bluuebunny/crossref_metadata_2025 huggingface dataset:
Nano-Crystalline Sn-Co-X Alloy Alternative to Decorative Chromium Plating
Authors: Hui Wen Hua , Meng Fan Juan , Li Yue Liang , Li Zhan Ping , Xie Xiao Feng , Cao Li Li
Published: March 2012

Decorative chromium demand in the worldwide market is more than three times of hard chromium. But chromium plating processes has long been known to hazardous. The corrosion resistance of a nano-crystalline Sn-Co-X alloy intended as an alternative for decorative chromium has been studied. The corrosion resistance of Sn-Co-X are all better than trivalent chromium, hexavalent chromium, and it is more better than coarser gained Sn-Co alloy. The microstructures of Sn-Co-X alloy were analyzed by SEM, TEM, XPS and AES. The mechanism of its excellent corrosion resistance is described.
EIS Study on the Deterioration Process of Organic Coatings under Immersion and Different Cyclic Wet-Dry Ratios
Authors: Zhang Wei , Chen Xue Zheng , Yin Peng Fei , Xu Zheng Kai , Han Bing , Wang Jia
Published: March 2012

Under immersed and we-dry cyclic conditions, the deterioration processes of the organic coating on carbon steel surface have been comparatively studied using electrochemical techniques. The wet-dry cycles were carried out by exposure to 4 h immersion and 4h dryness (4-4h cycles) and 12h immersion and 12h dryness (12-12h cycles) conditions, respectively. The immersion condition was carry out in a 3.5% NaCl solution and drying at 298K and 50% RH. According to the EIS characteristics, the entire deterioration processes under above three mentioned conditions can be divided into three main stages, consisting of the medium penetration, corrosion initiation and corrosion extension. Comparing with the immersed, the 4-4h wet-dry cycles greatly accelerated the entire deterioration process; especially during the corrosion initiation and the corrosion extension periods, leading the paint system lose its anti-corrosive performance in a short period. However, the 12-12h wet-dry cycles decelerated the entire deterioration process, prolonging the coatings anticorrosive ability. The acceleration mechanism of the coatings and underlying metal corrosion under wet-dry cycles was discussed based on the above results.
Research of Polycarbonate Sheet Processing Based on Multi-Point Forming
Authors: Cao Jun Hui , Fu Wen Zhi , Li Ming Zhe , Liu Chun Guo , Peng He Li
Published: March 2012

Although multi-point forming (MPF) is an advanced processing technique and has been investigated comprehensively as a metal working operation, there are few papers published to deal with MPF of polymers. The present paper reviews the features of MPF and evaluates the possibility of producing polymer components by means of MPF. The experimental research work makes use of PC sheets with a thickness of 3.82 mm. Numerical simulations were performed with the software ABAQUS, then spherical and saddle-shaped components were manufactured by MPF. The geometrical deviations between shaped components and their original CAD/CAM models were obtained to investigate the forming accuracy. The results confirm that MPF of PC sheet has potential for the manufacture of complex components.
Refined Technique and Characterization of Chinese Insect Wax
Authors: Zhang Hong , Zheng Hua , Chen Jun , Chen Xiao Ming , Zhao Hong , Zhang Wen Wen
Published: March 2012

For the improvement of processing and the increase of refined products of Chinese insect wax, it was carried out on the raw wax for its refining in the pilot plants. After the treatment, it was raised the melting point and reduced the acid value, iodine value, saponification value and insoluble substances of benzene significantly. The quality of final products was accord to the industrial top-grade requirement. The yield of refined wax was ranging from 72.76% to 74.30% and the whiteness was 51.8% to 56.3%. It was not observed any chemical changes of the wax during the processing.
Design of a Driving Kinematical Joint Actuated with Intelligent Materials Used in Structure of Industrial Robots
Authors: Vela Ion , Vela Daniel Gheorge , Bizau Viorel , Miclosina Calin Octavian , Amariei Daniel
Published: March 2012

The paper presents the design of a driving kinematical joint driven by a shape memory alloy actuator, which has the capacity to ensure a control of displacements and of forces in both directions. There are presented some aspects regarding the main designing elements of the driving kinematical joint and of the actuator. The constructive solution, an original conception, presents a series of advantages. Thus, the use of electric, hydraulic or pneumatic engines or machines was eliminated, decreasing the weight and size of the driving kinematical joint, decreasing the energetic consumption, having a simple and viable construction. In order to verify the presented device functionality the numerical simulation method of specialized SolidWorks software was used.
Workspace Generation for a 2 - DOF Parallel Mechanism Using Neural Networks
Authors: Campean Emilia , Itul Tiberiu Pavel , Tanase Ionela , Pisla Adrian
Published: March 2012

The main purpose of the paper is to develop a neural network application destined to the workspace generation of a parallel mechanism, as an performant alternative to the workspace representation based on inverse kinematic model. The paper describes both algorithms. The initial testing was made for a parallel mechanism with two degrees of freedom that could be applied for the orientation of different systems like a TV satellite dish antennas, sun trackers, telescopes, cameras, radars etc.
Constraint and Singularity Analysis of the Exechon
Authors: Amine Semaan , Caro Stéphane , Wenger Philippe
Published: March 2012

