ALBERT

Notes: Purpose - The paper presents the results of research carried out on esters of carbonic, adipic, and sebacic acids with respect to their use as components of fully synthetic lubricating oil produced from a polyalphaolefin base. Straight dicarboxylic acid esters were synthesized in a transesterification reaction of dimethyl carbonate, dimethyl adipate, and dimethyl sebacate with 2-ethylhexanol and 3,5,5-trimethylhexanol. Design/methodology/approach - Oligomeric esters of adipic acid and sebacic acid were synthesized using neopentyl glycol, appropriate dimethyl adipate or dimethyl sebacate and 2-ethylhexanol as the starting material. The basic physicochemical properties of esters were determined and their compatibility with synthetic oils were defined. They were also evaluated with respect to resistance under the influence of thermo-oxidative factors, evaporation and susceptibility to hydrolytic decomposition. The selected esters were complemented with commercial additives to make up a fully synthetic lubricating oil with a polialphaolefin base. A special attention was paid to the effect of ester compounds on the physicochemical properties of the formulated oil. Findings - The obtained results show that straight adipates and sebacates of 2-ethylhexanol and 3,5,5-trimethylhexanol as well as oligomeric esters in which molecules are terminated with 2-ethylhexyl group can be used as component of lubricating oils. The addition of these esters reduced the pour point by a few degrees in comparison with the tested base oil. The temperature fell below 40°C. The presence of esters significantly improved the viscosity index. A positive influence of esters on the lubricating properties of the formulated oil was also observed. On the contrary, dialkyl carbonates show too low boiling point, which is indicated by the high amount of volatile components, 19-22 percent, in final product. Adipic and sebacic oligomers containing methoxyl groups in their structures proved to be immiscible with polyalphaolefins. Originality/value - The achievement of this work is the synthesis of new oligomeric esters of dicarboxylic acids, which can be excellent additives for improving properties of synthetic oils. Further studies will be focused on the use of esters as components of engine oils. This requires real motor tests.

Notes: Purpose - To study the combined effects of permeability and couplestresses on the performance characteristics of a secant-shaped porous slider bearing lubricated with Stokes couplestress fluid. Design/methodology/approach - The modified Reynolds type equation governing the fluid film pressure is derived on the basis of Stokes microcontinuum theory of couplestress fluids by using Beavers-Joshep slip boundary conditions at the fluid-porous interface. The modified Reynolds equation is solved analytically and closed form expressions are obtained for the fluid film pressure, load carrying capacity, frictional force and centre of pressure. Findings - The bearing characteristics are computed for various values of the couple stress parameter, slip parameter and the permeability parameters. It is found that, the effect of couple stress is to increase the load carrying capacity and to decrease the coefficient of friction as compared to the Newtonian case. However, the effect of permeability parameter is to decrease the load carrying capacity. It is also found that, the effect of couple stresses is to shift the center of pressure towards the outlet edge. Research limitations/implications - The end effects are neglected in the analysis and these can be included in the study by considering full three-dimensional problem. Practical implications - Reduction in the load carrying capacity due to the presence of porous facing can be compensated by the use of lubricants containing additives of proper size. As a result the bearing performance can be improved. Originality/value - This paper provides closed form expressions for the bearing characteristics and are analyzed with respect to non-dimensional parameters, viz. couplestress parameter, slip parameter and permeability parameter. This paper offers help to design engineers to design efficient bearing systems.

Notes: Purpose - To form and develop a new mode of mixed elastohydrodynamic lubrication (mixed EHL) which is more realistic and of more application values to a practical elastohydrodynamic contact on gears, cams and roller bearings than the previous and current existing mixed EHL models. Design/methodology/approach - The representative theoretical and experimental studies on elastohydrodynamic lubrication (EHL) and mixed EHL carried out in the previous and recent time, including those of the author, are reviewed. The obtained results on EHL and mixed EHL in those studies and the viewpoints on the mode of mixed EHL based on those results developed in those studies are compared and evaluated. Strong proves are formed on the new mode of mixed EHL proposed in the present paper based on these comparisons and evaluations. Findings - Strong viewpoints are formed on the mode of the occurrence of dry contact in EHL in a practical concentrated contact. A new mode of mixed EHL is proposed by incorporating this mode of the occurrence of dry contact in EHL. Also, comments and evaluations on the previous researches on mixed EHL are made. Practical implications - A very useful material for the engineers who are engaged in the design of EHL on gears, cams and roller bearings, and for the tribology scientists who thrust efforts in studying EHL and mixed EHL both by theoretical modeling and by experiments. Originality/value - A new mode of mixed EHL is originally proposed by incorporating the finding of a more realistic mode of the occurrence of dry contact in EHL. This new mode of mixed EHL should become the direction of the theoretical research of mixed EHL in the future time. It provides a clearer way to this research.

Notes: Purpose - Nowadays, green cutting has become the focus because of its ecological problem and the necessary environment protection, so that the research on experimentation of green cutting with water vapor as coolant and lubricant is studied because water vapor has many benefits of cheapness, no pollution, no harm and no recycling and handling. Design/methodology/approach - The vapor generator and the vapor feed system are manufactured, the distribution of temperature and velocity of vapor jet flow are simulated by MATLAB program, and under the conditions of compress air, oil water emulsion, water vapor as coolant and lubricant and dry cutting, respectively, the turning experimentation of comparison which the tool is YT15, and the working material is steel 45. Findings - Water vapor, as coolant and lubricant, the cutting force is reduced, respectively about 30-40, 20-30 and 10-15 percent by comparing to dry cutting, compressed air and oil water emulsion. The cutting temperature is, respectively about 30, 40 and 50 percent with the other conditions of dry cutting, compressed air and oil water emulsion. The friction coefficient and the chip deformation coefficient are correspondingly decreased and the surface roughness value has been diminished too. Through analysis of the experimental results, water vapor as coolant and lubricant possesses better lubricating action because of the excellent penetration performance and the low lubrication layer shearing strength of water vapor. Originality/value - Water vapor as coolant and lubricant provides a novel method for realizing no contamination green cutting.

Notes: Purpose - To prevent damages of machinery elements and enhancing life lubrication by using new surface engineering techniques. Design/methodology/approach - A new "wet" coating technique offers an easy and promising route to modify steel surfaces. The design of surface coatings and the results of an official bearing test are presented. Findings - Based on common bearing tests (e.g. DIN 51819), wear behaviour and tribological properties of modified surfaces are verified. Research limitations/implications - Our actual research proves an enhanced tribological behaviour in the case of improving surface properties. In contrast, to the common vapour deposition techniques the "wet" coating method seems to offer an alternative route to get surfaces with enhanced tribological properties. Practical implications - The technique of "wet" coating offers an easy route to modify steel surfaces of all kinds of bearings. Originality/value - Pre-polymer coating provides a promising future technique for surface engineering.

