Position control of an industrial robot using an optical measurement system for machining purposes

A series of mechanical properties and disturbances limit the accuracy achievable in robotic applications. External control of the end effector position is commonly known as being an appropriate mean to increase accuracy. This paper presents an approach for position control of industrial robots using the pass-through between an industrial CNC and servomotors. A CNC-controlled robot is used together with an external optical measurement system to close the feedback loop of robot end effector and robot controller in order to improve robot accuracy. For short cycle times and implementation reasons a PLC is used for signal processing and control implementation. The relevance of the approach is outlined in experiments. The robot behaviour in free space motion and in machining application is analysed with the optical measurement system and a CMM

A Comparative Study of MMPI Variables and Their Relationship to Successful Alcoholic Rehabilitation

This study was designed to determine whether the Minnesota Multiphasic Personality Inventory could successfully predict the outcome of rehabilitative treatment given 84 racially mixed male alcoholics having a mean age of 42.2 years who were admitted to the Wyoming State Hospital between September 1, 1965, and September 1, 1966. The subjects were given the MMPI before receiving 16 weeks of treatment consisting of education, group and individual psychotherapy, alcoholics anonymous, routine ward treatment, disulfiram (antibuse), special ward unit, and special program without ward. After their release from hospital, the subjects were evaluated yearly for five years by relatives, employers, and themselves concerning vocational and familial responsibilities, sobriety, AA attendance, and drinking. Multiple regression analysis, a multivariate statistical technique was utilized to analyze the data from a systematic follow-up questionnaire. At the end of five years 32 of the original 84 subjects could be located. The study concluded that the MMPI cannot be used to predict successful treatment of alcoholics at Wyoming State Hospital

Heat Denaturation of Serum Proteins in Skimmilk and Whey as Measured by the Harland-Ashworth Test

Milk serum proteins have been shown by other workers to be partially protected from heat denaturation by the presence of milk solids (8, 15, 16) and whole caseinate (14). This study revealed that some serum proteins (B-lactoglobulin), as shown by the Harland-Ashworth test (14, 17), were more readily denatured in skimmilk than in rennet whey. A comparison of the heat denaturation rate of serum proteins in whey as opposed to those in whey containing 2.5 percent isoelectric casein was also studied. A striking protection of serum proteins seemed apparent in the presence of isoelectric casein. However, it was learned that isoelectric casein interferes with results of the Harland-Ashworth test, and by taking this interference into account, that isoelectric casein has no affect on the heat denaturation rate of serum proteins. Some proteins are more sensitive to heat in the presence of miceller casein than in the presence of isoelectric casein or no casein at all. The addition of sulfhydryl-group blocking agents (P-chloromercuribenzoic acid and N-ethylmaleimide) inhibited serum protein denaturization in both skimmilk and rennet whey. Reactions of sulfhydryl groups following their liberation by heat resulted in much of the physical instability measured by the Harland-Ashworth test. The complex between B-lactoglobulin and K-casein, if it had any affect at all, was not one of the significant sulfhydryl-group reactions involved in the heat denaturation of the serum proteins

Skylab Earth Resources

The successful launch of Skylab on May 14, 1973, provided an unique space platform for study of the ocean, land and atmospheric phenomena of this planet earth. At an altitude of 234 nautical miles above the earth, the 100 ton experimental station orbited the earth every 93 minutes and repeats the same revolution every 5 days. In a near circular orbit, Skylab crossed major parts of the world\u27s land masses and the Atlantic, Pacific and Indian oceans between 50 north and 50 south latitudes. During the 171 days in space, the nine crew members surveyed selected portions of this planet with an array of sophisticated photographic, infrared and microwave sensors that have not been previously flown for earth resources investigations. These sensors formed the Earth Resources Experiment Package (EREP). Figure 1 describes the instruments and the principal use of the sensor data in study of earth. The footprint for each sensor is shown in Figure 2. The camera system consists of two parts. The multispectral camera (S-190A) is an array of six 70mm cameras boresighted so the features seen in one photograph can be simultaneously identified in the photographs from the other five cameras. With this system, images of earth features were obtained on color, color infrared, black-and-white infrared, and black-and-white film. Each photograph covers 163 Km square. The Earth Terrain Camera (S-190B) overlapped the field of view of the S-190A system and recorded information on black-and-white , color and color infrared film. Each photograph covers 109 Km square. The infrared spectrometer was boresighted with a crew-operated movable telescope for conducting radiance measurements of homogeneous areas approximately one-half kilometer in diameter. The multispectral scanner (S-192) is a 13-channel instrument capable of measuring simultaneously in the visible, reflected infrared and one channel in the thermal infrared regions of the spectrum along a 68 Km wide swath. The microwave system (S-193) combines a passive radiometer and an active scatterometer and altimeter in a single frequency of 13 OGHz . This system has an 11 Km field of view and a two axis gimballsd antenna for use in obtaining data 45 forward and to either side of this groundtrack. The sixth instrument is the L-band radiometer (S-194) that operates at a 1. 4 GH frequency and has all Km field of view

Torque maximisation of the PMAC motor for high performance, low inertia operation

This paper describes the techniques applied to maximise the torque en- velope of the permanent magnet AC (PMAC) motor operating under current and voltage constraints. Standard steady-state descriptions of the system are often suitable for control purposes when the rotor velocity is varying rela- tively slowly. In low inertia applications such as clutchless gearchange opera- tions, where in the pursuit of driveability, the motor is required to accelerate and decelerate its own rotor inertia as quickly as possible. In this case, the voltage drop due to the current dynamics start to become significant. This paper presents a method to reserve voltage headroom dynamically in the field-weakening region in order to maximise the torque envelope when the effective inertia is low. Experimental results show the effectiveness of this approach

University Professors as “Transformative Leaders”

University professors have a moral obligation to be ethical leaders in guiding their stewards. Transformative Leadership, a concept identified in both the educational and business leadership literature, provides a valuable model for university professors to consider as they interact with students and help them to learn and to prepare for the challenges of the modern world. This paper integrates the education and business leadership perspectives of Transformative Leadership and identifies the contributions that this leadership model can contribute to the effectiveness of university professors who adopt its principles

Moral Identity, Self-Improvement, and the Quest for Greatness: A Leadership Responsibility

The focus of this paper is on explaining how leaders can follow the path of self-improvement by more fully understanding their moral identity. We begin by briefly reviewing excerpts from the literature about personal development and self-awareness to lay a foundation for the importance of leaders seeking to achieve their optimal effectiveness. Following that introduction, we introduce a new definition of moral identity that builds upon identity theory as developed by Peter Burke and Jan Stets (2009). We then identify nine traits that link moral identity and leadership. Integrating moral identity with the pursuit of personal excellence, we identify twelve insights about the leader’s responsibility to honor moral duties owed to those individuals whom they serve. Following that review, we then suggest six significant contributions of this paper for both academic scholars and individuals who seek to become more honorable leaders and conclude the paper with suggestions about opportunities for additional research about moral identity and its importance for leaders

The Effectiveness of a Self-Instructional Approach to Teaching a College French Diction Course for Vocal Music Students

The primary purpose of the study was to test a self-instructional approach to teaching a college French diction course to determine if it would equal or surpass in effectiveness a course taught by a traditional approach. The study sought to provide a partial solution to the problems of the increasing student-teacher ration in colleges, and of the individualization of teaching students who have various learning rates and backgrounds