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2002

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Articles 31 - 60 of 177

Full-Text Articles in Engineering

Composite Structures Using Asphalt Based Roofing Scrap Materials: Eiera -- Final Report, V. J. Flanigan, K. Chandrashekhara, Susan L. Murray Sep 2002

Composite Structures Using Asphalt Based Roofing Scrap Materials: Eiera -- Final Report, V. J. Flanigan, K. Chandrashekhara, Susan L. Murray

Mechanical and Aerospace Engineering Faculty Research & Creative Works

The uses of recycled materials in composites provide the potential for large cost savings and a solution to the ever-growing disposal problem. Shingles contain petroleum based binders and fillers, which used as a valuable resource in composite production. Composites offer inherent advantages over traditional materials in regard to corrosion resistance, design flexibility and extended service life. Use of scrap-roofing shingles as a core material in glass fiber reinforced composite materials offer potential low cost composite products such as sound barrier system, railroad ties and other building materials including blocks. In the present work, processes have been developed for shredding scrap …


Use Of Positron Annihilation Spectroscopy For Stress-Strain Measurements: Quarterly Progress Report (June 1 – August 31, 2002), Ajit K. Roy Aug 2002

Use Of Positron Annihilation Spectroscopy For Stress-Strain Measurements: Quarterly Progress Report (June 1 – August 31, 2002), Ajit K. Roy

Transmutation Sciences Materials (TRP)

The purpose of this collaborative research project involving the University of Nevada Las Vegas (UNLV), the Idaho State University (ISU), and the Los Alamos National Laboratory (LANL) is to evaluate the feasibility of determining residual stresses in cold-worked, plastically-deformed, and welded materials using a nondestructive method based on positron annihilation spectroscopy. This technique uses γ-rays from a small MeV electron Linac to generate positrons inside the sample via pair production. This method is known to have capabilities of characterizing defects in thick specimens, that could not be accomplished by conventional positron technique or other nondestructive methods. The generated data will …


Stability And Heat Transfer Characteristics Of Condensing Films, James C. Hermanson, Peder C. Pedersen, Jeffrey S. Allen, M. A. Shear, Z. Q. Chen, Andreas N. Alexandrou, William W. Durgin Aug 2002

Stability And Heat Transfer Characteristics Of Condensing Films, James C. Hermanson, Peder C. Pedersen, Jeffrey S. Allen, M. A. Shear, Z. Q. Chen, Andreas N. Alexandrou, William W. Durgin

Office of the Provost Scholarship

No abstract provided.


Object-Oriented Modeling And Fault Detection Of A Powder Feeder For A Laser Metal Deposition System, Robert G. Landers, Michael Gene Hilgers, Frank W. Liou, Bruce M. Mcmillin Aug 2002

Object-Oriented Modeling And Fault Detection Of A Powder Feeder For A Laser Metal Deposition System, Robert G. Landers, Michael Gene Hilgers, Frank W. Liou, Bruce M. Mcmillin

Mechanical and Aerospace Engineering Faculty Research & Creative Works

One of the most critical components of a laser metal deposition system is the powder feeder unit. Techniques are required to efficiently design and analyze these systems and to ensure fault tolerance during the operation. In this paper, a model of the powder feeder unit, based on object-oriented abstractions of it components, is developed. This model is modular in that specific components can be efficiently updated or replaced with components that perform a similar function. In addition, the model can be used for simulation allowing for efficient design and analysis. Assurance of the correctness of the powder feeder system is …


System Integration And Real-Time Control Architecture Of A Laser Aided Manufacturing Process, Mallikharjuna R. Boddu, Robert G. Landers, Srinivas Musti, Sanjeev Agarwal, Jianzhong Ruan, Frank W. Liou Aug 2002

System Integration And Real-Time Control Architecture Of A Laser Aided Manufacturing Process, Mallikharjuna R. Boddu, Robert G. Landers, Srinivas Musti, Sanjeev Agarwal, Jianzhong Ruan, Frank W. Liou

Mechanical and Aerospace Engineering Faculty Research & Creative Works

This paper discusses a hybrid deposition–removal manufacturing system being developed at the University of Missouri--Rolla. The system consists of a laser system, five-axis CNC machining center, and powder feeder system. A description of the control software, real-time control architecture, and integration of various subsystems to build the hybrid system is given. The interaction of the real-time controller with various sensors and subsystems to monitor and regulate the process is presented. The communication between integrated process planning for the system and real–time control is also discussed in this paper.


