Development of a Robotic Positioning and Tracking System for a Research Laboratory

Measurement of residual stress using neutron or synchrotron diffraction relies on the accurate alignment of the sample in relation to the gauge volume of the instrument. Automatic sample alignment can be achieved using kinematic models of the positioning system provided the relevant kinematic parameters are known, or can be determined, to a suitable accuracy. The main problem addressed in this thesis is improving the repeatability and accuracy of the sample positioning for the strain scanning, through the use of techniques from robotic calibration theory to generate kinematic models of both off-the-shelf and custom-built positioning systems. The approach is illustrated using a positioning system in use on the ENGIN-X instrument at the UK’s ISIS pulsed neutron source comprising a traditional XYZΩ table augmented with a triple axis manipulator. Accuracies better than 100microns were achieved for this compound system. Although discussed here in terms of sample positioning systems these methods are entirely applicable to other moving instrument components such as beam shaping jaws and detectors. Several factors could lead to inaccurate positioning on a neutron or synchrotron diffractometer. It is therefore essential to validate the accuracy of positioning especially during experiments which require a high level of accuracy. In this thesis, a stereo camera system is developed to monitor the sample and other moving parts of the diffractometer. The camera metrology system is designed to measure the positions of retroreflective markers attached to any object that is being monitored. A fully automated camera calibration procedure is developed with an emphasis on accuracy. The potential accuracy of this system is demonstrated and problems that limit accuracy are discussed. It is anticipated that the camera system would be used to correct the positioning system when the error is minimal or notify the user of the error when it is significant

The Impact of Banking Consolidation on the Economic Development of Nigeria

Consolidation was used as a key strategy by a number of banks to meet the capitalization requirements issued by the Central Bank of Nigeria (CBN) in 2005. In view of the need to understand the effect of this strategy as used by the banks, this study sought to establish the impact of bank capital, aggregate investment, loans and advances, bank profitability on the performance of the Nigerian economy.  Time series was used from 1986-2011 and multiple regression was used to analyze data.  It was found that bank capital was a determinant of banks performance and banks’ investment had a positive impact on the economy.  The study also showed that loans and advances were a determinant of banks profitability.  Accordingly, it was recommended that the Central Bank of Nigeria should constantly monitor the activities and the performance of the emerging mega- banks in order to prevent bank distress and failure .It was also recommended that adequate capital should be provided to make Banks more liquid. Keywords: Consolidation, economic developmen

Spatially resolved texture analysis of Napoleonic War era copper bolts

The spatial resolution achievable by a time-of-flight neutron strain scanner has been harnessed using a new data analysis methodology (NyRTex) to determine, nondestructively, the spatial variation of crystallographic texture in objects of cultural heritage. Previous studies on the crystallographic texture at the centre of three Napoleonic War era copper bolts, which demonstrated the value of this technique in differentiating between the different production processes of the different types of bolts, were extended to four copper bolts from the wrecks of HMS Impregnable (completed 1786), HMS Amethyst (1799), HMS Pomone (1805) and HMS Maeander (1840) along with a cylindrical `segment' of a further incomplete bolt from HMS Pomone. These included bolts with works stamps, allowing comparison with documentary accounts of the manufacturing processes used, and the results demonstrated unequivocally that bolts with a `Westwood and Collins' patent stamp were made using the Collins rather than the Westwood process. In some bolts there was a pronounced variation in texture across the cross section. In some cases this is consistent with what is known of the types of hot and cold working used, but the results from the latest study might also suggest that, even in the mature phase of this technology, some hand finishing was sometimes necessary. This examination of bolts from a wider range of dates is an important step in increasing our understanding of the introduction and evolution of copper fastenings in Royal Navy warships