Notes: Purpose - Oil-in-water (O/W) emulsion has been used in industrial rolling mills for many decades, but its lubrication mechanism is still not adequately understood. There is a need to understand the role of chemical ingredients and emulsifier in lubrication and tribological characteristics of rolling oil. With this purpose, the authors selected three commercially available O/W emulsions of different generations and of known industrial performance. The aim is to understand the lubrication mechanism of these rolling oils and to correlate the laboratory findings with that of industrial rolling mills. Design/methodology/approach - The lubrication mechanism has been studied with the help of an ultra thin film interferometry EHD test rig, an advanced experimental rolling mill and a Coulter LS 230 instrument. Film thickness, rolling parameters and droplet size were measured. The coefficient of friction was computed with the help of the measured values of rolling parameters. Emulsion stability and saponification value (SAP) of the selected emulsions were also determined. The results of film thickness, rolling parameters and droplet size have been presented. The lubrication mechanism of the emulsions has been explained on the basis of film thickness, droplet size, emulsion stability, SAP value and coefficient of friction. Findings - Results of the present study reveal that chemistry of O/W emulsions plays an important role in their film forming and tribological behavior. Rolling emulsions of relatively low stability, higher droplet size and high SAP value are found to provide better lubrication and lower coefficient of friction. The results of the present study correlate well with the actual industrial experience except those obtained on EHD test rig. Research limitations/implications - Coulter LS 230 instrument was available with M/s LUBRIZOL CORP., USA. Only limited study on droplet size was carried. Although the study carried out has given good information but it would have been more practical if the emulsion samples taken from the experimental mill stand would have been studied for droplet size. Practical implications - From understanding point of view of lubrication mechanism of O/W emulsion, it will be useful for oil technologists, tribologists and rolling mill users. Originality/value - The study is original in nature and gives information on lubrication mechanism of O/W emulsions in steel cold rolling of steel strips.

Notes: Purpose - Provide tribological information about the applicability of multi-layer carbon-chromium composite coatings to gears. Discuss the protection provided against scuffing failures, wear and the influence on gear power losses. Design/methodology/approach - Several screening tests, such as Rockwell indentations, ball cratering, pin-on-disc and reciprocating wear tests, were performed in order to evaluate the adhesion to the substrate and the tribological performance of the carbon/chromium composite coating. Afterwards, twin-disc tests were performed at high contact pressure and high slide-to-roll ratios to confirm the good adhesive and tribological properties of the coating under operating conditions similar to those found in gears. Gear tests were performed in the FZG machine in order to evaluate the anti-scuffing performance of the carbon/chromium coating using additive free gear oils. Finally, the carbon/chromium composite coating was also applied to the gearing in a gearbox and its influence on the gearbox efficiency was analysed. Findings - The C/Cr has got very good adhesion to the steel substrate, provides low friction coefficients between contacting solids in relative movement, gives excellent protection against scuffing and wear reduction in gears, and promotes a slight improvement of the gears efficiency. Research limitations/implications - The protection of this carbon/chromium coating against gear micro-pitting should be investigated. Practical implications - This study confirms the applicability of this coating to industrial gear applications, especially in two particular applications: severe applications involving high contact pressures and high sliding, frequent start-ups and inefficient lubrication; and acting as tribo-reactive material and substituting non-biodegradable and toxic additives in environmental lubricants. Originality/value - This work validates and quantifies the influence of this C/Cr multi-layer composite coating in gear applications in terms of adhesion to the substrate, anti-scuffing performance and efficiency.

Notes: Purpose - To provide a suitable useful mixing ration of nano-sized molybdenum disulfide and commercial common molybdenum sulfide (MoS2) particles (approximately 1.5?µm in diameter) in liquid paraffin, which can lead to a better tribological performance. Design/methodology/approach - The MoS2 nanoparticles and commercial common MoS2 particles (approximately 1.5?µm in diameter) were dispersed in liquid paraffin with different concentrations and ratios by means of ultrasonic in order to study their lubrication capacity, friction reduction and wear resistance. The tribological experiments were carried out by MQ-800 four-ball tribometer, in which extreme pressure, wear scan diameter and friction coefficient were measured. It was analyzed that the chemical status of elements on the rubbed surface by X-ray photoelectron spectroscopy (XPS), and it was observed that the surface topography of wear scan by scanning electron microscope (SEM). Findings - The results showed that the loading capacity of liquid paraffin with different kinds of MoS2 particles were increased with their contents. The liquid paraffin containing the mixture of MoS2 nanoparticles and common MoS2 particles has a better wear resistance, friction-reducing performance and extreme pressure property than the liquid paraffin containing pure common MoS2 or pure nano-MoS2 particles. The optimal mixing ratio of nano-MoS2 and common MoS2 is 20?wt percent, the loading capacity reaches the highest value. By XPS and SEM it was suggested that the difference in the tribological performance between MoS2 nanoparticles and MoS2 common particles was attributed to the surface and interfacial size-effect of nanoparticles and the formation of molybdenum trioxide thin film on the rubbed surface. Research limitations/implications - It is not studied that the effects of mixing of common MoS2 and nano-MoS2 in the actual lubricating oil with various additives. Practical implications - It provided a basic research results and data for the application of nano-MoS2 particles. Originality/value - The mixing of nanoparticles and non-nano-sized particles will lead to new tribological results, which is different from results obtained from other nanoparticles before.

Notes: Purpose - Resulting from the need for fast and insightful modeling combined with the drawbacks of available modeling environments, provides details of work developed on an automated modelling environment. Design/methodology/approach - An automated modeling environment for serial manipulators has been implemented in Matlab/Simulink. Findings - The manipulator configuration is defined by using a graphical user interface and the corresponding mathematical model is automatically generated. The model is exported to Matlab for analysis and control design, as well as to Simulink for simulation and verification purposes. Friction and stiction phenomena are included in the model. The simulation results can be visualized in standard plots and scopes as well as through virtual reality animations. Practical implications - The modeling environment has been used in the design of a control system for a seven-degree-of-freedom manipulator in a tunnel-boring machine. Originality/value - Information on the implementation of an automated modelling environment to facilitate the simultaneous design of the configuration and the corresponding control system of serial manipulators