Investigation Of Part Accuracy And Surface Roughness In Rapid Freeze Prototyping Based Investment Casting, Qingbin Liu, Ming-Chuan Leu, Stephen M. Schmitt Aug 2002

Investigation Of Part Accuracy And Surface Roughness In Rapid Freeze Prototyping Based Investment Casting, Qingbin Liu, Ming-Chuan Leu, Stephen M. Schmitt

Mechanical and Aerospace Engineering Faculty Research & Creative Works

The study as described in this paper is aimed at investigating the dimensional accuracy and surface finish of metal parts made by investment casting with ice patterns generated by rapid freeze prototyping. The process of investment casting with ice patterns is described and contrast with conventional investment casting with wax patterns is made. The selection of binder material for ceramic slurries and the need for an interface agent to separate the ice pattern from the ceramic slurry in the mold making process are discussed. The accuracy and surface finish of ice patterns and of the metal castings are presented and …


Laser Aided Part Repair -- A Review, Jinglei Wang, Sashikanth Prakash, Yashodhan Joshi, Frank W. Liou Aug 2002

Laser Aided Part Repair -- A Review, Jinglei Wang, Sashikanth Prakash, Yashodhan Joshi, Frank W. Liou

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Laser aided part-repair is an emerging trend that has great potential for future industrial applications. Part-repair technologies are currently used in repairing military and civilian equipment. The focus of this paper is to review the current repair processes, which use the laser-aided metal deposition technology. Many metal parts, which are worn by continual use, can be restored to working condition by the deposition of metal with a laser and machining. This not only extends the life of the part, but also, saves on cost. A comparison between various processes, their parameters, efficiency, cost, and etc. are also presented. The process …


Object-Oriented Modeling And Fauly Detection Of A Powder Feeder For A Laser Metal Deposition System, Robert G. Landers, Michael Gene Hilgers, Frank W. Liou, Bruce M. Mcmillin Aug 2002

Object-Oriented Modeling And Fauly Detection Of A Powder Feeder For A Laser Metal Deposition System, Robert G. Landers, Michael Gene Hilgers, Frank W. Liou, Bruce M. Mcmillin

Mechanical and Aerospace Engineering Faculty Research & Creative Works

One of the most critical components of a laser metal deposition system is the powder feeder unit. Techniques are required to efficiently design and analyze these systems and to ensure fault tolerance during the operation. In this paper, a model of the powder feeder unit, based on object- oriented abstractions of it components, is developed. This model is modular in that specific components can be efficiently updated or replaced with components that perform a similar function. In addition, the model can be used for simulation allowing for efficient design and analysis. Assurance of the correctness of the powder feeder system …


A Study On Effects Of Process Parameters In Rapid Freeze Prototyping, Frances D. Bryant, Guanghua Sui, Ming-Chuan Leu Aug 2002

A Study On Effects Of Process Parameters In Rapid Freeze Prototyping, Frances D. Bryant, Guanghua Sui, Ming-Chuan Leu

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Rapid Freeze Prototyping (RFP) is a relatively new solid freeform fabrication process, which builds a three-dimensional part according to a CAD model by depositing and freezing water droplets layer by layer. A study on the effects of RFP process parameters including the nozzle scanning speed, droplet size, and droplet frequency in building ice parts with a single-nozzle work head is made. Presented in this paper are the results of this study which indicate that these process parameters determine the ice layer thickness and ice line width, which in turn determine the surface roughness and the waiting time required after depositing …


Correlation Between The Xps Peak Shapes Of Y1bu2cu3o7-X And Film Quality, Paul N. Barnes, Sharmila M. Mukhopadhyay, Timothy J. Haugan, Swaminathan Krishnaswami, Justin C. Tolliver, Iman Maartense Aug 2002

Correlation Between The Xps Peak Shapes Of Y1bu2cu3o7-X And Film Quality, Paul N. Barnes, Sharmila M. Mukhopadhyay, Timothy J. Haugan, Swaminathan Krishnaswami, Justin C. Tolliver, Iman Maartense