This paper deals with the constraint and the singularity analysis of the Exechon. Using the screw theory, the constraint and actuation wrenches acting on the moving platform are analyzed. The motion pattern of the Exechon is characterized based on a representation of the constraint wrenches in the projective space. A wrench graph representing the constraint and actuation wrench systems in the projective space is obtained. Based on this wrench graph, a superbracket of the Exechon is formulated. Finally, this superbracket is explored to provide the geometric conditions for the parallel singularities of the Exechon.
A Calibration Method for a Three-Degrees-of-Freedom Parallel Manipulator with a Redundant Passive Chain
Authors: Oiwa Takaaki , Daido Harunaho , Asama Junichi
Published: March 2012

This paper deals with parameter identification for a three-degrees-of-freedom (3-DOF) parallel manipulator, based on measurement redundancy. A redundant passive chain with a displacement sensor connects the moving stage to the machine frame. The passive chain is sequentially placed in three directions at approximately right angles to one another to reliably detect the motion of the stage. Linear encoders measure changes in lengths of the passive chain and the three actuated chains of the manipulator during traveling of the moving stage. Comparison between the measured length and the length calculated from forward kinematics of the 3-DOF manipulator reveals a length error of the passive chain. The least-squares method using a Jacobian matrix corrects 27 kinematic parameters so that the length errors of the passive chain are minimized. The above calculations were accomplished in both numerical simulations and experiments employing a coordinate measuring machine based on the parallel manipulator. Moreover, a length measurement simulation of gauge block measurement and a measurement experiment using the measuring machine were performed to verify the identified parameters.
Surface Patch Primitive Based Object Modeling from CAD Data
Authors: Lee Sukhan , Yoo Kyeong Dae , Kim Jae Woong , Lee Moon Ju
Published: March 2012

For manufacturing automation, for instance, the robotic automation of automobile sub-assembly, CAD data serves as DB offering the geometric information of parts essential for robotic manipulation. However, a direct application of CAD for the robotic manipulation of parts may be of an issue, due to the fact that the particular format of the CAD data available, e.g., STL, does not directly provide certain geometric entities such as surface patch primitives and/or features that are required for robotic manipulation. In this paper, we present a novel method for extracting geometric primitives and/or features, such surface patch primitives as planar, cylindrical, conic, and spherical patches, from the STL format of CAD data, such that an industrial part/object can be represented as a logical sum of these surface patch primitives extracted. This surface patch primitive based modeling makes the automated reasoning involved in the recognition and pose estimation, as well as the grasp planning, of parts/objects easy to be done. The proposed method is applied to various CAD data samples for experimentation: the results demonstrate the reliability as well as the computational efficiency of the proposed method in the extraction of surface patch primitives.
Soft Material Modeling for Robotic Manipulation
Authors: Essahbi Nabil , Bouzgarrou Belhassen Chedli , Gogu Grigore
Published: March 2012

This article presents a new approach of soft material modeling for robotic manipulation which combines physical modeling and tracking of a deformable object. We discuss the construction of geometrical models using MRI system and how to overcome the problem of variability. The physical model focuses on meat/muscles deformation. We introduce the principal criteria for choosing most appropriate models and discuss two modeling methods which suit our problem: mass spring model and tensor mass model. The introduction of anisotropy in these models allows results to be more realistic but evolves an increasing of computing time.
Synthesis of Spatial Parallel Mechanisms for a Vertical and Longitudinal All-Terrain Suspension
Authors: Fauroux Jean Christophe
Published: March 2012

Fast wheeled motion on unstructured grounds requires highly efficient suspensions that damp shocks vertically but also horizontally, which is an original contribution of the author. This work describes nine 2D and 3D kinematics, most of them with parallel structure, that are suitable for guiding a wheel and providing simultaneous damping in two directions. Steering and power transmission are also included in the most advanced variants, that were previously patented. Both structural and dimensional synthesis are presented, with a kinematic description of each system. A real implementation at a small scale is also described.
Evaluation of the Position Error of Four Non-Overconstrained Spherical Parallel Manipulators
Authors: Chaker A. , Mlika A. , Laribi M.A. , Romdhane L. , Zeghloul S.
Published: March 2012

The 3-RRR spherical parallel manipulator is known to be highly overconstrained, which causes several problems of mounting the mechanism, but has the advantage of having high rigidity thus a good precision. Several works in the literature proposed non-overconstrained versions of this mechanism. However, very few works dealt with the problem of the consequence of modifying an overconstrained mechanism into a non-overconstrained one, mainly from an accuracy point of view. In this work, we present an analysis of the accuracy of four different non-overconstrained SPMs, i.e., 3-RSR, 3-RCC, 3-RRS, and 3-RUU. These four SPM are then evaluated in translational and rotational accuracy due to manufacturing errors. The error on the position and orientation of the end-effector, due to manufacturing errors, are computed in 100 different configurations within their workspace. These SPMs are then compared among each other and we showed that the 3-RRS has the best compromise between the translational and rotational accuracy.
Application of Counter-Rotary Counterweights to the Dynamic Balancing of a Spatial Parallel Manipulator
Authors: Acevedo Mario , Ceccarelli Marco , Carbone Giuseppe
Published: March 2012