Notes: Purpose - The problem of estimating the minimum forces extracted by robot fingers on the surface of a grasped rigid object is very crucial to guarantee the stability of the grip without causing defect or damage to the grasped object. Solving this problem is investigated in this paper. Moreover, the optimum sets of parameters used to tune the algorithm are also studied here. Design/methodology/approach - Ant Colony Optimization (ACO), which is a swarm intelligence-based method, is used in this work to solve this problem. The problem under scope is a complex, constraint optimization problem. We develop our own approach to calculate those minimum forces. Ants ability to reorganize and behave collectively is modelled here. The required forces are a result of the final ants distribution around the fingers contact points. Ants move from contact point to another following the maximum pheromone level direction until they settle on a solution that accomplishes the given criteria. Ants number on a contact point constitutes the total force exerted by a finger on that contact point. The process is repeated until optimum solution is found. Simulations are repeated to track down most suitable ACO parameters for this type of problems and with different fingers configurations. Findings - The results show that ACO can find optimum fingers forces for grasping rigid objects. These objects could be any polygon with or without friction between the fingers tips and the object surface. The method is computationally acceptable and can be applied with different fingers configurations and with different friction coefficients. We found that the optimal set of parameters used to tune ACO is independent of the initial number of ants on each location. Originality/value - In this paper we present a very original, new, and interesting technique used to solve the optimum grasping forces of rigid objects. It is a well-known fact that standard optimization techniques have their own requirements and limitations. This technique is based on swarm intelligence. This work opens the door for further investigations on how nature based methods can be used to solve complex problems. ACO offers a simple, yet structure approach to solve nonlinear constraint optimization problems.

Notes: Purpose - Semiconductor manufacturing industry requires highly accurate robot operation with short install/setup downtime. Design/methodology/approach - We develop a fast, low cost and easy-to-operate calibration system for wafer-handling robots. The system is defined by a fixture and a simple compensation algorithm. Given robot repeatability, end effector uncertainties, and the tolerance requirements of wafer placement points, we derive fixture design and placement specifications based on a statistical tolerance model. Findings - By employing the fixture-based calibration, we successfully relax the tolerance requirement of the end effector by 20 times. Originality/value - Semiconductor manufacturing requires fast and easy-to-operate calibration systems for wafer-handling robots. In this paper, we describe a new methodology to solve this problem using fixtures. We develop fixture design criteria and a simple compensate algorithm to satisfy calibration requirements. We also verify our approach by a physical example.

Notes: Purpose - Highlights new robots introduced in the fall 2004 offer various benefits such as lower prices, internal cable management for arc welding, reduced floor space requirements, environmental protection and features for quicker application design and commissioning. Design/methodology/approach - Attended various trade shows and contacted key vendors for information on product introductions. Findings - Vendors are addressing more and more application needs with features like cable management/protection, smaller footprints, lower pricing, greater application integration and other features. Research limitations/implications - Not all the new products which may have been introduced have been covered. Practical implications - Users and systems integrators can find answers to previously troubling aspects of robot applications. Originality/value - Highlights new robot offerings that may be real problem solutions for users who previously considered a robot solution as not fully addressing their requirements.

Notes: Purpose - To construct a commercial agricultural manipulation for fruit picking and handling without human intervention. Design/methodology/approach - Describes a research activity involving a totally autonomous robot for fruit picking and handling crates. Findings - Picking time for the robotic fruit picker at 8.7?s per orange is longer than the evaluated cited time of 6?s per orange. Research limitations/implications - The final system, recently tested, has not yet achieved a level of productivity capable of replacing human pickers. Further mechanical modifications and more robust and adaptive algorithms are needed to achieve a stronger robot system. Practical implications - Experimental results and new simulations look very promising. Originality/value - Will help to limit costs and guarantee a high degree of reliability.

Notes: Purpose - Describes the design, construction, and performance of the OmniTread serpentine robot. Provides a review of other designs in this new area of mobile robotics. Presents innovative and unique mechanical and control solutions. Design/methodology/approach - A theoretical analysis of key aspects of the mechanical design and their implications on the performance of the robot is presented. Extensive experimentation and testing helped optimize choices of materials for the critical components: tracks and pneumatic bellows. Performance was evaluated by an independent third party: the Southwest Research Institute. Findings - It was found that pneumatic bellows are optimal joint actuators for serpentine robots. They can provide both strength and compliance, depending on the task, at minimal volume and weight. Research limitations/implications - The described prototype is tethered to external sources of electrical and pneumatic power. A smaller and fully self-contained version of the OmniTread is currently under development. Practical implications - A fully functional OmniTread serpentine robot will provide unprecedented mobility on rough terrain, such as the rubble of a collapsed building. The ability to climb over high obstacles and span large gaps, while still fitting through small openings suggests use of this robot in urban search and rescue, industrial inspection, and military reconnaissance tasks. Originality/value - The OmniTread serpentine robot incorporates multiple original features, which resulted in three recent patents. Most notably are the Integrated pneumatic joint actuator with proportional position and stiffness control system and the "Tracks all Around" design. These features provide dramatic performance improvements in serpentine robots.

Notes: Purpose - Aims to provide a summary of global robot statistics as presented in World Robotics 2004, a new publication prepared jointly by the United Nations Economic Commission for Europe (UNECE) and the International Federation of Robotics (IFR). Also aims to highlight the trends displayed at the small exhibition of service robots that accompanied the publication launch. Design/methodology/approach - Summarises the UNECE/IFR global robot statistics for 2003, separating the market for industrial robots from that of service robots, and providing a detailed analysis of both. Explanations from Jan Karlsson, who was responsible for the publication of the statistics, are included. Findings - 2003 was a bumper year for robots overall. The market for service robots is accelerating rapidly, in particular. Sales of robotic vacuum cleaners are rising fast. Originality/value - Provides an overview of in-depth statistics on robotics, and highlights the trends for those interested in the robotics market.

Notes: Purpose - This paper presents an evolutionary algorithm (EA) for Sony legged robots to learn good walking behaviours with little or no interaction with the designers. Once the learning method is put into place, the module can learn through its interaction with the real world. Design/methodology/approach - An EA for developing locomotion gaits of quadruped walking robots is presented in this paper. It is based on a hybrid approach that changes the probability of genetic operators in respect to the performance of the operator's offspring. Findings - The mutating and combination behaviours of the genetic algorithms allow the process to develop a useful behaviour over time. The resulting gait from this training proved to be a better solution than the non-interference training for movements over all types of surfaces, pointing to a local optima being discovered in the non-environmental interference situation. Research limitations/implications - The behaviour of these algorithms is stochastic so that they may potentially present different solutions in different runs of the same algorithm. The mechanism described here has several features that should be noted. It allows rapid parameterisation of operator probabilities across the range of potential genetic algorithms and operator set. It is tailored to a steady state reproduction scheme. It would not be literally applicable to problems with noisy evaluation functions. Originality/value - Provides novel application of genetic algorithms to a potentially practical application area.

