Development of robots and application to industrial processes

An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accomodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction

Scab of wheat (1993)

Reviewed October 1, 1993

Virus diseases of wheat (1991)

New 4/91/5M

Foliar fungicides for wheat (1992)

New 4/92/5M

Seed treatment fungicides for soybeans (1991)

New 4/91/5M

Trypanorhynch cestodes from Indonesian coastal waters

Results of a study on trypanorhynch cestodes of fishes from Indonesian coastal waters are presented. A new species, Dasyrhynchus thomasi sp. n., is described, and five species are recorded which all represent new locality records: Tentacularia coryphaenae Bosc, 1797; Nybelinia africana Dollfus, 1960; Nybelinia scoliodoni (Vijayalakshmi, Vijayalakshmi et Gangadharam, 1996); Sphyriocephalus dollfusi Bussieras et Aldrin, 1968; and Otobothrium penetrans Linton, 1907. Their known ranges of distribution are extended to the East-Indian Ocean. Scanning and transmission electron microscopy was used to clarify details of the tentacular armature and surface morphology of T. coryphaenae, D. thomasi and O. penetrans. In T. coryphaenae, hook-like microtriches along the bothridial tegument are embedded in the distal cytoplasm, sometimes showing a split base. The solid tentacular hooks are embedded into a fibrillar, highly ordered tentacular wall. D. thomasi is distinguished by its characteristically shaped bothridia and a triple chainette with winged hooks on the external surface of the tentacle. Tufts of microtriches with ciliated sensory receptors are regularly arranged on the bothridial surface of O. penetrans. They show similarities to sensory receptors reported from other trypanorhynch cestodes. Otobothrium pephrikos Dollfus, 1969 is considered a junior synonym for O. penetrans, and the variability of the scolex within trypanorhynch cestodes is emphasised