The dynamic balancing of a spatial parallel manipulator of three degrees-of-freedom, CaPaMan-2 (Cassino Parallel Manipulator 2), by the application of Counter-Rotary Counterweights (CRCW) is analyzed. To accomplish this objective the mass and inertia of the moving platform are dynamically replaced by point masses located at the points of attachment of the legs to the platform and the mechanism is balanced by considering each of the legs independently. This fully parallel manipulator has three identical legs, each one composed by a four-bar mechanism (an articulated parallelogram) connected to the fixed base, and a link supported by the coupler that connects to the mobile platform. This link, seen as a pendulum, is transformed to a dynamic balancer using a Counter-Rotary Counterweight in order to compensate the motion of the moving platform. In a second stage the articulated parallelogram is modified by adding Counter-Rotary Counterweight plus a Counterweight to dynamic balance its part of the system. As a final result it is obtained a new design, with a parallel manipulator dynamic balanced. The resulting model of the manipulator is validated by dynamic simulation, using general purpose software for the analysis and dynamic simulation of multi-body systems (ADAMS).
A Hexapod Walking Micro-Robot with Compliant Legs
Authors: Doroftei Ioan , Adăscălitei Florentina
Published: March 2012

The conventional mechanisms with stiff joints make the robots more complex, heavy, large and expensive. As walking robots are requested to perform tasks in rough terrain, the development of actuators capable to flexibly adapt to the unstructured environment becomes more and more necessary. Biological mechanisms like legs with high effectiveness and developing high forces are very common in nature. This is why introducing such structures in robotics is one of the most popular research in biomimetics. A wide variety of artificial muscles as actuators in robotics have been investigated till now. Shape Memory Alloys are a category of such artificial muscles which can be used as actuators in the structure of a biomimetic walking robot. In this paper, mechanisms that can convert the small strain of a SMA wire into large motion, used as legs for a hexapod walking micro-robot, are discussed.
Joint Kinematics from Functional Adaptation: An Application to the Human Ankle
Authors: Conconi Michele , Parenti Castelli Vincenzo
Published: March 2012

The aim of this paper is to exploit the concept of functional adaptation to model the motion of human joints and to present an application to the human tibio-talar articulation. With respect to previous works, a new algorithm is presented here that improves the model outcomes and numerical stability, also reducing the computational cost. Moreover, a refined measure for joint congruence is proposed, which requires only the knowledge of the articular surface shapes. This measure is hypothesized to be proportional to the joints ability to withstand an applied load. Biological tissues tend to achieve the necessary mechanical resistance with the smallest amount of material (functional adaptation). Conversely, adapted tissues employ their material optimally, maximizing their mechanical resistance. It follows that, as a result of the functional adaptation process, an adapted joint will move along the envelope of maximum resistance and thus maximum congruence configurations. This envelope defines a spatial trajectory along which the functional adaptation requirements are satisfied and it may thus be called functionally adapted trajectory. The functionally adapted trajectory obtained by simulations is compared with in vitro measured one. Preliminary results provided strong support to the theoretical model prediction.
A Mechanism for Self-Starting Thermal Engine
Authors: Dehelean Nicolae Mircea , Dehelean Liana Maria
Published: March 2012

The conventional engine cannot start alone. The engine needs a special device to turn it on. This device is usually an electric motor that is called starter. Any other engine that uses another working cycle then Otto cycle or Diesel cycle could accede to a self-starting ability. The paper tries to use ancient ideas in order to develop a true thermal engine able to use solar and other renewable energy. This unconventional engine inherits some ideas from the perpetual motion machine solutions.
Synchronous Drive Omnidirectional Minirobot
Authors: Tătar Mihai Olimpiu , Cirebea Claudiu , Mândru Dan , Chetran Beniamin Vasile
Published: March 2012

This paper presents an omnidirectional minirobot with conventional wheels that uses a synchro drive principle. The minirobot contains three pairs of conventional wheels and two D.C. motors. The transmission from the D.C. motors to the minirobot's wheels is achieved using geared mechanisms: three for steering and another three for displacement. The actuation and control system of the minirobot is described.
An Inteligent Tasks Planning System for Industrial Mobile Robots
Authors: Panfir Alina Ninett , Covaci Alexandra , Mogan Gheorghe Leonte
Published: March 2012

In this paper we present a general structure of an automatic task planner for a multirobot system. Our focus in this paper is to develop an intelligent complex task planning system that uses both model and case - based approach, while trying to come up with actions that support end goals. We provide an overall description of the proposed system and its integration in an implemented architecture.
Passively Adaptive Compliant Gripper
Authors: Petkovic Dalibor , Issa Mirna , Pavlovic Nenad D. , Zentner Lena
Published: March 2012

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The underactuation can morph shapes of the gripper to accommodate to different objects. As a result, they require less complex control algorithms. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance and embedded sensors in the gripper structure. The adaptive gripper surfaces will have the sensing capability by these embedded sensors. The gripper will be made of a silicone rubber and conductive silicone rubber will be used for the embedded sensors. The main points of this paper are in explanation of the construction and production of the gripper structure and showing the methodology of a new sensing capability of the gripper.
Software Module for a Virtual Anthropomorphic Gripper Preshaping
Authors: Moldovan Constantin Catalin , Staretu Ionel , Itu Alexandru Mihail
Published: March 2012