Notes: Purpose - To review presentations on robotics in "less familiar environments" given at a seminar, "The changing face of robotics: inside and outside the factory", organised by the UK Institution of Electrical Engineers (IEE). Design/methodology/approach - This paper covers the second part of the IEE seminar, which was concerned with robotics outside the traditional areas of "metal bashing". Four diverse industries are covered: food, defence, construction and space. The presentation on "food", by Bob Lloyd of AMTRI puts forward the concept of "a food factory in a pipe", while that by Andy Cooke from BAE Systems, on "defence" describes R&D projects ranging from a crawler robot for wing skin drilling to a volcano-exploring mobile robot. The "construction industry" presentation by John Riehl of Construction Robotics introduces START (safety through automated and robotic technologies), an organisation dedicated to improving safety in the industry by exploiting existing robotic technologies to remove operators from dangerous environments. The final presentation on "space robotics" by Dr Eddie Moxie of Surrey University, discusses "On-Orbit Servicing" in which robotic arms handle satellites and their componentary, and the development of rover or mobile robot vehicles in "Planetary Exploration". Findings - Robotics is spreading into a greater variety of industries, and in many cases the technology is similar to that used in conventional "metal industry" robot applications. Originality/value - Provides a review of robotic applications in the food, defence, construction and space exploration industries.

Notes: Purpose - Describes how Jaguar Cars is evaluating a technology roadmap to assess future manufacturing processes. Design/methodology/approach - Describes the major production line technologies that are under close scrutiny for the next ten years for use in the Jaguar Cars' production plants at Castle Bromwich and at Halewood, Merseyside, both in the UK. Technologies under review include ultrasonic welding, friction stir spot welding, laser welding and self-piercing rivets. Findings - The use of self-piercing rivets is already used in production at Jaguar for the aluminium-bodied XJ saloon. But developments of the process are already underway in readiness for the next new model. However, at the same time, engineers are examining other techniques including ultrasonic joining and friction stir spot welding, both of which at the subject of research work in the US and the UK. Use of pedestal guns and blow feeding devices is expected to bring improvements in cost. Research limitations/implications - Engineers at Jaguar are carrying out research and development, both in-house and with various research bodies and universities to establish the most beneficial processes for the joining of aluminium sheet, extrusion and cast components that go to form an aluminium car body. For successful joining aluminium requires low heat input solutions. At present, self-piercing rivets offer the best solution, but Jaguar engineers are looking at other processes including ultrasonic joining and friction stir spot welding. The aim is to find processes that are fast and cost-effective. In the meantime, Jaguar will continue to use self-piercing rivets for aluminium structures. Practical implications - The practical implications of the work will lead to reduced cycle times which in turn will help to make the manufacture of aluminium car bodies more cost-effective. Originality/value - BMW claims it is the first car maker to make use of bowl-feeding self-piercing rivets for the manufacture of aluminium body-in-white.

Notes: Purpose - This technical paper reports the development of an industrial robotic labeling system, designed to insert identification labels on rolls of paper coming from an industrial paper machine. Design/methodology/approach - The system was developed for an existing installation comprising a paper machine, a roll measuring and weighting station and a roll wrapping machine. The labels identify each roll by means of barcodes, which are used internally in the factory to identify and store each roll at the automatic warehouse and by the customer company for similar purposes. Findings - In describing an industrial application designed for labeling applications, this paper discusses and details a software interface designed to command shop-floor manufacturing systems remotely from the manufacturing tracking software. This adds in terms of flexibility and agility, since all available operations were implemented in a very general way requiring only simple parameterization to specify the individual operations. Practical implications - Since the TCP/IP server is a general implementation, using the BSD compatible TCP/IP socket implementation from Microsoft, it can receive commands from virtually any client. This makes this robotic cell interface an interesting way to command shop-floor manufacturing systems. Originality/value - Demonstrates a method for controlling shop-floor manufacturing systems that has broad applications.

Notes: Purpose - Describes a dual-arm mobile manipulator that can autonomously scan natural terrain using a typical handheld landmine detector in a manner similar to a human operator. Design/methodology/approach - Presents a terrain-scanning robot that consists of two articulated arms mounted on an off-road remotely operated vehicle. One arm carries a laser and four ultrasonic rangefinders to build a terrain map. The map is used in real time to generate an obstacle-free path for the second arm that manipulates the landmine detector autonomously. The arms are mounted on the vehicle that is controlled by an operator from a safe distance. Motion planning and control of the robot is carried out using an embedded computer that is linked to a host computer to transmit the detector data and operator commands. Findings - Finds that the terrain-scanning robot can effectively manipulate a relatively large landmine detector on rugged terrain with undulations and obstacles. Research limitations/implications - Proposes real-time motion planning that may be equally applicable to other mobile manipulators. Practical implications - Provides a technology that together with state-of-the-art landmine sensors will offer a safe solution for detecting hidden landmines and clearing them from the postwar countries. Originality/value - Introduces the concept of a dual-arm mobile terrain scanning robot for landmine detection in off-road missions and civilian areas where truck-mounted detectors are inefficient.

Notes: Purpose - This work demonstrates the development of a robot, which was designed for the orbital welding of pipes. Design/methodology/approach - The robot consists of a small car pressed against the pipe by means of chains, which are used by the robot to move around it. To provide all necessary torch movements, the robot must have four degrees of freedom: torch travel speed, stick-out, torch angle and lateral motion. Thus, using a look-up table-which was specially designed to this application-it is possible to follow the optimal parameters (voltage, current, welding speed, torch angle and stick-out) for each welding position (flat, vertical and overhead). Findings - The robotization of the orbital welding process brings enhancement in the final product quality, considerable increase of repeatability, reduction of rework and reduction of the weld execution time. At the very least, the robot is capable to reproduce the weld bead of the best human welder, through the use of the same paramenters contained in a table. Practical implications - The use of this robot in welding with GMAW proved to be extremely viable. It was shown that the bead shape did not suffer great variations from one welding postion to another, thanks to the use of a gradual change of parameters. Originality/value - Although, by RIA definition the devices for the orbital welding shown in literature up to now are not robots, the developed device can be called a robot due to its capability of being completely programmable and automatically carrying through all welding activities.

Notes: Purpose - The aim of the research was to evaluate the concept that utilizes structured planar substrates based on low temperature co-fired ceramics (LTCC) as a precision platform for the passive alignment of a multimode fiber and wide-stripe diode laser. Design/methodology/approach - Presents the manufacturing process for realisation of 3D precision structures, heat dissipation structures and a cooling channel into the LTCC substrate. The developed methodology for 3D modelling and simulation of the system was used to optimize structures, materials and components in order to achieve optimal performance for the final product and still maintain reasonably low fabrication costs. The simulated optical coupling efficiency and alignment tolerances were verified by prototype realization and characterization. Findings - The achieved passive alignment accuracy allows high coupling efficiency realisations of multimode fiber pigtailed laser modules and is suitable for mass production. Research limitations/implications - Provides guidance in the design of LTCC precision platforms for passive alignment and presents a hybrid simulation method for photonics module concept analysis. Practical implications - The three-dimensional shape of the laminated and fired ceramic substrate provides the necessary alignment structures including holes, grooves and cavities for the laser to fiber coupling. Thick-film printing and via punching can be incorporated in order to integrate electronic assemblies directly into the opto-mechanical platform. Originality/value - Introduces the LTCC 3D precision structures for photonics modules enabling passive alignment of multimode fiber pigtailed laser with high efficiency optical coupling. Demonstrates the hybrid simulation methodology for concept analysis.

