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Six-joint industrial manipulators are a complex multi-input and multi-output systems characterized by strong nonlinear and time-varying properties.
This adversely affects the robot dynamics.
Industrial manipulators used for assembly tasks come into contact with environmental objects of highly varying stiffnesses (up to factor 100 is usual).
The Hexa platform is controlled in a way that the manipulator "feels" a constant environmental stiffness irrespective of any object properties, i.e. there is no difference if a steel or a rubber element is contacted.
In proc. of the Institute of Mechanical Engineering, vol. 180, pp. 371-386, 1965

Introduction Surface modification of titanium and its alloys has been intensively studied in recent years to improve their surface properties, e.g., hardness, corrosion, and oxidation resistance, aiming at a wide variety of applications from biomedical implants to mechanical parts under severe working conditions [1,2].
The direct growth of nitrides layer on the top of Ti or Ti alloys can not only utilize the excellent properties of nitrides but also keep the bulk materials unaffected at room temperature.
On the other hand, the eject trajectory of emitted debris or C species from anode surface can be greatly affected by ablation plasma from the central area of samples (series A and B) that favors a radial deposition to the peripheral locations (positions C and D) other than central ones (positions A and B).
From our experimental findings of Ti nitrides (or carbontrides) formation on pure Ti under IPIB irradiation in a vacuum, several factors should be taken into account for interpreting the ntriding/carbonitriding process.

Optimization and Prediction of Machining Responses Using Response Surface Methodology and Adaptive Neural Network by Wire Electric Discharge Machining of Alloy-X I.V.Manoj1,a*, Narendranath S1,b and Alokesh Pramanik3,c 1Department of Mechanical Engineering, National Institute of Technology Karnataka, Surathkal 575025, India 2Department of Mechanical Engineering, Curtin University, Perth, WA 6102, Australia avishalmanojvs@gmail.com, bsnnath88@yahoo.co.in, calokesh.pramanik@curtin.edu.au Keywords: Wire Electric Discharge machining, Alloy-X, Grey relation Optimization, Response surface Methodology prediction, Artificial neural network prediction.
Introduction Nickel-based superalloys are having excellent mechanical properties such as fatigue strength, high strength, high thermal resistance, and high corrosion resistance with thermal stability.
It was observed that the pulse on time and servo voltage are the most dominant parameters affecting material removal rate and surface roughness.
It is observed form L25 orthogonal taguchi experiments and ANOVA that pulse off time and wire-speed were insignificant on cutting speed and surface roughness whereas the pulse on time and servo voltage were the significant factors.

Lattice Boltzmann Solution of Transient Heat Conduction Problem in an Infinite Slab Coupled with Non-Linear Heat Generation Abhishek Sahu1,a*, Shubhankar Bhowmick2,b 1Department of Mechanical Engineering, Kalinga University, Naya Raipur-492101, India 2Department of Mechanical Engineering, National Institute of Technology, Raipur-492010, India aabhishek.sahu@kalingauniversity.ac.in, bsbhowmick.mech@nitrr.ac.in Keywords: Lattice Boltzmann method, Transient heat conduction, Heat generations slab, Temperature-dependent heat generation, Convective end slab.
The slab is assumed to be made of a homogeneous material with constant thermal properties.
In these applications, the occurrence of energy absorption phenomenon, current carrying medium, and exothermic reaction within a material is the vital factor that contributes to the volumetric heat generation inside the materials.
The relevant properties of a material, namely density (ρ), thermal conductivity (k), and heat capacity (C) are assumed to be constant.
Further, γ is a non-linear heat generation contributing factor, and it is based on the type of application [15].

The thermophysical and electrical properties of the TECs, insulation material, Aluminum plates, and the flowing fluids are shown in table (1).
Table 1 Thermophysical and Electrical Properties of all Materials and Fluids used in the current study [4, 14, 17,18, and 19].
The presented numerical model was solved under assumptions shown below regarding the TEC model: - 1- The flow is incompressible and unsteady. 2- The thermoelectric properties of the TEC are constants.
COP factor was chosen as it represents a dimensionless factor in which mor than one variable is included.
The primary air inlet temperature was chosen to be (319 oK) and the flow consider to be incompressible and the thermoelectric properties of the TEC are constants while the Seebeck effect and conductivity effect are neglected in the connector and load surfaces.

The predominance of surface diffusion over vacancy diffusion, or vice versa, depends on the temperature and material properties.
If GB does not affect diffusion fluxes around the GB, both JsA and JsB vanish in the root of the groove.
We see that all values of �i and Hi can be found from Eq. 31 and 33 as a function of two dimensionless parameters �, and � that characterize the material properties.
� = � = 2 0 31 2 i ii int H A � &� � 0,0 0,2 0,4 0,6 0,8 1,0 0,00 0,05 0,10 0,15 0,20 � = 5 � = 0.05 � = 0.2 � = 1 � = 0.01 Aint � Concluding remarks A full description of capillary driven shape changes of multi-component solid that takes into account the difference in component properties and the mechanisms of mass transfer is very important but complicated problem.
The changes of surface composition that occur in the vicinity of GB can be significantly affected by the requirement of mechanical equilibrium in the root of GB groove.

