1,720,978 research outputs found
Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators
No full textThis article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators. The proposed approach takes advantage of the robustness properties of sliding mode control (SMC) and the prediction capabilities of model predictive control (MPC). SMC theory is employed to compensate unmodeled system dynamics and disturbances, ensuring accurate tracking and enforcement of a desired end-point impedance during interaction with the environment. Differently from other schemes, the sliding manifold is expressed directly in the task space and the approach is generalized to redundant manipulators by projection of the manifolds into joint space. Chattering attenuation is provided by a second-order integral sliding mode control law. These features are exploited by the MPC to guarantee motion and actuation constraint fulfillment based on the nominal feedback linearized robot model. A formal analysis of the control system is given along with the relevant proofs. The resulting model predictive sliding mode controller is able to cope with delays acting on the control input torque. The effectiveness of the approach is validated in simulation on a 4-DOF planar robot, and its viability on real platforms through experiments on a 7-DOF prototype ABB YuMi robot arm
Pitting corrosion on anodized titanium: Effect of halides
Full text linkTitanium corrosion resistance is high in the majority of environments. However, titanium is susceptible to different forms of corrosion, if exposed to high concentrated halides containing solutions. To face this corrosion problem, expensive titanium alloys are used. An alternative method, consisting of electrochemical anodizing treatment, which promote the formation of a compact titanium oxide on the surface, could be applied to increase titanium corrosion resistance. In this work, titanium samples anodized at 20V in H2SO4 0.5M have been tested in sodium fluorides, chlorides, bromides, and iodides at 0.5 and 2.0M in order to define halides aggressiveness
Chemical oxidation as repairing technique to restore corrosion resistance on damaged anodized titanium
Full text linkAnodized titanium shows an excellent resistance to pitting corrosion. However, it could be subject to failure in case of local removal of the oxide film due, for example, to incorrect handling during transport, installation, or use. Depending on part size and usage, an electrochemical anodizing treatment could be not feasible. In this case, localized chemical oxidation treatment could be used to recover damaged film and restore corrosion resistance. Chemical oxidation was performed on titanium by immersion in NaOH 10 M and H 2 O 2 10 M at temperature from room to 90 °C with duration ranging between 1 h and 72 h. Potentiodynamic tests in bromides 0.5 M were used to determine the effectiveness of the treatment in relation with the one obtained with anodic oxidation. Higher bath temperature led to faster growth of the film, however it has no effect on the final corrosion resistance. Breakdown potential in bromides increased with treatment duration. The establishment of a plateau occurs at earlier stage, as temperature is increased. Titanium samples anodized and then scratched, to simulate film mechanical removal, were recovered using chemical oxidation and initial corrosion resistance was restored. The suggested treatments for in-situ recovery are 72 h of exposure to NaOH or 6 h at H 2 O 2 at room temperature
Corrosion resistance enhancement of chemically oxidized titanium through NaOH and H2O2 exposure
Full text linkTitanium owes its astounding corrosion resistance to a thin, compact oxide layer that is formed spontaneously when the metal is exposed to the environment. However, even titanium can be subject to corrosion in very aggressive environments. To enhance its corrosion resistance, it is possible to exploit the same mechanism that leads to the formation of the protective oxide layer and force its growth with an external contribution. Oxidation can be easily stimulated with the use of an electrochemical cell. However, when part geometry or dimensions do not allow the immersion in an anodizing bath, chemical oxidation can be used. This study compares corrosion resistance enhancement after NaOH and H2O2 treatment. Treatment duration and temperature, solution concentration, and quantity are optimized to achieve the best corrosion resistance with the least time and chemicals consumption, by maintaining the process easy to perform and safe for the operator
A Hierarchical Optimization Approach to Robot Teleoperation and Virtual Fixtures Rendering
No full textGoing Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
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