Mechanical and Materials Engineering Faculty Publications

X-ray photoelectron spectroscopy (XPS) depth profiling was used to investigate the compositional and chemical profile of a typical YBCO coated conductor architecture. Results of the process revealed that the Y(3d) photoelectronic peak shape in these films is very different from bulk YBCO. To investigate this, several samples of Y i Ba2Cu307_„ thin films were intentionally created of varying quality. The films were deposited on LaA10 3 by pulsed laser deposition with ./c. values ranging from poorly conducting up to several MA/cm2. Initial results indicated a potential correlation between the Y(3d) XPS peak shape (full-width-half-maximum) of the YBCO and the film …


Measured And Simulated Cooling Performance Comparison; Insulated Concrete Form Versus Frame Construction, Florida Solar Energy Center, David Chasar Aug 2002

Measured And Simulated Cooling Performance Comparison; Insulated Concrete Form Versus Frame Construction, Florida Solar Energy Center, David Chasar

FSEC Energy Research Center®

Four occupied homes near Dallas, Texas were monitored to compare cooling energy use. Two homes were built with typical wood frame construction, the other two with insulated concrete form (ICF) construction. Remote data loggers collected hourly readings of indoor and outdoor temperature, relative humidity, furnace runtime fraction, total building electrical energy and HVAC energy use. Data was recorded from January through August 2000.

Analysis of the measured data shows that insulated concrete form (ICF) construction can reduce seasonal cooling energy use 17 - 19% over frame construction in two-story homes in the North Texas climate. This result includes adjustments to …


Comparative Evaluation Of The Impact Of Roofing Systems On Residential Cooling Energy Demand In Florida, Florida Solar Energy Center, John Sherwin Aug 2002

Comparative Evaluation Of The Impact Of Roofing Systems On Residential Cooling Energy Demand In Florida, Florida Solar Energy Center, John Sherwin

FSEC Energy Research Center®

Roof and attic thermal performance exert a powerful influence on cooling energy use in Florida homes. The Florida Power and Light Company and the Florida Solar Energy Center instrumented six side-by-side Habitat homes in Ft. Myers, Florida with identical floor plans and orientation, R-19 ceiling insulation, but with different roofing systems designed to reduce attic heat gain. A seventh house had an unvented attic with insulation on the underside of the roof deck rather than the ceiling: (RGS) Standard dark shingles (control home); (RWB) White "Barrel" S-tile roof; (RWS) Light colored shingles; (RWF) White flat tile roof; (RTB) Terra cotta …


A Fundamental Model Of Cyclic Instabilities In Thermal Barrier Systems, Anette M. Karlsson, J. W. Hutchinson, A. G. Evans Aug 2002

A Fundamental Model Of Cyclic Instabilities In Thermal Barrier Systems, Anette M. Karlsson, J. W. Hutchinson, A. G. Evans

Mechanical Engineering Faculty Publications

Cyclic morphological instabilities in the thermally grown oxide (TGO) represent a source of failure in some thermal barrier systems. Observations and simulations have indicated that several factors interact to cause these instabilities to propagate: (i) thermal cycling; (ii) thermal expansion misfit; (iii) oxidation strain; (iv) yielding in the TGO and the bond coat; and (v) initial geometric imperfections. This study explores a fundamental understanding of the propagation phenomenon by devising a spherically symmetric model that can be solved analytically. The applicability of this model is addressed through comparison with simulations conducted for representative geometric imperfections and by analogy with the …


Viewpoint: Experimental Recovery Of Geometrically Necessary Dislocation Density In Polycrystals, Brent L. Adams, Bassem S. El-Dasher, Anthony D. Rollett Aug 2002

Viewpoint: Experimental Recovery Of Geometrically Necessary Dislocation Density In Polycrystals, Brent L. Adams, Bassem S. El-Dasher, Anthony D. Rollett

Faculty Publications

The authors wish to thank The Alcoa Technical Research Center for supplying the specimens and performing the compression tests. This work was supported primarily by the MRSEC program of the National Science Foundation under DMR-0079996. Application of electron backscattering diffraction methods to recover estimates of the geometrically necessary dislocation density is described. The limitations of the method arising from the opacity of crystalline materials and the spatial and angular resolution limits are discussed.


