Abstract: This paper presents a sensor-based motion planning algorithm for 3-DOF car-like robots with a nonholonomic constraint. Similar to the classic Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment using only the range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves towards the goal. To guarantee that the robot can approach the goal, the two modes of motion are repeated, termed motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal, and the wall-following behavior makes the robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the instantaneous turning radius. The proposed algorithm is implemented to the real robot and the experimental results show the performance of proposed algorithm.
Abstract: This paper introduces a novel design for boring bar with enhanced damping capability. The principle followed in the design phase was to enhance the damping capability minimizing the loss in static stiffness through implementation of composite material interfaces. The newly designed tool has been compared to a conventional tool. The evaluation criteria were the dynamic characteristics, frequency and damping ratio, of the machining system, as well as the surface roughness of the machined workpieces. The use of composite material in the design of damped tool has been demonstrated effective. Furthermore, the autoregressive moving average (ARMA) models presented in this paper take into consideration the interaction between the elastic structure of the machine tool and the cutting process and can therefore be used to characterize the machining system in operational conditions.
Abstract: An attempt has been made to investigate the
machinability of zirconia toughened alumina (ZTA) inserts while
turning AISI 4340 steel. The insert was prepared by powder
metallurgy process route and the machining experiments were
performed based on Response Surface Methodology (RSM) design
called Central Composite Design (CCD). The mathematical model of
flank wear, cutting force and surface roughness have been developed
using second order regression analysis. The adequacy of model has
been carried out based on Analysis of variance (ANOVA) techniques.
It can be concluded that cutting speed and feed rate are the two most
influential factor for flank wear and cutting force prediction. For
surface roughness determination, the cutting speed & depth of cut
both have significant contribution. Key parameters effect on each
response has also been presented in graphical contours for choosing
the operating parameter preciously. 83% desirability level has been
achieved using this optimized condition.
Abstract: Production of hard-to-cut materials with uncoated carbide cutting tools in turning, not only cause tool life reduction but also, impairs the product surface roughness. In this paper, influence of hot machining method were studied and presented in two cases. Case1-Workpiece surface roughness quality with constant cutting parameter and 300 ºC initial workpiece surface temperature. Case 2- Tool temperature variation when cutting with two speeds 78.5 (m/min) and 51 (m/min). The workpiece material and tool used in this study were AISI 1060 steel (45HRC) and uncoated carbide TNNM 120408-SP10(SANDVIK Coromant) respectively. A gas flam heating source was used to preheating of the workpiece surface up to 300 ºC, causing reduction of yield stress about 15%. Results obtained experimentally, show that the method used can considerably improved surface quality of the workpiece.
Abstract: Based on the one-bit-matching principle and by turning the de-mixing matrix into an orthogonal matrix via certain normalization, Ma et al proposed a one-bit-matching learning algorithm on the Stiefel manifold for independent component analysis [8]. But this algorithm is not adaptive. In this paper, an algorithm which can extract kurtosis and its sign of each independent source component directly from observation data is firstly introduced.With the algorithm , the one-bit-matching learning algorithm is revised, so that it can make the blind separation on the Stiefel manifold implemented completely in the adaptive mode in the framework of natural gradient.
Abstract: In this paper we introduce a new unit test technique
called déjà-vu object. Déjà-vu objects replace real objects used by
classes under test, allowing the execution of isolated unit tests. A
déjà-vu object is able to observe and record the behaviour of a real
object during real sessions, and to replace it during unit tests,
returning previously recorded results. Consequently déjà-vu object
technique can be useful when a bottom-up development and testing
strategy is adopted. In this case déjà-vu objects can increase test
portability and test source code readability. At the same time they
can reduce the time spent by programmers to develop test code and
the risk of incompatibility during the switching between déjà-vu and
production code.
Abstract: Data mining can be called as a technique to extract
information from data. It is the process of obtaining hidden
information and then turning it into qualified knowledge by statistical
and artificial intelligence technique. One of its application areas is
medical area to form decision support systems for diagnosis just by
inventing meaningful information from given medical data. In this
study a decision support system for diagnosis of illness that make use
of data mining and three different artificial intelligence classifier
algorithms namely Multilayer Perceptron, Naive Bayes Classifier and
J.48. Pima Indian dataset of UCI Machine Learning Repository was
used. This dataset includes urinary and blood test results of 768
patients. These test results consist of 8 different feature vectors.
Obtained classifying results were compared with the previous studies.
The suggestions for future studies were presented.
