Effect of Irradiation with DC Plasma Jet on the Structure Phase Compositions and Properties of Powder Ni and Co – based Coatings

This paper presents new results of transmission electron microscopy (TEM), scanning electron microscopy (SEM), X-ray diffraction (XRD) and atomic force microscopy (AFM) investigation of the structure-phase compositions of coatings on the base of Ni and Co deposited by plasma-detonation on steel substrates after their modification by DC plasma jet irradiation. The phase structures and morphology of precipitation of strengthening phases from solid solution are defined. The irradiation of the coatings leads to the evolution of the structural-phase state of coatings: an increase in the size of the diffusion zone between the coating and the substrate, an increase in the volume fraction of hardening intermetallic phases, the formation of sufficiently homogeneous fine-grained structure in the irradiated coatings and, consequently, a significant increase of hardness, corrosion and wear resistance of modified coatings. There is a mutual penetration of the substrate main element Fe in the coating and base coating elements (Ni and Co correspondingly) into the substrate as a result of the coating treatment by a pulse DC plasma jet

Image Acquisition and Processing on Raspberry Pi in Matlab for 3D-Scanning

The paper presents the results of applying a special image processing method on the Raspberry Pi platform using Matlab. An image processing system has been developed using the necessary element base for quick image processing, including image transmission using a camera. A new algorithm for extracting lines on a recognizable image has been developed, which uses a gradient image processing technique. Images were obtained and this system was successfully tested on the Raspberry Pi 3. It is proposed to use this method for a robotic machine vision system, where the video camera is mounted on a robot manipulator that scans the surface

Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

This article presents an application-oriented method for the structural synthesis of control systems for multichannel linear objects. It provides a general form, based on the compensation for object dynamics and disturbances. The algorithm is based onalgebraic transformations of the mathematical model of the object and reference systems. The general procedure for the synthesis of a control algorithm is presented by the example of a SISO first-order object. Parametric robustness and correspondence of the system behavior to its own reference filters were derived. The possibility of applying this method to control non-linear objects presented in the form of "State Dependent coefficient (SDC)" is ascertained. A simplified example is given by the synthesis of the motion control of a one-link manipulator with a drive, described by a second-order nonlinear equation. Control of a two-link manipulator represented by its linearized equation is demonstrated. The convenience of the proposed synthesis method for controlling multi-channel objects under certain simplifications allowed by the specifics of the use of objects is shown. The numerical example shows the independence of the system through individual channels, a zero static error in all the modes of operation and the correspondence of the system behavior to given dynamics

Features of the immune response of rainbow trout to vaccination of antigens Yersinia ruckeri, Aeromonas salmonicida, Listonella anguillarum and Renibacterium salmoninarum

The antigens of Yersinia ruckeri, Aeromonas salmonicida sp.salmonicida, Listonella anguillarum and Renibacterium salmoninarum were immunized to rainbow trout of different ages immersion and intraperitaneal, then waited 300 degree days, after which they were infected with homologous and heterologous strains of the studied microorganisms. Prepared antigens and their various combinations were used in the experiments. After the control infection, the level of protective immunity was compared. The level of antibacterial protection obtained by the introduction of polyvalent variants was comparable to that acquired from the introduction of monovalent antigens. A number of cross–reactions were detected - so vaccination with pure A. salmonicida antigen provided some protection against infection with L. anguillarum and Y. ruckeri. In addition, the addition of R. salmoninarum antigen in combination enhanced the protective effect against other diseases to a greater extent than from homologous infection

Effect of the Dislocation Substructure Parameters of Hadfield Steel on Its Strain Hardening

This article presents a study of changes in the microstructure of Hadfield steel depending on the tensile deformation and cold rolling with the strain/stress level. It has been established that the change in the “σ-ε” curve (at ε = 5%) is accompanied by a 1.5-times decrease in the strain-hardening coefficient. At ε = 0 to 5%, the structure contains dislocation loops, the interweaving of elongated dislocations, single-layer stacking faults. At ε = 5%, the structure contains multilayer stacking faults and mechanical microtwins. At ε > 5%, there is an intense microtwinning with no long dislocations and stacking faults. The most intense twinning develops in the range of deformation degrees of 5–20%, while the number of twins in the pack increases from 3–4 at ε = 10% to 6–8 at ε = 20%. When mechanical twinning is included, a cellular dislocation substructure begins to develop intensively. The cell size decreases from 700 nm at ε = 5% to 150 nm at ε = 40%. Twinning develops predominantly in systems with the largest Schmid factor and facilitates the dislocation glide. The results may be of interest to the researchers of the deformation processes of austenitic alloys