Virtual reality is an important technology in the context of product lifecycle management. Through virtual reality, one offers solutions in the design phase, but also during use, resulting in a significant reduction in time between concept and prototype stage and an overall process optimization increase. Control interfaces of anthropomorphic grippers in virtual environments allow carrying out a series of tests and simulations to validate both a particular design and the configuration of a certain gripping operation. The control interface of an anthropomorphic gripper is also responsible for the connection between the user and the virtual environment providing a set of tools for performing the functional simulation. This paper presents the RoboSIM software module, which is an advanced control interface for a three fingered anthropomorphic gripper. This module was primarily developed for easing the functional simulation of a three fingered gripper in a virtual environment. In order to further decrease the time between concept and prototype, RoboSIM was extended to directly communicate with the real gripper. In this way the functional simulations results can be directly transferred using RoboSIM to the real gripper which will perform the gripping operation accordingly. This novel approach is especially suited for anthropomorphic grippers which are known to have an increased number of degrees of freedom thus their control interfaces becoming very complex.
Hardware-In-The-Loop (HIL) Simulation Used for Testing Actuation System of a 2-DOF Parallel Robot
Authors: Rad Ciprian , Maties Vistrian , Hancu Olimpiu , Lapusan Ciprian
Published: March 2012

This paper focuses on the subject of Hardware-in-the-Loop (HIL) simulations from mechatronic systems design perspective. HIL is a real-time simulation where real subsystem parts of a complex engineering system are coupled together with the numerical models of the remaining subsystems to form its complete representation. In a HIL simulation there are three main components: simulated components, dedicated hardware systems and real components. An impediment in using this method is the high cost of necessary hardware. The paper presents an economical alternative to existing dedicated hardware systems by using the development board FiO Std. Using this board, a HIL simulation aimed at analyzing the control and actuation system of a 2-DOF parallel robot is presented in this paper. The HIL simulation includes two models: a target model (running on FiO Std board) and a host model (running on MATLAB/Simulink). The dynamic model of the robot mechanical structure (simulated part) is implemented in host model and then coupled together with two servo-motors (real parts) through target model to form a complete representation of the studied system.
AR-Based Off-Line Programming of the RV-M1 Robot
Authors: Gîrbacia Florin , Mogan Gheorghe Leonte , Paunescu Tudor
Published: March 2012

This paper presents a prototype system for off-line programming of industrial robot RV-M1 using augmented reality technology. The system allows controlling a virtual model of the industrial robot co-located in the real environment, planning configurations, generating robot program and simulating the robot actions. The proposed architecture makes it possible to manipulate, pick or place the objects in the scene. The advantage of this system is use of inexpensive equipment for intuitive off-line programming of an industrial robot.
Towards a Virtual Reality Simulator for Orthognathic Basic Skils
Authors: Sofronia Raluca Elena , Davidescu Arjana , Savii George Gustav
Published: March 2012

Bone sawing skill demands a high level of dexterity from the surgeon that can be achieved only with a lot of training. Sawing is a basic skill required in many procedures, such as: osteotomy, ostectomy, amputation and arthroplasty surgery. Inefficient sawing can lead in orthognathic surgery to nerve lesion, bad split and non-union. Using virtual reality technology this complications can be reduced, by training the students on simulators until they assimilate the skill. This paper presents an early prototype for a bone sawing simulator in orthognathic surgery. A voxel-based mandible model obtained from a Computer Tomography is cut by removing the voxels that are inside the saw blade. The collision detection is based on hierarchical bounding volumes. The removal process is observed both visually and haptically.
Design Process of a Robotized Tele-Echography System
Authors: Essomba T. , Nouaille L. , Laribi M.A. , Poisson G. , Zeghloul S.
Published: March 2012

This paper deals with the design process of a particular mechatronic system: a tele-echography robot. First, we describe the principle of robotized tele-echography and the prototypes already designed. Then, after having chosen the design process, we show two medical gestures analysis performed to define the required specifications of a tele-echography robot. Several kinematic synthesis allow demonstrating that the serial spherical wrist is the most adapted structure to this medical application. The kinematic performance of this structure is limited by the singularity position located at the centre of the workspace. An inclined spherical wrist structure is proposed to displace the singularity position in a less used workspace zone that the normal direction to the patients skin. In the dimensional synthesis phase, this structure is optimized. Then, a collaborative design study with designers is presented to improve aesthetic and ergonomic of the robot. This step was very interesting because it brought innovative propositions. Finally, a detailed phase allows defining the PROSIT 1 robot. It was manufactured and will be soon tested in clinical environment.
Sensitivity Analysis of an Overconstrained Parallel Structure Machine Tool, the Tripteor X7
Authors: Chanal Helene , Paccot Flavien , Duc Emmanuel
Published: March 2012