Notes: Purpose - Modern day manufacturing has seen the replacement of manual transfer of parts between press machines with automatic transfer systems. Higher automation productivity demands greater flexibility of transfer devices. This paper deals with methods to improve the flexibility of fixtures designed to transfer parts between press machines. Design/methodology/approach - Describes methods to improve the flexibility of fixtures designed to transfer parts between press machines in Press Shop 3 at Iran Khodro Company (IKCO). A fuzzy C means clustering-based method is developed to optimize the number and arrangement of actuators for each fixture. Economical aspects of this novel design are addressed as well. Findings - The simulation results suggest that application of a flexible fixtures system and use of linear motors was the best method of adding flexibility to the loader-unloader system. Originality/value - Provides evidence that flexible components are indispensable to increasing production speed and reliability in an automated system.

Notes: Purpose - In this paper, an assembly sequence planning system, based on binary vector representations, is developed. The neural network approach has been employed for analyzing optimum assembly sequence for assembly systems. Design/methodology/approach - The input to the assembly system is the assembly's connection graph that represents parts and relations between these parts. The output to the system is the optimum assembly sequence. In the constitution of assembly's connection graph, a different approach employing contact matrices and Boolean operators has been used. Moreover, the neural network approach is used in the determination of optimum assembly sequence. The inputs to the networks are the collection of assembly sequence data. This data is used to train the network using the back propagation (BP) algorithm. Findings - The proposed neural network model outperforms the available assembly sequence-planning model in predicting the optimum assembly sequence for mechanical parts. Due to the parallel structure and fast learning of neural network, this kind of algorithm will be utilized to model another types of assembly systems. Research limitations/implications - In the proposed neural approach, the back propagation algorithm is used. Various training algorithms can be employed. Practical implications - The simulation results suggest that the neural predictor would be used as a predictor for possible practical applications on modeling assembly sequence planning system. Originality/value - This paper discusses a new modelling scheme known as artificial neural networks. The neural network approach has been employed for analyzing feasible assembly sequences and optimum assembly sequence for assembly systems.

Notes: Purpose - The objective of this paper is to propose a solution framework for better project delivery control. Design/methodology/approach - Three emerging technologies that may offer practical solutions are reviewed. These are: automatic product identification, merge-in-transit (MIT), and agent based control systems. Findings - Combining project site level and shipment specific control makes it possible to implement MIT in the project delivery chain. This basic functionality of merging deliveries is needed to react to project delays, and improve rescheduling project resources. Research limitations/implications - Systems design and trials are needed for further development of the proposed solution framework. Practical implications - Organizations responsible for coordinating project deliveries need to think about the incentives and costs for logistics service providers, and other business partners to participate in MIT solutions. Originality/value - The proposed framework is based on an open identification scheme. This makes it possible for new project delivery partners and service providers to locate and start using the controlling software applications without prior notification and arrangement.

Notes: Purpose - Improved fuel economy, lower emission and longer durability are the major developing trends of engine oils. Aims to describe further research on the friction coefficient of engine oils. Design/methodology/approach - The lubricating durability D was defined based on definition of three characteristic points Pd, PS, Pi and three key time lengths Td, Ts, Ti. Two kinds of engine oils, respectively, belonging to GF-2 and GF-3 categories, were selected as samples to compare their lubricating durability. Findings - Test results indicate the GF-3 oil has much better lubricating durability than GF-2 oil. With investigation of the topography and chemical composition changes of wear tracks along with the tribotests' time extending, the meanings of three characteristic points were discussed. Analysis indicates much better tribofilm, formed by the synergistic effect of Ca-containing detergent with MoDTC/ZDTP in GF-3 oil, is the major factor resulting in GF-3 oil's longer lubricating durability. Originality/value - Provides further research on lubricating durability, which is important for engine oil change and maintenance, as well as decreased cost and pollution to the environment, and improved energy conservation.

Notes: Purpose - The aim of the research is to investigate the influence of gas metal arc welding on the wear performance of worn concussor jaws. Design/methodology/approach - Worn parts were welded using the gas metal arc welding process. Various wires were used for this purpose. These welded parts were subjected to wear tests under different loads, and changes in the hardness and microstructures were examined. A pin-on-disc wear test apparatus was used. Findings - As a result of this study, the following findings are reported: wear rates were significantly increased with the increasing of load and wear distance; the hardness of the weld metal of the welded specimens changed depending upon the chemical composition of the weld wire; with the increasing carbon, manganese and chromium in the weld wire, wear resistance increased; in the present study, specimens B and C showed better wear resistance; therefore these specimens are suitable for using in concussor jaws. Research limitations/implications - Electrodes were limited with four wires, for welding gas arc welding methods were applied, loads were limited with 10, 25, 40?N, welded parts were subjected to wear test, hardness test, microstructures were examined. Practical implications - For future work, instead of buying worn concussor jaws, they are repaired with the gas metal arc welding process using various weld wires. By this process, working life of the jaws can be extended and vast economical benefit may also be obtained. Originality/value - This paper fulfils an identified information need and offers practical help to the industrial firms working with alunit ore and rock crasher and also to the academicians working on wear of materials.

Notes: Purpose - PEEK is an abbreviation for polyetheretherketone, a high performance engineering semicrystalline thermoplastic. This material can operate at higher temperatures and has excellent friction and wear properties, which are optimised in the specially formulated tribological grade PEEK-CF30. The purpose of this work was to develop a thermo-mechanical model to predict the tribological behaviour of the composite PEEK-CF30/steel pair, in dry sliding, related to friction and wear with the pv factor, the temperature and the sliding distance, using multiple regression analysis (MRA). Design/methodology/approach - This paper presents a new thermo-mechanical model to predict the tribological behaviour of the composite PEEK-CF30/steel pair, in dry sliding, using MRA. A plan of experiments was performed on a pin-on-disc machine PLINT TE67HT®. Findings - The objective was to establish a thermo-mechanical model to predict the PEEK-CF30 behaviour related to friction and wear with the pv factor (product of apparent pressure of contact and sliding velocity), the temperature and the sliding distance. This model was obtained by multiple linear regression. Finally, confirmation tests were performed to make a comparison between the obtained results from the mentioned model and the experimental results. Originality/value - The novel element of this paper is the application of design experiments and MRA in tribological model behaviour in an advanced material - PEEK-CF 30.

