Assembly and Disassembly Planning by using Fuzzy Logic & Genetic Algorithms

The authors propose the implementation of hybrid Fuzzy Logic-Genetic Algorithm (FL-GA) methodology to plan the automatic assembly and disassembly sequence of products. The GA-Fuzzy Logic approach is implemented onto two levels. The first level of hybridization consists of the development of a Fuzzy controller for the parameters of an assembly or disassembly planner based on GAs. This controller acts on mutation probability and crossover rate in order to adapt their values dynamically while the algorithm runs. The second level consists of the identification of theoptimal assembly or disassembly sequence by a Fuzzy function, in order to obtain a closer control of the technological knowledge of the assembly/disassembly process. Two case studies were analyzed in order to test the efficiency of the Fuzzy-GA methodologies

Comment on Ricci Collineations of Static Spherically Symmetric Spacetimes

We present a counter example to a theorem given by Amir {\em et al.} J. Math. Phys. {\bf 35}, 3005 (1994). We also comment on a misleading statements of the same reference.Comment: 4 pages,LaTex fil

Ricci Collineations for Non-Degenerate, Diagonal and Spherically Symmetric Ricci Tensors

The expression of the vector field generator of a Ricci Collineation for diagonal, spherically symmetric and non-degenerate Ricci tensors is obtained. The resulting expressions show that the time and radial first derivatives of the components of the Ricci tensor can be used to classify the collineation, leading to 64 families. Some examples illustrate how to obtain the collineation vector

On the general structure of Ricci collineations for type B warped spacetimes

A complete study of the structure of Ricci collineations for type B warped spacetimes is carried out. This study can be used as a method to obtain these symetries in such spacetimes. Special cases as 2+2 reducible spacetimes, and plane and spherical symmetric spacetimes are considered specifically.Comment: 18 pages. Version accepted for publication in JM

Vacuum effects in an asymptotically uniformly accelerated frame with a constant magnetic field

In the present article we solve the Dirac-Pauli and Klein Gordon equations in an asymptotically uniformly accelerated frame when a constant magnetic field is present. We compute, via the Bogoliubov coefficients, the density of scalar and spin 1/2 particles created. We discuss the role played by the magnetic field and the thermal character of the spectrum.Comment: 17 pages. RevTe

Ricci Collineations for type B warped space-times

We present the general structure of proper Ricci Collineations (RC) for type B warped space-times. Within this framework, we give a detailed description of the most general proper RC for spherically symmetric metrics. As examples, static spherically symmetric and Friedmann-Robertson-Walker space-times are considered.Comment: 18 pages, Latex, To appear in GR

Verification of micro-scale photogrammetry for smooth three-dimensional object measurement

By using sub-millimetre laser speckle pattern projection we show that photogrammetry systems are able to measure smooth three-dimensional objects with surface height deviations less than 1 μm. The projection of laser speckle patterns allows correspondences on the surface of smooth spheres to be found, and as a result, verification artefacts with low surface height deviations were measured. A combination of VDI/VDE and ISO standards were also utilised to provide a complete verification method, and determine the quality parameters for the system under test. Using the proposed method applied to a photogrammetry system, a 5 mm radius sphere was measured with an expanded uncertainty of 8.5 μm for sizing errors, and 16.6 μm for form errors with a 95 % confidence interval. Sphere spacing lengths between 6 mm and 10 mm were also measured by the photogrammetry system, and were found to have expanded uncertainties of around 20 μm with a 95 % confidence interval

One-shot additive manufacturing of robotic finger with embedded sensing and actuation

A main challenge in the additive manufacturing (AM) field is the possibility to create structures with embedded actuators and sensors: addressing this requirement would lead to a reduction of manual assembly tasks and product cost, pushing AM technologies into a new dimension for the fabrication of assembly-free smart objects. The main novelty of the present paper is the one shot fabrication of a 3D printed soft finger with an embedded shape memory alloy (SMA) actuator and two different 3D printed sensors (strain gauge and capacitive force sensor). 3D printed structures, fabricated with the proposed approach, can be immediately activated after their removal from the build plate, providing real-time feedback because of the embedded sensing units. Three different materials from two nozzles were extruded to fabricate the passive elements and sensing units of the proposed bioinspired robotic finger and a custom-made Cartesian pick and place robot (CPPR) was employed to integrate the SMA spring actuator into the 3D printed robotic finger during the fabrication processes. Another novelty of the present paper is the direct integration of SMA actuators during the 3D printing process. The low melting thermoplastic polycaprolactone (PCL) was extruded: its printing temperature of 70 °C is lower than the SMA austenitic start temperature, preventing the SMA activation during the manufacturing process. Two different sensors based on the piezoresistive principle and capacitive principle were studied, 3D printed and characterized, showing respectively a sensitivity ratio of change in resistance to finger bending angle to be 674.8 Ω∘Angle and a capacitance to force ratio of 0.53pFN . The proposed manufacturing approach paves the way for significant advancement of AM technologies in the field of smart structures with embedded actuators to provide real-time feedback, offering several advantages, especially in the soft robotics domain

Computer Numerical Controlled Grinding and Physical Vapor Deposition for Fused Deposition Modelled Workpieces

he use of additive manufacturing (AM) enables companies to directly produce complex end-use parts. Fused deposition modelling (FDM) is an AM technology based on an extrusion process of fabricating parts. This layer-by-layer method results in a poor surface finish, and as a result, manual finishing is often required, which consequentially reduces the definition of the geometrical features. This research proposes a novel way of achieving high surface finishing by using additive and finishing processes, followed by a physical vapor deposition (PVD) coating. Two test pieces were produced, the first one was subjected to computer numerical controlled (CNC) mechanical grinding with appropriate grades of grindstones; the second one was subjected to microsandblasting to remove excess material and the stair-stepping effect. Both test pieces were then subjected to a PVD coating process to provide a metal thin film. To benchmark the test pieces, the authors used a coordinate measure machine for dimensions and a roughness meter to verify the effectiveness of this postprocessing approach

Experimental investigation on camera calibration for 3D photogrammetric scanning of micro-features for micrometric resolution

[EN] Recently, it has been demonstrated that photogrammetry can be used for the measurement of small objects with micro-features, with good results and lower cost, compared to other established techniques such as interferometry, conoscopic holography, and 3D microscopy. Calibration is a critical step in photogrammetry and the classical pinhole camera model has been tested for magnifications lower than 2×. At higher magnification levels, because of the reduction of the depth of field (DOF), images can lead to calibration data with low reprojection errors. However, this could lead to bad results in the 3D reconstruction. With the aim of verifying the possibility of applying the camera model to magnifications higher than 2×, experiments have been conducted using reflex cameras with 60 mm macro lens, equipped with the combination of three extension tubes, corresponding to 2.06, 2.23, and 2.4 magnification levels, respectively. Experiments consisted of repeating calibration five times for each configuration and testing each calibration model, measuring two artifacts with different geometrical complexity. The calibration results have shown good repeatability of a subset of the internal calibration parameters. Despite the differences in the calibration reprojection error (RE), the quality of the photogrammetric 3D models retrieved was stable and satisfying. The experiment demonstrated the possibilities of the photogrammetric system presented, equipped to very high magnification levels, to retrieve accurate 3D reconstruction of micro-features with uncertainties of few micrometers, comparable with industry s expensive state-of-the-art technologies.Percoco, G.; Guerra, MG.; Sánchez Salmerón, AJ.; Galantucci, LM. (2017). Experimental investigation on camera calibration for 3D photogrammetric scanning of micro-features for micrometric resolution. 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