A main limitation of parallel kinematics machine tools (PKM) use for machining tasks is their accuracy low level mainly due to geometrical transformation errors. Indeed, such machine tools are geometrically controlled with an inverse kinematics model (IKM). For a large number of PKM, this IKM is defined with an analytic method and by introducing geometrical parameters. Thus, the influence of each geometrical parameter on the tool pose accuracy should be estimated via a sensitivity analysis. In the case of an overconstrained PKM, the IKM is generally computed with a numerical method. The sensitivity analysis leads to complex computation. The aim of this paper is to present a sensitivity analysis on the Tripteor X7, an overconstrained machine tool. This study is also a first step to define the geometrical identification method on this overconstrained mechanism.
Robotic Welding Cells Configuration
Authors: Popa Razvan , Joni Alexandru , Ghionea Adrian , Iacob Robert
Published: March 2012

This paper deals with electric arc robotic welding, the main objective being the optimal structure configuration of the flexible Robotic Welding Cells (RWC). To this purpose, the authors propose a new algorithm for the configuration of the cell structure based on a set of optimization criteria. Thus, to determine the optimum RWC structure, the working cycle of the technological welding process and some process parameters influencing the welded ensemble are improved as well.
Simulation of Bending Vibrations of a Roller System
Authors: Voicu M.C. , Lammen B. , Schmidt R. , Maniu I.
Published: March 2012

To improve the efficiency of printing or coating processes for paper products the velocity of the web and the roller width can be increased. However, these measures cause deformations of the rollers, heating effects and streak print defects due to undesirable oscillations. The vibration characteristic is significant for the quality and efficiency of the printing or coating processes. Approved methods like balancing of the rollers and maximizing the bending stiffness have come to technical limits. This paper describes a new promising technology for further optimization of printing and coating machines. Piezoelectric actuators are integrated in the bearings of a roller of a flexographic printing machine and generate counterforces to compensate undesired bending vibrations. Strain gauges applied on the roller measure the vibrations. A simulation model of the mechatronic overall-system has been developed to design the control strategy. The oscillations of roller systems in printing machines and other industrial applications are mainly stimulated by disturbances that occur periodically with each rotation. A feedback control strategy combined with a feed forward compensation of predictable disturbances has shown promising results in simulation and experiments. Due to the fact that the excitations of the oscillations are periodically with the rotation of rollers, another approach for vibration reduction has been developed. The forces for vibration reduction are not generated by an active mechatronic system but by passive profile rings.
High Speed Non-Contact Object Handling Using Magnetic Levitation and Tilt Control
Authors: Kuruma Yusuke , Yamamoto Akio , Higuchi Toshiro
Published: March 2012

This paper describes high speed non-contact object handling with one degree-of-freedom magnetic levitation. Feed-forward tilt control using an industrial robot realizes large acceleration and tilt angle. Experimental results demonstrate the transportation with the maximum acceleration of 7.31 m/s2 and maximum tilt angle of 36o. This acceleration is seven times higher than the previously performed experiments. Tracking error associated with high speed motion causes lateral vibration of the object. This paper also introduces iterative learning control (ILC) to improve trajectory tracking. Experimental results show that ILC reduces the tracking error; nevertheless the lateral vibration still remains.
Fabric Defect Detection Using Wavelet-Enhanced Single-Point Photoelectric Sensing System
Authors: Zhong Shun Cong , Zhang Qiu Kun , Yao Li Gang , Shen Yao Chun
Published: March 2012

A fabric defect detection system based on single-point photoelectric sensing, was proposed and developed. The performance of the system was enhanced by using wavelet denoising algorithm to reduce the negative effect of noise and the environment disturb, such as fluorescent light in the factory. Instead of detection of light reflection from fabric, a light transmission technique with higher signal-to-noise rate was employed in the system for evaluating the fabric defect. A Si photodiode was used to record the defect signal of fabric. The signal was enhanced by stationary wavelet transform. The signal was quantitatively evaluated and finally a defect alarm was triggered. From the experimental results, the timeliness, robustness and detection precision of the system were demonstrated, therefore, it could be recommended for the applications in fabric industries.
Compliant Structures in Book Handling Applications
Authors: Modler Niels , Hufenbach Werner , Comsa Andrei , Maniu Inocentiu , Zichner Marco , Friedrich Jens
Published: March 2012

This paper describes an overview regarding the compliant structures used in library automation context, more precisely in books handling applications. As libraries provide a huge content of printed materials, the automation of books handling becomes a must. In the same point of view, a large amount of routine and repetitive activities will be reduced in the workplace of shelves and in service point. Also, this article presents an innovative design approach in designing library book handling gripper mechanisms. This article proposes one CAD gripper model designed in Solid Works software. The parallel gripper prototype is still in manufacturing process using light-weight glass-fiber reinforced for the material. The CAD model for the gripper and FEM simulation is presented.
Elements of Synthesis and Experiment for Parallel Robots
Authors: Dolga Valer , Dolga Lia
Published: March 2012

Parallel robots have received special interest due to their advantages over conventional serial mechanisms: high rigidity, high load capacity, high velocity and high precision. The parallel robot is a mechatronic system and requires to be designed in the spirit of the mechatronic philosophy. The use of a parallel robot in a given application requires a careful analysis of the structure and of the indispensable parameters. Structural synthesis of mechanisms for parallel robots is addressed in detail. This paper proposes a method of structural synthesis of the parallel robotic mechanism according to the concept of the mechatronic philosophy and of the kinematic connections. The authors offer a system for analyzing the robot performances based on the3D CompuGaugeequipment.
A Detached House Simulation Using the International Building Physics Toolbox in Matlab\Simulink
Authors: Muresan Vlad , Radu Balan , Radu Donca , Pacurar Laura
Published: March 2012