Abstract: This paper proposed high level feature for online Lao handwritten recognition. This feature must be high level enough so that the feature is not change when characters are written by different persons at different speed and different proportion (shorter or longer stroke, head, tail, loop, curve). In this high level feature, a character is divided in to sequence of curve segments where a segment start where curve reverse rotation (counter clockwise and clockwise). In each segment, following features are gathered cumulative change in direction of curve (- for clockwise), cumulative curve length, cumulative length of left to right, right to left, top to bottom and bottom to top ( cumulative change in X and Y axis of segment). This feature is simple yet robust for high accuracy recognition. The feature can be gather from parsing the original time sampling sequence X, Y point of the pen location without re-sampling. We also experiment on other segmentation point such as the maximum curvature point which was widely used by other researcher. Experiments results show that the recognition rates are at 94.62% in comparing to using maximum curvature point 75.07%. This is due to a lot of variations of turning points in handwritten.
Abstract: Monitoring the tool flank wear without affecting the
throughput is considered as the prudent method in production
technology. The examination has to be done without affecting the
machining process. In this paper we proposed a novel work that is
used to determine tool flank wear by observing the sound signals
emitted during the turning process. The work-piece material we used
here is steel and aluminum and the cutting insert was carbide
material. Two different cutting speeds were used in this work. The
feed rate and the cutting depth were constant whereas the flank wear
was a variable. The emitted sound signal of a fresh tool (0 mm flank
wear) a slightly worn tool (0.2 -0.25 mm flank wear) and a severely
worn tool (0.4mm and above flank wear) during turning process were
recorded separately using a high sensitive microphone. Analysis
using Singular Value Decomposition was done on these sound
signals to extract the feature sound components. Observation of the
results showed that an increase in tool flank wear correlates with an
increase in the values of SVD features produced out of the sound
signals for both the materials. Hence it can be concluded that wear
monitoring of tool flank during turning process using SVD features
with the Fuzzy C means classification on the emitted sound signal is
a potential and relatively simple method.
Abstract: The purpose of the paper is to develop an informationcontrol environment for overall management and self-reconfiguration of the reconfigurable multifunctional machine tool for machining both rotation and prismatic parts and high concentration of different technological operations - turning, milling, drilling, grinding, etc. For the realization of this purpose on the basis of defined sub-processes for the implementation of the technological process, architecture of the information-search system for machine control is suggested. By using the object-oriented method, a structure and organization of the search system based on agents and manager with central control are developed. Thus conditions for identification of available information in DBs, self-reconfiguration of technological system and entire control of the reconfigurable multifunctional machine tool are created.
Abstract: Machining is an important manufacturing process used to produce a wide variety of metallic parts. Among various machining processes, turning is one of the most important one which is employed to shape cylindrical parts. In turning, the quality of finished product is measured in terms of surface roughness. In turn, surface quality is determined by machining parameters and tool geometry specifications. The main objective of this study is to simultaneously model and optimize machining parameters and tool geometry in order to improve the surface roughness for AISI1045 steel. Several levels of machining parameters and tool geometry specifications are considered as input parameters. The surface roughness is selected as process output measure of performance. A Taguchi approach is employed to gather experimental data. Then, based on signal-to-noise (S/N) ratio, the best sets of cutting parameters and tool geometry specifications have been determined. Using these parameters values, the surface roughness of AISI1045 steel parts may be minimized. Experimental results are provided to illustrate the effectiveness of the proposed approach.
Abstract: The aim of this paper is to experimentally discover the workability coefficient of the Inconel 718 material by using a slide turning machining. Two different types of cutting inserts, one made of carbide and the other one made of ceramic, are being used. The purpose is to compare measured results and recommend the appropriate materials and cutting parameters for a machining of the Inconel 718. Furthermore, the durability of inserts with the chosen wear criterion is being compared for different cutting speeds. Machinability of these materials is a crucial characteristic as it allows us to shorten the technological cycle time and increase the machining productivity. And this is of great importance from an economic point of view.
Abstract: Cloud Computing has recently emerged as a
compelling paradigm for managing and delivering services over the
internet. The rise of Cloud Computing is rapidly changing the
landscape of information technology, and ultimately turning the longheld
promise of utility computing into a reality. As the development
of Cloud Computing paradigm is speedily progressing, concepts, and
terminologies are becoming imprecise and ambiguous, as well as
different technologies are interfering. Thus, it becomes crucial to
clarify the key concepts and definitions. In this paper, we present the
anatomy of Cloud Computing, covering its essential concepts,
prominent characteristics, its affects, architectural design and key
technologies. We differentiate various service and deployment
models. Also, significant challenges and risks need are tackled in
order to guarantee the long-term success of Cloud Computing. The
aim of this paper is to provide a better understanding of the anatomy
of Cloud Computing and pave the way for further research in this
area.
