceptorial et indique des différences importantes entre ces substrats de FA superficiellement semblables.

Estudio de seguimiento de las audiometrías de los años 2009, 2010 y 2011 de los pilotos de las fuerzas militares

La audición es el segundo mecanismo sensorial más importante después de la visión para obtener información durante la operación de una aeronave. Les permite a los pilotos percibir, procesar identificar los sonidos del ambiente que los rodea. Así necesita oír bien tanto en vuelo como en tierra, especialmente entre 500 y 3000 Hz para la recepción del lenguaje hablado y de las señales auditivas. Objetivo: Determinar los cambios progresivos en el tiempo y las frecuencias auditivas que se afectan en las audiometrías de los pilotos militares de las fuerzas militares en los años 2009, 2010 y 2011. Material y Métodos: Se trata de un estudio longitudinal de cohorte en el cual se identificará el comportamiento de las audiometrías de la población de pilotos de las fuerzas militares de Colombia en los años 2009, 2010 y 2011. Se hará una revisión retrospectiva de dichas audiometrías. Para dicho fin se tomó la población de pilotos de fuerzas militares que fueron distribuidos en grupos de pilotos de aeronave de ala fija que corresponden a 47 pilotos y ala rotatoria que son 155. Conclusiones: Se encontró que la frecuencia mas alterada en la población total fue la de 6000 Hz, que en lo pilotos de ala fija las frecuencias más afectadas fueron las de 4000 Hz y la de 6000Hz, la frecuencia más afectada en los pilotos de ala rotatoria fueron las de 4000 Hz, 6000 Hz y 8000 Hz, con lo que se concluye que la exposición en los pilotos afecta las frecuencias altas en las audiometrías. Se observó una relación con el número de horas de vuelo y las alteraciones audiométricas encontrándose una alteración en los pilotos entre 1000 y 4000 horas de vuelo en las frecuencias de 4000 Hz, 6000 Hz y 8000 Hz y una alteración de las todas las frecuencias en aquellos pilotos con más de 5000 horas de vuelo en el año 2009, presentando posterior recuperación en los años posteriores sin poder determinar en este estudio las causas de dicha recuperación. Los pilotos de ala rotatoria presentaron un incremento sostenido en todas las frecuencias en comparación con los pilotos de ala fija.

'Operation motorway': landscapes of construction on England's M1 motorway

Recent years have seen an increasing number of academics attempt to write more process-oriented and 'nonrepresentational' accounts of landscape. Drawing upon this literature, I discuss a number of the movements, materialities, and practices entailed in constructing England's M1 motorway in the late 1950s. The performances, movements and durability of a diverse range of things-including earth-moving machines, public relations brochures, maps, helicopters, senior engineers, aggregate and labourers-are shown to be important to the construction and ordering of the motorway and spaces of the construction company in different times and spaces, with people's experiences or understandings of construction, both now and in the past, emerging through memories, talk and embodied encounters with architectures, texts and artefacts which are assembled, circulated and/or archived. Aerial perspectives assumed a prominent role in depictions of construction, while journalists and engineers frequently drew upon a military vocabulary and alluded to the military nature of the project when discussing the motorway. (c) 2005 Elsevier Ltd. All rights reserved.

Dextrous hands: issues relating to a four-finger articulated hand

Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and fingertip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. The state of the art in manipulation by multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Such remotely driven hands require computation of tendon displacement for evaluating joint space vectors before signals are sent to actuators. Alternatively, a direct drive hand is a mechanical hand in which the shafts of articulated joints are directly coupled to the rotors of motors with high output torques. This article has been divided into two main sections. The first section presents a brief view of manipulation using a direct drive approach. Meanwhile, the other section presents ongoing research which is being carried out to design a four-finger articulated hand in the Department of Cybernetics at the University of Reading.

Orographic drag associated with lee waves trapped at an inversion

The drag produced by 2D orographic gravity waves trapped at a temperature inversion and waves propagating in the stably stratified layer existing above are explicitly calculated using linear theory, for a two-layer atmosphere with neutral static stability near the surface, mimicking a well-mixed boundary layer. For realistic values of the flow parameters, trapped lee wave drag, which is given by a closed analytical expression, is comparable to propagating wave drag, especially in moderately to strongly non-hydrostatic conditions. In resonant flow, both drag components substantially exceed the single-layer hydrostatic drag estimate used in most parametrization schemes. Both drag components are optimally amplified for a relatively low-level inversion and Froude numbers Fr ≈ 1. While propagating wave drag is maximized for approximately hydrostatic flow, trapped lee wave drag is maximized for l_2 a = O(1) (where l_2 is the Scorer parameter in the stable layer and a is the mountain width). This roughly happens when the horizontal scale of trapped lee waves matches that of the mountain slope. The drag behavior as a function of Fr for l_2 H = 0.5 (where H is the inversion height) and different values of l2a shows good agreement with numerical simulations. Regions of parameter space with high trapped lee wave drag correlate reasonably well with those where lee wave rotors were found to occur in previous nonlinear numerical simulations including frictional effects. This suggests that trapped lee wave drag, besides giving a relevant contribution to low-level drag exerted on the atmosphere, may also be useful to diagnose lee rotor formation.

Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approach

Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor

In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a full state robust backstepping controller are presented. The dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better mathematical representation of the mechanical system for system analysis and control design, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The input nonlinearities are the deadzone and saturation, where the gravitational effect and the inherent physical constrains of the rotors are related and addressed. The experimental multirotor aerial vehicle is equipped with an inertial measurement unit and a sonar sensor, which appropriately provides measurements of attitude and altitude. A real-time attitude estimation scheme based on the extended Kalman filter using quaternions was developed. Then, for robustness analysis, sensors were modeled as the ideal value with addition of an unknown bias and unknown white noise. The bounded robust attitude/altitude controller were derived based on globally uniformly practically asymptotically stable for real systems, that remains globally uniformly asymptotically stable if and only if their solutions are globally uniformly bounded, dealing with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances. The controller laws were tested in numerical simulations and in an experimental hexarotor, developed at the UFRN Robotics Laboratory

Vibration Attenuation in Rotating Machines Using Smart Spring Mechanism

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Ultracold collisions between two light indistinguishable diatomic molecules: Elastic and rotational energy transfer in HD plus HD

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A Short Note on Transverse Vibrations of a Shaft Carrying Two (or One) Disk Excited by a Nonideal Motor

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Inverter-fed linear asynchronous machine

The behaviors of an arc-shaped stator induction machine (the sector-motor) and a disc-secondary linear induction motor are analyzed in this work for different values of the frequency. Variable frequency is produced by a voltage source controlled-current inverter which keeps constant the r.m.s. value of the phase current, also assuring a sinusoidal waveform. For the simulations of the machine developed thrust, an equivalent circuit is used. It is obtained through the application of the one-dimensional theory to the modeling. The circuit parameters take into account the end effects, always present is these kind of machines. The phase current waveforms are analyzed for their harmonic contents. Experimental measurements were carried out in laboratory and are presented with the simulations, for comparison.