Experimental Demonstration Of Multiple Robot Cooperative Target Intercept, Timothy W. Mclain, Randal W. Beard, Jed M. Kelsey Aug 2002

Experimental Demonstration Of Multiple Robot Cooperative Target Intercept, Timothy W. Mclain, Randal W. Beard, Jed M. Kelsey

Faculty Publications

This paper presents experimental results for the simultaneous intercept of preassigned targets by a team of mobile robots. The robots are programmed to mimic the dynamic behavior of unmanned air vehicles in constant-altitude flight. In proceeding to their targets, robots must avoid both known static threats and pop-up threats. An overview of the cooperative control strategy followed is given, as well as a description of the robot hardware and software used. Experimental results demonstrating simultaneous intercept of targets by the robot team are presented.


Developing A Sensing System For The Measurement Of Oxygen Concentration In Liquid Pb-Bi Eutectic: Quarterly Progress Report (May 01 – July 31, 2002), Yingtao Jiang, Bingmei Fu, Woosoon Yim Jul 2002

Developing A Sensing System For The Measurement Of Oxygen Concentration In Liquid Pb-Bi Eutectic: Quarterly Progress Report (May 01 – July 31, 2002), Yingtao Jiang, Bingmei Fu, Woosoon Yim

Transmutation Sciences Materials (TRP)

Accurate measurement of the oxygen concentration in liquid Lead-Bismuth Eutectic (LBE) cooling system is critical in the active control of the corrosion at the interface between LBE and the stainless steel of transport tubes. Currently, LANL (Los Alamos National Laboratory) scientists have employed an automobile-style YSZ (Yttria Stabilized Zirconia) oxygen sensor unit to measure oxygen levels in an engineeringscaled LBE test system. Although the theoretical model for calculating oxygen concentration based on voltage measurement of YSZ sensor in static conditions is well understood, there is an urgent and strong need to obtain a complete set of calibration curves for YSZ …


Development Of An Open Architecture Motion Control System, Peng Chen Jul 2002

Development Of An Open Architecture Motion Control System, Peng Chen

FIU Electronic Theses and Dissertations

A multipurpose open architecture motion control system was developed with three platforms for control and monitoring. The Visual Basic user interface communicated with the operator and gave instructions to the electronic components. The first platform had a BASIC Stamp based controller and three stepping motors. The second platform had a controller, amplifiers and two DC servomotors. The third platform had a DSP module. In this study, each platform was used on machine tools either to move the table or to evaluate the incoming signal. The study indicated that by using advanced microcontrollers, which use high-level languages, motor controllers, DSPs (Digital …


Design And Construction Of Interior Duct Systems, Florida Solar Energy Center, Janet Mcilvaine Jul 2002

Design And Construction Of Interior Duct Systems, Florida Solar Energy Center, Janet Mcilvaine

FSEC Energy Research Center®

To combat the energy, durability, and indoor air quality penalties of duct leakage, energy experts have recommended putting the duct system and air handler inside the conditioned space. Two paths of accomplishing this have emerged: unvented attics/crawl spaces and interior chases. This study focuses on the design, construction, and performance of the interior chase approach as implemented by five different builders in Texas, North Carolina, and Florida.

Researchers found that, in many cases, breeches of the air barrier were evident from simple visual inspection. Critical points of design and construction were identified and will be presented through photos, design and …


Strength And Modulus Degradation Of Carbon Fiber-Reinforced Polymer Laminates From Fiber Misalignment, Xinbao Yang, Antonio Nanni, Stephen B. Haug, Chung Leung Sun Jul 2002

Strength And Modulus Degradation Of Carbon Fiber-Reinforced Polymer Laminates From Fiber Misalignment, Xinbao Yang, Antonio Nanni, Stephen B. Haug, Chung Leung Sun

Civil, Architectural and Environmental Engineering Faculty Research & Creative Works

Fiber-reinforced polymer (FRP) laminates are being used as external reinforcement for strengthening concrete members. The performance of unidirectional FRP laminates is highly dependent on fiber orientation with respect to applied load direction. In the case of fabrication by manual layup, it is possible to have fiber plies installed with improper orientation. In this project, the degradation of strength and modulus of carbon FRP laminates from fiber misalignment was investigated experimentally using tensile coupons. The specimens consisted of one and two plies of unidirectional carbon FRP impregnated with a two-component epoxy. The misalignment angles varied from 0 to 40° for the …