Abstract: With the global financial crisis turning into what more
and more appears to be a prolonged “Great Recession", we are
witnessing marked reductions in remittance transfers to developing
countries with the likely possibility that overall flows will decline
even further in the near future. With countless families reliant on
remittance inflows as a source of income maintaining their economic
livelihood, a reduction would put many at risk of falling below or
deeper into poverty. Recognizing the importance of remittance
inflows as a lifeline to the poor, policy should aim to (1) reduce the
barriers to remit in both sending and receiving nations thus easing the
decline in transfers; (2) leverage the development impacts of
remittances; and (3) buffer vulnerable groups dependent on
remittance transfers as a source of livelihood through sound countercyclical
macroeconomic policies.
Abstract: This paper deals with the problem of thermal and
mechanical shocks, which rising during operation, mostly at
interrupted cut. Here will be solved their impact on the cutting edge
tool life, the impact of coating technology on resistance to shocks
and experimental determination of tool life in heating flame.
Resistance of removable cutting edges against thermal and
mechanical shock is an important indicator of quality as well as its
abrasion resistance. Breach of the edge or its crumble may occur due
to cyclic loading. We can observe it not only during the interrupted
cutting (milling, turning areas abandoned hole or slot), but also in
continuous cutting. This is due to the volatility of cutting force on
cutting. Frequency of the volatility in this case depends on the type
of rising chips (chip size element). For difficult-to-machine materials
such as austenitic steel particularly happened at higher cutting speeds
for the localization of plastic deformation in the shear plane and for
the inception of separate elements substantially continuous chips.
This leads to variations of cutting forces substantially greater than for
other types of steel.
Abstract: This paper investigates the occurrence of regenerative
chatter vibrations in facing and turning processes. Orthogonal turning
(facing) and normal turning experiments are carried out under stable
as well as in the presence of controlled chatter vibrations. The effects
of chatter vibrations on various sensor signals are captured and
analyzed using frequency domain methods, which successfully
detected the chatter vibrations close to the dominant mode of the
machine tool system.
Abstract: In this paper, a simulated annealing algorithm has been developed to optimize machining parameters in turning operation on cylindrical workpieces. The turning operation usually includes several passes of rough machining and a final pass of finishing. Seven different constraints are considered in a non-linear model where the goal is to achieve minimum total cost. The weighted total cost consists of machining cost, tool cost and tool replacement cost. The computational results clearly show that the proposed optimization procedure has considerably improved total operation cost by optimally determining machining parameters.
Abstract: In this paper, an erosion-based model for abrasive
waterjet (AWJ) turning process is presented. By using modified
Hashish erosion model, the volume of material removed by impacting
of abrasive particles to surface of the rotating cylindrical specimen is
estimated and radius reduction at each rotation is calculated.
Different to previous works, the proposed model considers the
continuous change in local impact angle due to change in workpiece
diameter, axial traverse rate of the jet, the abrasive particle roundness
and density. The accuracy of the proposed model is examined by
experimental tests under various traverse rates. The final diameters
estimated by the proposed model are in good accordance with
experiments.
Abstract: Political transition of agricultural properties in Poland and the former German Democratic Republic (GDR) after 1989 had
to include not only Reprivatization but also the issue of returning the
properties in kind to their former owners. Restitution in kind applied
in GDR to all forms of ownership which were subject to
expropriation between 1933 and 1989 except for properties taken
over during Soviet occupation in 1945-49. This issue was one of the flashpoints during the process of ownership changes. Privatization,
limited as it was, took place in unequal legal environment where only
one group of owners was privileged. Executing restitution in kind
created a feeling of uncertainty among potential real estate buyers.
Abstract: A judicious choice of insert material, tool geometry and
cutting conditions can make hard turning produce better surfaces than
grinding. In the present study, an attempt has been made to
investigate the effect of cutting tool materials on cutting forces (feed
force, thrust force and cutting force) in finish hard turning of AISI
D2 cold work tool steel. In conclusion of the results obtained with a
constant depth of cut and feed rate, it is important to note that cutting
force is directly affected by cutting tool material.