Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios

Method of producing parts by selective beam interaction of powder with gas phase reactant

A method and apparatus for selectively sintering a layer of powder to produce a part comprising a plurality of sintered layers. The apparatus includes a computer controlling a laser to direct the laser energy onto each layer of the powder to produce a sintered mass corresponding to a cross-section of the part. For each cross-section, the aim of the laser beam is scanned over a layer of powder and the beam is switched on to sinter only the powder within the boundaries of the cross-section. Powder is applied and successive layers sintered until a completed part is formed. Also disclosed is a method of forming a part by interaction of material in the powder layer with reactants in the surrounding atmosphere, at locations of the powder irradiated by the energy, or laser, beam. The reaction may be nitridation, oxidation or carburization of the powder, with the product being a chemical compound of one or more constituents in the powder with one or more gases in the atmosphere. Alternatively, reduction of the powder may be so enabled by the energy beam so that a metallic phase product is formed at the irradiated locations. Particular benefits of the invention include the densification of the material of the part as a result of the reaction, and the ability to form high temperature materials by way of a relatively low temperature process.Board of Regents, University of Texas Syste

An extended relational data base management system for engineering design

At present, the use of the relational model in the engineering design support domain is restricted due to the following: lack of ability to handle complex objects, no support for Abstract Data Types, inappropriate concurrency control for long transactions, no support for versioning and update propagation, poor efficiency, and insufficient design rule checking and consistency contraints enforcement. A simple relational database management system is designed and implemented under the UNIX operating system to incorporate two major extensions: support of user-defined Abstract Data Types and operators, and built-in Design Data Versioning. The design, implementation, and possible extensions to these new facilities are described

Selective laser sintering using nanocomposite materials

A method of fabricating three-dimensional objects in a layerwise fashion, and having high structural strength and high density, is disclosed. Methods are disclosed by which nanocomposite powders of ceramic-ceramic systems, ceramic-metal systems, ceramic-polymer systems, and metal-polymer systems are produced. Disclosed examples utilize solution chemistry approaches, such as sol-gel processing, by way of which a gel is produced which is then fired and milled to form a powder suitable for selective laser sintering, where a laser fuses selected portions of layers of the powders according to a computer-aided-design data base. The ultraheterogeneity of the powder results in larger surface area and grain boundaries of the constituents, which enhances the solid state diffusion mechanism, and thus reduces the time and temperature required for sintering to occur. In addition, the higher stored metastable energy of the nanocomposite powder is believed to enhance densification during solid-phase sintering. Objects of high density of complex shape may thus be obtained directly from CAD data base design representations.Board of Regents, University of Texas Syste