Energy savings are an important issue in the context of climate change. The main goal of researchers is to study and develop new methods of improving energy efficiency in household heating. In this paper a Matlab toolbox is presented and explained. The toolbox is developed for researchers and students interested in simulating building energy behavior. A test room is developed and simulated and a radiator model is implemented. Two types of heating are used during the simulation: a radiant floor heating and a panel radiator. A simple on-off control is used for each heating system. The goal of the paper is to study the impact on energy consumption of each heating system used and their impact on energy consumption when the two heating systems are used in different configurations.
Mechatronic Concepts in Design and Control of a Teleoperated Robot
Authors: Lapusan Ciprian , Maties Vistrian , Hancu Olimpiu , Rad Ciprian
Published: March 2012

The article proposes a new mechatronic integrated design approach for a robotic system. The proposed method uses modern methods like model based design, rapid control prototyping and hardware in the loop simulations in the development process. Using this method a six DOF teleoperated parallel robot is developed, the results are presented in the paper.
An Overview of Library Automation
Authors: Comsa Andrei , Maniu Inocentiu , Modler Niels , Hufenbach Werner , Lovasz Erwin Christian , Ciupe Valentin
Published: March 2012

This paper describes an overview regarding library automation and present possibilities to handle books using robots in the context of library activities. In this context, library automation is referring to hardware and software systems that are implemented in the library process activities in order to automate book handling applications. Some similar developments are presented. Also, two CAD models of the proposed book manipulator using linear drives are presented.
The Automotive Friction Clutches Face Seal Axial Symmetric Modeling Problem
Authors: Borozan Ion , Maniu Inocentiu , Kulcsar Raul Miklos , Argesanu Veronica
Published: March 2012

An axial clutch is one in which the mating frictional members are moved in a direction parallel to the shaft. One of the earliest of these is the cone clutch, which is simple in construction and quite powerful. However, except for relatively simple installations, it has been largely displaced by the disk clutch employing one or more disks as the operating members. Advantages of the disk clutch include the freedom from centrifugal effects, the large frictional area that can be installed in a small space, the more effective heat-dissipation surfaces, and the favorable pressure distribution. Modeling methods typically implement mathematical models that can be used to simulate steady-state and transient performance under various commanded conditions, loads, and operational regimes. In the case of drive-train systems, these models should be dynamic to simulate the transient interaction among speeds, loads, and power sources. These dynamic simulation models enable the identification of diagnostic indicators. .
Analytic and Experimental Study of the Load Distribution on Spline Joints Length Considering the Contact Rigidity of the Bearing Surfaces
Authors: Mărgineanu Dan , Mărgineanu E. , Zăbavă E.S. , Fârtă A. M.
Published: March 2012

The spline joints transmit torque from shafts to rotors by multiple contact surfaces. The joint's mechanical system is, therefore, undetermined, i.e. the number of contact points is much larger than the number of restricted degrees of freedom. Thus, the actual load distribution is greatly influenced by the joints elements elastic properties and their geometrical errors and surface profile. In this paper, an analytical and experimental study for the load distribution on the in joints length caused by the finite rigidity of the joints elements is presented.
Ergonomic Study Regarding the Effects of the Inertia and Centrifugal Forces on the Driver
Authors: Kulcsar Raul Miklos , Madaras Lucian , Maniu Inocentiu , Borozan Ion , Argesanu Veronica
Published: March 2012

The purpose of this paper is to observe the ergonomic advantages of different car seats and how the driver is constrained to them during the drive. The study was conducted by taking in to consideration the dynamical characteristics of a standard vehicle and subjecting the human body model provided by the AnyBody Modelling System, to inertia and centrifugal forces, in three different driving posture cases. The model proved to be viable and offered an image of different car seats advantages from ergonomic point of view.
Fatigue Analysis of Low Level Links of a Parallel Topology Robot Guiding Device Mechanism
Authors: Miclosina Calin Octavian , Câmpian Constantin Viorel
Published: March 2012

The paper presents a fatigue analysis of low level links of a parallel topology robot guiding device mechanism. This mechanism has a FP3+3·RRS+MP3structure. The 3D model of the guiding device is presented. In a SolidWorks Motion study, motion laws for motors are defined and a force is applied on the mobile platform MP3. The loads on low level links are imported in SolidWorks Simulation module. Then, von Mises stresses are determined by finite element method and, based on these results, fatigue analysis is performed. Two variants of low level links are analized: first, with no fillet between the base cylinder and the body and second, with fillet.
Artificial Aging Test Analysis of Alkyd and Polyurethane Coating System
Authors: Liu Pan
Published: March 2012