Development Of A Model For Induction Heating, Randy Clarksean, Yitung Chen Jun 2002

Development Of A Model For Induction Heating, Randy Clarksean, Yitung Chen

Fuels Campaign (TRP)

There are two coupled equations that must be solved in order to determine the power deposition. The numerical solution of these equations is needed in order to apply a source term within the energy equations. These equations have previously solved in FIDAP. That implementation used modified versions of the momentum and energy equations to provide a mechanism for the solution of two coupled equations. Currently, we want to solve for the induction heating field in addition to the flow field and the energy equation. In order to do this, a mechanism has to be defined within FIDAP to solve these …


Alternative Ways To Teaching Hvac And Related Subjects Through Actual Project Involvement-Three Case Studies, Samir F. Moujaes Jun 2002

Alternative Ways To Teaching Hvac And Related Subjects Through Actual Project Involvement-Three Case Studies, Samir F. Moujaes

Mechanical Engineering Faculty Research

No abstract provided.


An Interactive Visual Environment For Scientific Problem Solving, Georg F. Mauer Jun 2002

An Interactive Visual Environment For Scientific Problem Solving, Georg F. Mauer

Mechanical Engineering Faculty Research

Science and engineering students do not typically receive explicit training in scientific problem solving, i.e. applying science principles to specific situations. Students’ problem solving skills often show little improvement throughout their course of studies. This paper describes a structured, graphical, interactive (GUI) learning environment, which presents problems and tools for analysis in systematic and logical order, and encourages the student to develop the solution path in the manner of an experienced expert. The learning environment’s subject area is Engineering Dynamics, which was selected for its systematic structure and its early (usually sophomore) place in the undergraduate curriculum. The software presents …


Solar Oven Development And Testing Contract Final Report, Florida Solar Energy Center, Philip Fairey Jun 2002

Solar Oven Development And Testing Contract Final Report, Florida Solar Energy Center, Philip Fairey

FSEC Energy Research Center®

The Florida Solar Energy Center (FSEC) was contracted by the Dorothy Ann Foundation (and its agent and representative, Darwin O. Curtis), to conduct an investigative study into the development of a state-of-the art solar cooker. A major goal of the contract was to investigate the potential means of improving the performance and long-term durability of the existing Cookit solar cooker.

Many of the activities and accomplishments conducted as part of this contract have been provided in the reports and analyses previously sent to the contact representative. The purpose of this final report is to list the various task accomplishments defined …


Solar Thermal Billing Program In Florida, Florida Solar Energy Center, Carlos Colon Jun 2002

Solar Thermal Billing Program In Florida, Florida Solar Energy Center, Carlos Colon

FSEC Energy Research Center®

This paper presents the development, implementation, and results of Lakeland Electric's solar thermal billing program in Florida. The three-phase solar program was started in 1997 with funds from the Florida Energy Office (FEO) and the technical assistance of the Florida Solar Energy Center (FSEC). It was designed as a model to expand the concept of distributed energy generation, and to augment the use of solar domestic hot water (SDHW) systems. The solar thermal billing program relies on the proceeds generated from the sale of hot water energy. Twenty-nine SDHW systems, which are owned by Lakeland Electric (LE), gradually began operation …


Autonomous Hierarchical Control Of Multiple Unmanned Combat Air Vehicles (Ucavs), Timothy Mclain, Randal W. Beard, Sai-Ming Li, Jovan D. Boskovic, Sanjeev Seereeram, Ravi Prasanth, Jayesh Amin, Raman K. Mehra Jun 2002

Autonomous Hierarchical Control Of Multiple Unmanned Combat Air Vehicles (Ucavs), Timothy Mclain, Randal W. Beard, Sai-Ming Li, Jovan D. Boskovic, Sanjeev Seereeram, Ravi Prasanth, Jayesh Amin, Raman K. Mehra