Due to the knitted fabric mechanical hysteresis and the irregular sliding of fibers or yarns between the structure, both the accuracy and repeatability of knitting fabric sensors are relatively poor. despite woven fabric sensors are relatively few at present, they have a simpler structure than kintted fabrics (and thus worh studying.
Therefore, on the basis of coating carbon fiber silk sensing properties[3], this paper we embeded Coating Carbon Blending Filaments into fabrics to analyse the effect of different embedding ways and different quantity of compound yarns on linearity, sensitivity and repeatability to provide basis for embedded woven fabric sensor production.
The sensitivity (GF Gauge Factor)could be characterized by the ratio between rate of resistance change (DR/R) and strain e (DL/L)[7].
Therefore, conducting compound yarns is embedded at the edge of fabric stands larger friction than the one embedded near center, and its resistance changes also bigger relatively, which affect the conductivity of the whole fabric.
[2] Hui Zhang, Xiaoming Tao, Shanyuan Wang and Tongxi Yu, 2005: Electro-Mechanical Properties of Knitted Fabric Made From Conductive Multi-Filament Yarn, Textile Research Journal, 598

Metal Injection Molding Using Gas-Assisted Technology for Optimizing Density Uniformity and Part Weight Reduction Shia-Chung Chen1,2,a*, Ming-Hsien Ou Yang1,b, Ching-Te Feng1,c, Tzu-Jeng Hsu1,d, Yu-Hung Ting1,2,e, Che-Wei Chang1,2,f 1Department of Mechanical Engineering, Chung Yuan Christian University, Zhongli, Taiwan 2R&D Center for Smart Manufacturing, Chung Yuan Christian University, Zhongli, Taiwan ashiachun@cycu.edu.tw, balex0934475061@gmail.com, ceric.apple101@gmail.com, dtjhsu10@gmail.com, eaugust@cycu.edu.tw, flandrick0130@gmail.com Keywords: Metal injection molding, Gas-assisted technology, Weight reduction, Density uniformity Abstract.
The design of the binder is a key factor in creating an acceptable MIM process because it directly influences the final dimensional stability of the product.
Hausnerova’s study showed that the composition of binders could affect rheological performance and effectiveness of debinding in powder injection molding [2].
This method can significantly enhance the density uniformity of a product after sintering and allow it to obtain density and mechanical properties that are close to the raw material.
[5] Omar MA, Davies HA, Messer PF, and Ellis B (2001) The influence of PMMA content on properties of 316L stainless steel MIM compact.

On Constitutive Models for Ratcheting of a High Strength Rail Steel Chung Lun Pun1, a*, Qianhua Kan2, b, Peter Mutton3,c, Guozheng Kang2,d and Wenyi Yan1,e 1Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia 2Department of Applied Mechanics and Engineering, Southwest Jiaotong University, Chengdu, 610031, People’s Republic of China 3Institute of Railway Technology, Monash University, Clayton, VIC 3800, Australia *ajerome.pun@monash.edu, bqianhuakan@home.swjtu.edu.cn, cpeter.mutton@monash.edu, dguozhengkang@home.swjtu.edu.cn, ewenyi.yan@monash.edu Keywords: High strength rail steel; Ratcheting; Multiaxial Cyclic Loading; Finite element modelling Abstract.
The application of these cyclic plasticity models requires calibration of some material properties, including basic mechanical parameters and nonlinear coefficients for nonlinear isotropic and kinematic hardening rules, using data obtained from monotonic and cyclic loading tests.
In order to consider the effects of loading history and non-proportional loading path, the following evolution equations for the isotropic deformation resistance Q are adopted in the constitutive model, (5a) (5b) where Qsa(Φ) is saturated isotropic deformation resistance relating to non-proportional factor Φ, and γ is a material parameter to control the evolution rate of Qsa.
The parameter b represents the rate of dislocation evolution, which affects the first few cycles and reaches rapidly a stable value at a certain non-proportional loading path.
Bower, Cyclic hardening properties of hard-drawn copper and rail steel.

In [21] the potential field properties are modified to solve the local minimal problem.
Our proposed method changes the potential field properties of the position of the local minimum such that the robot gets repelled gradually.
- Develop a potential field method that can be used in unknown environments independent of mapping method - Mapping method is done using inverse perspective transformation with an error small enough to not affect the robot navigation.
(1) where R is the rotation matrix, T is the translation matrix, and K is the camera parameter matrix defined as: K=fsu00fv0001, (2) where f is the camera focal length, s is the skew factor, and (u0,v0) is the center pixel coordinates.
[19] Jian Yang, Jingrong Yu, Mi Dong, JiangminChunyu, A Strategy to Solve the Local Minima Problem for Autonomous Mechanical Vehicles, Advances in Mechanical and Electronic Engineering, LNEE 176, pp. 605-610, Springer, 2012