Notes: Purpose - To examine the mechanical properties of TiN PVD coated Ti-6Al-4V alloy through three-point bending tests. Design/methodology/approach - Ti-6Al-4V alloy is cut in size and polished and cleaned chemically before TiN PVD coating process. INSTRON three-point bending equipment is used to conduct the bending tests for TiN coated and uncoated workpieces. During the tests, the load and displacement characteristics were recorded. The tests were terminated when the coating failed. Micrographs of surface and crack sites were obtained by SEM. Findings - Coating failure occurs due to shearing effect on the tensile surface. The spalling and buckling of the coating on the compressive surface are observed. The compressive stress generated on the top surface (where the indent is in contact) did not cause adhesive failure of the coating. Moreover, cohesive cracks occur on the tensile surface of the coating. The crack ledge under the action of shear stress appears on the tensile surface of TiN coating and multi cracking of coating is resulted. The crack spacing is small indicating sliding and splitting separation between the adjacent columns in the coating. Research limitations/implications - The tests can be extended to include the duplex treated workpieces such as the heat treatment of surface prior to TiN coating. This enhances the interface properties of the coating and base alloy. Practical implications - The results can be used to assess the TiN coating applications in cutting tools, particularly drill bits and punches. Originality/value - This paper provides information on mechanical behavior of TiN coating when subjected to bending force and offers practical help for the researchers and scientists working in the coating area.

Notes: Purpose - The purpose of presented study is to investigate the development of the barreling obtaining the variation of the surface area during upsetting of cylindrical specimens for various metals and alloys. Design/methodology/approach - Variations of the surface areas were first obtained analytically using mathematical equations for uniform and non-uniform upsetting. Barreling contours were accepted as circular segments in the development of the equations. In the experimental part of the study, barreling radii and other related dimensions of upset specimens were measured and inserted into the developed equations in order to obtain the variations of total specimen surface areas. Findings - As it is expected, barreling effects the variation of total surface areas of the specimen. It can be concluded that the total surface area first decreases at low upset ratios for all the test materials and then begins to increase as the upset ratios increases. Consequently, total surface areas for non-uniform upsetting are always smaller that those of uniform upsetting. Research limitations/implications - Five kinds of materials were used in the experimental part of the study. Specimens were also upset without lubrication. A relatively slow hydraulic press was used during the experiments with 5?mm/s ram speed. Practical implications - Although the study has not direct implications for the practical purposes in forging area, results can be used as a very useful source of information for researchers in this field to plan their studies. Variation character of total surface area obtained in the study may give useful data in analyzing the deformation patterns in upsetting. Originality/value - The effects of barreling on the material behavior in upsetting for non-uniform conditions were analyzed with respect to variation of total specimen surface area. This point of view may be extended for different materials and friction conditions.

Notes: Purpose - This paper aims to introduce an innovative methodology for the determination of operational characteristics of journal bearings (j-bs) through using new type charts based upon a numerical solution of the Reynolds equation. Design/methodology/approach - The present paper proposes the mapping of the behaviour of a smooth, isothermal and hydrodynamic (j-b) as a first step towards a future representation of the behaviour of j-b's with limited length and high lubricating clearance with or without macro or micro topographic features operating under high loads, high temperatures and low linear velocities leading to conditions of mixed or boundary lubrication. Findings - The derived analytical relationships between dimensionless quantities lead to the development of high precision synthetic operational charts regarding sliding j-b of any given geometry and varying operational characteristics. Originality/value - By considering the iso-operational curves which are of a hook form relevant to comparative data becomes directly and rapidly clarified.

Notes: Purpose - The purpose of the present study is to provide the dynamic characteristics of long journal bearings lubricated with couple stress fluids. Design/methodology/approach - Based upon the micro-continuum theory generated by Stokes, the dynamic Reynolds-type equation governing the film pressure is derived to account for the couple stress effects resulting from the non-Newtonian behavior of complex fluids. By applying the linear stability theory to the non-linear equations of motion the journal rotor, the equilibrium positions and dynamic characteristics of the system are evaluated. Findings - As compared to the classical Newtonian model, the effects of couple stresses signify enhanced stiffness and damping coefficients (including KXX, KXY?, BXX and BXY) at moderate values of the steady eccentricity ratio. Totally, as the rotor center operates at an eccentricity ratio about ?s=0.71, long bearings lubricated with couple stress fluids under small disturbance results in a higher stability threshold speed than that of the Newtonian-lubricant case. Originality/value - These findings provide engineers useful information in designing journal-bearing systems.

Notes: Purpose - This paper aims to advance the squeeze film characteristics of long partial journal bearings with couple stress fluid studied by Lin to include the effect of permeability on the squeeze film lubrication of long partial porous journal bearings with couple stress fluids. Design/methodology/approach - A semi-analytical and semi-numerical solution for the squeeze film lubrication of long porous partial journal bearings lubricated with couple stress fluid is presented in the paper. The modified Reynolds equation governing the fluid film pressure is derived. The modified Reynolds equation is solved analytically and closed form expressions for the squeeze film pressure and load carrying capacity are presented. The first-order non-linear equation for the time-height relation is solved numerically with the given initial condition. The effect of couple stresses and permeability on the squeeze film characteristics are discussed. Findings - It is found that the effect of couple stresses is to increase the load carrying capacity and to lengthen the squeeze film time as compared to the corresponding Newtonian case. The effect of permeability is to reduce the load carrying capacity and to decrease the squeeze film time as compared to the corresponding solid case. Originality/value - In the design of porous partial journal bearings, the reduction in the load carrying capacity and the response time can be compensated by the use of lubricants with proper microstructures by which the bearing life can be increased.

Notes: Purpose - This paper investigates the load carrying capacity of the journal bearings with steel shafts with varying surface texture in varying revolutions using experimental and neural network (NN) approach. Design/methodology/approach - In this study, we used a shaft with smooth surface with the same material properties compare their load carrying capacities of the shafts with three different pitches and two different profiles. The experimental data, such as pressure and oil temperature, are employed as training and testing data for NN. Quick Prop algorithm is used to update the weight of the network during the training. Findings - The designated NN has superior performance for modelling of the system. Therefore, the proposed neural predictor would be used as a predictor for possible experimental applications on modelling bearing system. Research limitations/implications - Mobil 0W-40 lubricant was used and kept at temperature of 18°C. The surface of the shafts has been in two types: smooth, that is without and with profiles, that is trapezoidal and saw. Practical implications - Owing to the parallel structure and fast learning of NN, this kind of algorithm will be utilized to model other types of bearing systems. Originality/value - Instead of traditional methods, NN has fast learning and parallel processing structure. Moreover, NN can be used to process multiple-input/multiple-output data unlike other empirical modelling tools which can map one dependent variable at a time. Therefore, this method is able to predict the load carrying capacity with steel shafts with varying surface texture in varying revolutions satisfactorily where common techniques have failed.