Faculty Publications

In this paper we present a hierarchical control scheme that enables multiple UCAVs to achieve demanding missions in hostile environments autonomously. The objective is to use a swarm of UCAVs for a SEAD type mission: fly the UCAVs in a formation to an enemy territory populated with different kinds of threats, collect enemy information or destroy certain targets, and return to the base, all without human intervention. The scheme is an integration of four distinct components, including: (1) high level Voronoi diagram based path planner to avoid static threats; (2) low level path planner to avoid popup threats; (3) differential …


Performance And Impact From Duct Repair And Ventilation Modifications Of Two Newly Constructed Manufactured Houses Located In A Hot And Humid Climate, Florida Solar Energy Center, Charles Withers, Jr. May 2002

Performance And Impact From Duct Repair And Ventilation Modifications Of Two Newly Constructed Manufactured Houses Located In A Hot And Humid Climate, Florida Solar Energy Center, Charles Withers, Jr.

FSEC Energy Research Center®

Two nearly identical houses situated next to each other in Bossier City, Louisiana were studied in an effort to better understand moisture and cooling energy related problems in manufactured houses with low thermostat set-points during the cooling season. By design, the major difference between houses was the type of air conditioning units. House A had a standard split air conditioner and House B had a two-speed split air conditioner.

In an effort to make the buildings more similar, the building airtightness was adjusted until it was the same in each house, and duct leaks were sealed so that the ducts …


Nanofatigue Studies Of Ultrathin Hard Carbon Overcoats Used In Magnetic Storage Devices, Xiaodong Li, Bharat Bhushan May 2002

Nanofatigue Studies Of Ultrathin Hard Carbon Overcoats Used In Magnetic Storage Devices, Xiaodong Li, Bharat Bhushan

Faculty Publications

A technique to perform nanofatigue experiments was developed. This technique utilizes a depth-sensing nanoindenter with harmonic force. The nanofatigue behavior of 20 nm thick amorphous carbon coatings was studied. The contact stiffness was monitored continuously throughout the test. The abrupt decrease in the contact stiffness indicates fatigue damage has occurred. The critical load amplitude, below which no fatigue damage occurs, was identified. It was found that the filtered cathodic arc coating exhibits longer fatigue life than a direct ion beam coating. Failure mechanisms of the coatings during fatigue are also discussed in conjunction with the hardness,elastic modulus, and fracture toughness, …


Structure And Magnetic Properties Of The Mnbi Low Temperature Phase, Jinbo Yang, William B. Yelon, William Joseph James, Qingsheng Cai, Samit Roy, Naushad Ali May 2002

Structure And Magnetic Properties Of The Mnbi Low Temperature Phase, Jinbo Yang, William B. Yelon, William Joseph James, Qingsheng Cai, Samit Roy, Naushad Ali

Physics Faculty Research & Creative Works

High purity MnBi low temperature phase has been prepared and analyzed using magnetic measurements and neutron diffraction. The low-temperature phase of the MnBi alloy has a coercivity μ0iHc of 2.0 T at 400 K, and exhibits a positive temperature coefficient from 0 to at least 400 K. The neutron data refinement indicated that the Mn atom changes its spin direction from c axis above room temperature to nearly perpendicular to the c axis at 50 K. A canted magnetic structure has been observed below 200 K. The anisotropy field increases with increasing temperature which gives rise to …


Closed-Form Solution For The Size Of Plastic Zone In An Edge-Cracked Strip, Xiangfa Wu, Yuris A. Dzenis May 2002

Closed-Form Solution For The Size Of Plastic Zone In An Edge-Cracked Strip, Xiangfa Wu, Yuris A. Dzenis

Department of Engineering Mechanics: Faculty Publications

This paper is concerned with the problem of plastic zone at the tip of an edge crack in an isotropic elastoplastic strip under anti-plane deformations. By means of complex potential and Dugdale model, the stress intensity factor and the size of plastic zone are obtained in closed-form. Furthermore, the analytic solutions for an edge crack at the free boundary of a half-space and a semi-infinite crack heading towards a free surface are determined as the limiting cases of the strip geometries. 2002 Elsevier Science Ltd. All rights reserved.


Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels May 2002

Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels

Mechanical Engineering Faculty Research and Publications

Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that for bounded misalignment, if the conditions are satisfied for a finite number of contact configurations, the system ensures that force guidance is achieved …