Paint aging will take a long time under the conditions of natural exposure, their failure mechanism can't be known quickly. So the artificial UV-condensation accelerated aging test is used to alkyd system and polyurethane system, and the coating aging was analyzed by using SEM, gloss meter and FTIR. The results shown that their failure mechanism is different, the main reason that life of alkyd system was lower than polyurethane system is its weak water-resistant. If the water-resistant of alkyd system can be improved, the use area of alkyd system will be expanded.
The Applied Research of Nanophase Materials in Sports Engineering
Authors: Zhao Hua En , Shen Fei
Published: March 2012

Functional properties of nanophase materials are different from conventional materials, which determined the related technology for the rapid development and wide application space. Nanophase materials have been widely used in sports stadiums, sports turf, athletics track, sports clothing, sports equipment and sports supplements, and so on. At the same time, there may be a negative effect of nanophase materials on cell, lung, liver, kidney and brain. Therefore, the biological study of nanophase materials should also be strengthening.
Experimental Study of Kinetic Parameters about Pyrolysis of Sewage Sludge
Authors: Kong Song Tao , Cai Ping , Jiang Ling , Wei Jiang Tao
Published: March 2012

In order to meet the pyrolysis and gasification of municipal sewage sludge, Chongqing typical pyrolysis of sewage sludge kinetic parameters are studied with heat balance in the atmospheric pressure conditions. The pyrolysis kinetics of Chongqing typical municipal sewage sludge is determined. We measure the gasification activation energy of sample in an ordinary furnace is for the 39.82 kJ/mol and the preexponential factor is 19.07s-1. These results will be used to the actual sludge pyrolysis gasification and sludge waste mixed gasification reactor for its designing, constructing and operating.
Low Frictional TiO2 and MoS2/TiO2 Coatings on Ti-6Al-4V Alloy
Authors: Cheng Tse , Peng Zhi Jing , Nie Xueyuan
Published: March 2012

TiO2 and MoS2/TiO2 coatings were prepared using a Plasma Electrolytic Oxidation (PEO) process at a unipolar pulsed-DC mode. Both coatings, mainly comprised of anatase TiO2, exhibited a low coefficient of friction, C.O.F < 0.21 for the TiO2 coating and C.O.F < 0.16 for the MoS2/TiO2 coating, while the MoS2/TiO2 coating had a longer wear life than TiO2-coated and uncoated Ti alloy (Ti-6Al-4V). This result showed that the solid lubricant MoS2 may play a significant role in the tribological behavior and it can be applied to many high load-bearing systems in aerospace and automotive industries.
Pretreatment of High Strength Ammonia Removal from Rare-Earth Wastewater by Magnesium Ammonium Phosphate (MAP) Precipitation
Authors: Wang Hao , Cheng Guan Wen , Song Xiao Wei , Xu Zai Han , Meng Jin Jie , Dong Chuan Qiang
Published: March 2012

Ammonia is one of the most important contaminants affecting the quality of water environment. Magnesium ammonium phosphate (MgNH4PO4·6H2O), which is a slow releasing fertilizer, is one possible way to remove high strength ammonia from the wastewater. The wastewater is collected from the effluent of extraction of rare earth elements factory, the study investigate the influence of pH, magnesium and phosphate dosing molar ratio and reaction time for ammonia removal rate. The results show that: when the pH = 9.2, n (Mg): n (N): n (P) = 2.2:1:2, reaction time t = 20min, ammonia concentration of the wastewater from 4420mg / L down to 1440mg / L , ammonia nitrogen removal rate can reach 67%, the remaining TP = 0.9mg / L; higher Ca2 + concentration will affect the MAP precipitation for removing ammonia, but it help to reduce total phosphorus concentrations of effluent; it is not the longer reaction time the better removal rate, because the MAP-formation will destroy with longer reaction time.
Manufacture and Grinding Performance of a Polyimide Resin-Bonded cBN Wheel for Precision Grinding of Ferrous Materials
Authors: Chen Jian Lin , Wan Long
Published: March 2012

A polyimide resin-bonded cubic boron nitride (cBN) wheel was designed and manufactured for precision grinding ferrous materials. Firstly, the curing reaction of the resin, which including chain and cross-linking polymerization stages with the exothermic peaks of 140°C and 235°C, respectively, was analyzed by DSC-TG. Based on thermal analysis, a hot press forming process and a post thermal treatment were employed for manufacturing the wheel. Grinding experiment results showed that the transient normal grinding forces vary from 9 to 12 N and fluctuate slightly with 1~2 N when grinding hardened steel 45#. The grinding ratio of 775 and the surface roughness of 0.19 μm were obtained.
Enhanced Direct Electrochemistry of Glucose Oxidase and Glucose Biosensing Based on TiO2-Decorated Graphene Nanohybrids
Authors: Wu Jun , Liu Qian , Wang Kun , Cai Jian Rong
Published: March 2012