Notes: Purpose - The present paper proposes a theoretical analysis of the stability characteristics of a Jeffcott rotor-hybrid bearing system. It is intended that on the basis of the numerical results drawn from this study, appropriate recess depth, land size, orifice location and speed parameter for stable operation can be determined for use in the bearing design process. Design/methodology/approach - A Jeffcott rotor supported by hybrid oil film bearings with dual-row recesses and orifice- compensated restrictors is studied. In order to facilitate the calculation of film dynamics, using the perturbation method, the Reynolds equation was linearized and subsequently solved using finite difference techniques, whilst the stability maps were determined by the Routh-Hurwitz method. Findings - The data reported here suggest that the stability characteristics of the Jeffcott rotor-bearing system could be improved by the use of shallow, dual-recessed hybrid bearings with orifice compensation. In addition to greater eccentricity ratios, smaller land-width ratios and greater shaft stiffness may also provide shallow-recessed bearings with better stability. In all cases, the stability provided by upstream orifice-sited bearings is better than that provided by center orifice-sited bearings, whilst high-speed parameters may also provide a greater stability threshold. Originality/value - This study proposes an extensive database as a critical requirement in the design of hybrid bearings, in order to ensure that a rotor bearing system is operating stably.

Notes: Purpose - To study and estimate changes of various properties upon use of engine oil by different methods.Design/methodology/approach - By viscosity measurement, pH measurement, Fourier transform infra-red spectroscopic analysis and UV-Visible (Ultraviolet and visible rays) spectroscopic analysis.Findings - Some specific changes in additives of the oil upon use could be traced.Practical implications - Correct choice for additives for a particular use may enhance the oil life and also protect the engine from damage.Originality/value - The findings may be important to the lube oil producers and the users.

Notes: Purpose - To study some tribochemical properties of tetrazole derivatives, n-hexadecanyl (1H-tetrazol-1-yl) acetate (HTA) and 1-phenyl-5-(octylthio)-tetrazole (PCT) as lubricating oil additives in hydrogenised oil, and estimate the action mechanism.Design/methodology/approach - The two tetrazole compounds were synthesized, and added them in hydrogenised oil with different concentrations. Their anti-wear properties were evaluated with a four-ball machine, the wear scar was analyzed with a X-ray photoelectron spectroscopy (XPS).Findings - The novel compounds possess good anti-wear, friction reduction properties and good load-carrying capacity. According to the XPS results, the novel compounds were migrated onto the surface of the steel balls and adsorbed on the surface. The two additive compounds, themselves, and their decomposers contributed to the corresponding tribological performances. With S element contained in the compound PCT, the influence on the load-carrying capacity of the base oil was enhanced. It may be due to the formation of S2- and SO42- compounds on the worn surface which could form a protective film.Research limitations/implications - Their antioxidant, anticorrosion, anti-wear properties are not estimated.Practical implications - Two useful EP and AW lubricating oil additives were synthesized, and maybe it is the potential industrial applied lubricating oil additives.Originality/value - This paper provided a study way of some N-containing heterocyclic compounds as lubricating oil additives.

Notes: Purpose - Cutting fluids despite playing an important role in metal cutting have considerable environmental impact. Inert gaseous metal cutting environments were investigated with the aim of removing soluble oil cutting fluids from metal cutting operations.Design/methodology/approach - Industrially reproducible cutting tests were devised, where an austenitic stainless steel and En32 low carbon steel material was milled in a range of different cutting environments. Tool life was measured for tests carried out in a number of gaseous environments and results were then compared with test results from conventional flood cutting environments.Findings - Low oxygen gaseous environments were compared with conventional cutting environments and a considerable flank wear reduction has been recorded using CVD coated tooling. Additionally flood coolant environments have been seen to promote chemical wear after the initial breakdown of coatings leading to rapid flank wear during milling of both En32 and austenitic stainless steel.Research limitations/implications - Only a limited number of work/tool material combinations have been investigated. A more detailed and exhaustive investigation is required to ascertain the scope of the improvements for a range of tool work combinations. This will assist in understanding the underlying reasoning for the tool life enhancement reported.Practical implications - All experimentation carried out is industrially reproducible. This work, therefore, proposes an environmentally clean alternative to the use of emulsified oils in metal cutting operations in order to exploit cost savings and improved operator working environments.Originality/value - Distinct operational performance improvements have been demonstrated in the form of extended tool life for metal cutting operations performed in a non-polluting cutting environment. These findings could herald widespread advantages within the metal cutting community.

Notes: Purpose - Our purpose was to theoretically analyse the effects of slip velocity and a magnetic fluid lubricant characterised by a material parameter on a parallel plate porous slider bearing. Various special cases were also discussed. Design/methodology/approach - The analysis might be useful in designing better slider bearings useful in machines like gas turbines. Findings - Computed values displayed in tabular form show that frictional force on the slider and the coefficient of friction decreased, the load capacity and the position of the centre of pressure unaltered when the slip parameter was increased. On the other hand, increase in the material parameter caused decrease in the frictional force and the coefficient of friction and, shift of the position of the centre of pressure towards the bearing inlet with no change in the load capacity of the bearing. Originality/value - The parallel plate slider bearing cannot support a load with a conventional lubricant. However, it can support a load with a magnetic fluid lubricant with less frictional force on the slider.

Notes: Purpose - The aim of the research is to investigate the ceramic brake lining on the brake performance.Design/methodology/approach - The brake lining which has new formulation has been produced by using various additive materials. Various techniques have been used in the production of brake lining. These ceramic linings were subjected to friction and wear tests under different loads, and changes in the hardness and microstructures were examined.Findings - As a result of this study, the following findings are reported. A direct proportional was not found between hardness and wear resistance due to the complexity of composite structure. Kevlar fibers were homogeneously distributed in the matrix and therefore, very few microvoids were observed in the structure. Similarly, stone wool was well spread out the braking pad and hence decreased the microvoids' occurrence. Heat treatment supplied more homogeneous structure and hence, microstructural variations were minimised during the brake action. On the other hand, heat treatment decreased the hardness of glass fiber reinforced specimens and increased the density. Each specimen was affected from the environmental conditions. However, water affected all specimens more than the other environmental conditions, such as salty water, oil and braking liquid. With the increasing of temperature, the ingredients in the braking pad were affected other due to better diffusion. On the other hand, hardness of specimens increases and density decreases due to heat treatment and also specific wear ratio changes.Research limitations/implications - Limitations in the present research are as follows: two different pressures and eight different temperatures were used and brake linings were subjected to wear test, hardness tests, microstructures were examined.Practical implications - For future work, instead of buying expensive brake lining, new and cheaper ceramic linings are produced. By this process, economic benefit can be gained and also environmental protection can be succeeded in producing such asbestos free brake linings.Originality/value - This paper fulfills an identified information and offers practical help to the industrial firms working with brake lining and also to the academicians working on wear of materials.