Using TiO2-decorated graphene (TiO2-G) nanohybrids as the immobilized platform for redox protein, and selecting glucose oxidase (GOD) as model enzyme, the direct electrochemistry of GOD was investigated in this paper. By virtue of the synergetic effect between graphene and TiO2 nanoparticles, the direct electron transfer of GOD on the TiO2-G nanohybrids modified electrode was remarkably promoted with a rate constant of 3.24 s-1. Moreover, based on the decrease of the electrocatalytic response of the reduced form of GOD by dissolved oxygen, a glucose biosensor was developed, which showed a satisfactory analytical performance for glucose determination over an acceptable linear concentration range from 5×10−4 to 2×10−2 mol/L. All these results demonstrated the great significance of such TiO2-G nanohybrids for the immobilization of enzyme and other biomolecules.
Estimating Crack Depth of Concrete Structures Using Ultrasonic Pulse Velocity
Authors: Cho Young S. , Han Sang Woo , Jang Hyun Suk , Baek Sang Ki , Hong Seong Uk
Published: March 2012

The concrete structures have the quite close linkage on the human life and it is used for a long time. Therefore, the importance for structure safety had been being continuously increased. The general method in order to measure concrete crack is the non destructive inspection. This method is known efficiently when it is difficult to check the crack through the eyes because of not exposed. Hence, the purpose of this study is measuring a crack depth of concrete by using the ultrasonic pulse velocity. And the Pundit that is one among the supersonic equipment was used in order to proceed with this research. In the first place used the existing methods (Tc-To, BS, T, close range bypass wave) in order to estimate crack depth of concrete. And then new method that the BS method and the T method are combined make an attempt to analyze the error.
Evaluation of Texture Developed in High-Temperature β-Phase during Friction Stir Welding of Ti-6Al-4V
Authors: Mironov Sergey , Sato Yutaka S. , Kokawa Hiroyuki
Published: March 2012

The Texture Developed in High-Temperature β Phase during Friction Stir Welding of Ti-6Al-4V Was Studied. It Was Demonstrated that 0002 and 1120 Pole Figures Calculated from α Phase May Be Employed for Interpretation of Material Flow in the β Phase. Together with Orientation Measurements in Retained β Phase, this Approach Was Shown to Be a Very Simple and Effective for the Texture Analysis. The β Texture Was Found to Be a Mixture of {hkl}<111>-Fiber Texture and D2(112)[111](Simple-Shear Texture Component.
Preparation of SiNOf/BN High Temperature Wave-Transparent Composites by Precursor Infiltration and Pyrolysis Method
Authors: Cao Feng , Fang Zhen Yu , Chen Fei , Zhang Chang Rui , Shen Qiang , Wang Si Qing , Li Bin
Published: March 2012

Sino Fibers Reinforced BN Wave-Transparent Composites (SiNOf/BN) Were Fabricated through Precursor Infiltration and Pyrolysis (PIP) Method Using Borazine as Precursor. The Effect of Pyrolysis Temperature on the Densification Behavior, Microstructures, Mechanical Properties and Dielectric Properties of the Composites Was Investigated. The Results Suggest that with the Increase of the Pyrolysis Temperature from 800 °C to 1000 °C, the Density, Mechanical Properties and Dielectric Constant of the Composites Are Increased, but the Infiltration Efficiency Varies Little. At the Pyrolysis Temperature of 1000 °C, the Density of SiNOf/BN Composites is 1.84 g∙cm-3 and the Flexural Strength and Elastic Modulus Are 148.2 MPa and 26.2 GPa Respectively. The Dielectric Properties, Including Dielectric Constant of 3-4 and Dielectric Loss Angle Tangent of below 7×10-3, Obtained at Three Different Temperatures Are Excellent for the SiNOf/BN Composites Applied as Wave-Transparent Materials.
Fabrication of Nanocrystalline Fe84.3Si4B8P3Cu0.7 Powders with High Magnetization
Authors: Zhang Yan , Wen Yu Ren , Makino Akihiro
Published: March 2012

With the Aim of Preparing the Raw Powders Used for Soft Magnetic Compacts Production, Nanocrystalline Soft Magnetic Powders of Fe84.3Si4B8P3Cu0.7Were Successfully Fabricated Using Crystallization by Rapid Heat-Treatment and Mechanical Ball-Milling Methods. We Investigated the Relation of the Magnetic Properties, Crystallization Degree and Heat-Treatment Condition in Salt-Bath Process. In this Study, a Fine Nanocrystalline Structure with an Extremely Number of α-Fe Grains with the Similar Size of ~ 30 nm Was Obtained. This Led to Excellent Soft Magnetic Properties, i.e., 1.85 T (197.7 emu/g) and 10 A/m for Saturation Magnetization and Coercivity, Respectively. By Controlling the Milling Time, Different Particle Size of Powder Can Be Obtained.
Local Atomic Arrangement of Amorphous Zr50Ni50 Alloy Analyzed by AXS-RMC Method
Authors: Kawamata T. , Yoshihiko Yokoyama , Sugiyama Kazumasa
Published: March 2012

Structure of Zr50Ni50Amorphous Alloy Was Analyzed by Anomalous X-Ray Scattering (AXS) Coupled with Reverse Monte-Carlo (RMC) Simulation. Topological Features in the Nearest Neighbor Atomic Configuration Clearly Suggest that the Strong Chemical Interaction between Ni and Zr Breaks the Icosahedral-Like Local Ordering Structure Common in the Dense Random Packing of Hard Sphere (DRPHS) Model. Nevertheless, the Structure of Zr50Ni50Shows No Further Features Related to the Crystal-Like Chemical Short Range Ordering (CSRO).