Notes: Purpose - In order to formulate ashless GL-5 gear oils and high-pressure antiwear hydraulic oils, the performances of extreme-pressure (EP) and antiwear (AW), and the thermal and hydrolytic stability of series ashless P-containing additives with different chemical structures are investigated by four-ball EP test, high-temperature oxidation test and hydrolytic stability test.Design/methodology/approach - Series ashless P-containing EP and AW additives with different chemical structures were designed and selected, their EP and AW performances, high-temperature oxidation, hydrolytic stability compared with the traditional zinc dialkyldithiophosphate (ZDDP) additive were investigated according to relative testing standards, and their applied performances compared with the traditional ZDDP additive were investigated using the CRC L-37 gear oil rear axle test, Deniso T-5D Vane Pump test and Deniso P-46 Piston Pump test.Findings - The results indicate that two ashless neutral thiophosphate esters exhibit excellent EP and AW performances, high-temperature oxidation and hydrolytic stability. The application performance of these P-containing additives is also examined by CRC L-37 rear axle test. The results show that only the oil samples with the addition of neutral thiophosphate esters correspondingly to API GL-5 automotive gear oil can pass the CRC L-37 gear oil rear axle test successfully. The results of further Deniso T-5D Vane Pump and Deniso P-46 Piston Pump tests prove that the ashless neutral thiophosphate ester is a very effective EP/AW additive for high-pressure antiwear hydraulic oil. In one sentence, the neutral thiophosphate ester is the excellent ashless EP/AW additive and the useful substitute for ZDDP.Research limitations/implications - From the results, the neutral thiophosphate ester is the excellent ashless EP/AW additive and the useful substitute for ZDDP, however, their tribological mechanicsm and their synergic effect with the other additives used in the test base oil for the applied performance tests may be done in the future works.Practical implications - These results may be useful for the researchers to formulate some ashless high EP/AW industrial oils.Originality/value - This paper proves that the two ashless neutral thiophosphate esters exhibit excellent EP and AW performances, high-temperature oxidation and hydrolytic stability, and is the useful substitute for ZDDP for formulating ashless GL-5 gear oils and high-pressure AW hydraulic oils.

Notes: Purpose - To present some new designs of magnetic fluid exclusion seals for rolling bearings and possibility to use them in modern industrial sealing applications. Design/methodology/approach - In the paper is given principle of magnetic fluid sealing technology and are presented new designs of magnetic fluid exclusion seals for rolling bearings, such as compact magnetic fluid seals, two-stages seals being combination of magnetic fluid seal and labyrinth seal or radial lip seal, magnetic fluid seals with "floating" magnetic system. This paper also shows examples of their application in various rotating process equipment. Findings - Provides information about new designs of bearing seals and gives the main advantages of these seals over other types, such as total tightness, low viscous drag, maintenance-free service and high reliability. Originality/value - This paper offers some new designs of high-performance magnetic fluid exclusion seals for rolling bearings and points their practical applications.

Notes: Purpose - In this work, the performance characteristics of thrust bearings are studied by taking into account bearing distortions. Design/methodology/approach - The pressure distribution in the bearing is found using Reynolds' equation. Reynolds' equation is solved under isothermal conditions by assuming oil viscosity constant. The amount of deformation in the bearing is determined using constitute equations applied to linear elastic materials. It is preferred to work with dimensionless equations for the result to be meaningful. The results of the finite differences method gives superior performance for analyzing the behavior of a bearing undergoing on elastic deformation. The amount of deformation which corresponds to a certain pressure and load carrying capability of the bearing after and before deformation are found and compared. Findings - The comparison is carried out for steel-steel and steel-bronze material pairs. It is found that there is a decrease of 2.13 percent in the load carrying capacity of the bearing for the material pair of steel-bronze. This decrease may be important for some applications. Originality/value - The present investigation includes distortion of pads only. Distortion of runner is ignored since it is assumed to be rigid. This assumption may cause serious deviations in computing performance characteristics.

Notes: Purpose - The main objective of this study was to obtain the flow restricting capacity by determining their flow coefficients and to investigate the unsteady flow with low Reynolds number in the flow-restricting devices such as orifices and capillary tubes having small diameters. Design/methodology/approach - There is an enormous literature on the flow of Newtonian fluids through capillaries and orifices particularly in many application fields of the mechanical and chemical engineering. But most of the experimental results in literature are given for steady flows at moderate and high Reynolds numbers (Re〉500). In this study, the unsteady flow at low Reynolds number (10〈Re〈650) through flow-restricting devices such as orifices and capillary tubes having very small diameters between 0.35 and 0.70?mm were experimentally investigated. Findings - The capillary tubes have much more capillarity property with respect to equal diameter orifices. Increasing the ratio of capillary tube length to tube diameter and decreasing the ratio of orifice diameter to pipe diameter before orifice increase the throttling or restricting property of the orifices and the capillary tubes. The orifices can be preferred to the capillary tubes having the same diameter at the same system pressure for the hydraulic systems or circuits requiring small velocity variations. The capillary tubes provide higher pressure losses and they can be also used as hydraulic accumulators in hydraulic control devices to attenuate flow-induced vibrations because of their large pressure coefficients. An important feature of the results obtained for capillary tubes and small orifices is that as the d/D for orifices increases and the L/d reduces for capillary tubes, higher values C are obtained and the transition from viscous to inertia-controlled flow appears to take place at lower Reynolds numbers. This may be explained by the fact that for small orifices with high d/D ratios and for capillary tubes with small L/d ratios, the losses due to viscous shear are small. Another important feature of the results is that the least variations in C for small orifices and the higher variations in C for capillary tubes occur when the d/D and L/d ratios are smallest. This has favourable implications in hydraulic control devices since a constant value for the C may be assumed even at relatively low values of Re. Originality/value - To the authors' knowledge, there is not enough information in the literature about the flow coefficients of unsteady flows through capillary tubes and small orifices at low Reynolds numbers. This paper fulfils this gap.

Notes: Purpose - The capability to perform dexterous operations in an autonomous manner would greatly enhance the productivity of robotic operations. In this paper, we present a new methodology for vision-based grasping of objects or parts using a three-finger hand as a gripper of a robotic manipulator. Design/methodology/approach - The hand employed in our work, called SARAH, was designed for robotic operations on the space station, however, the main steps of our procedure can be applied for tasks in a manufacturing environment. Our methodology involves two principal stages: automatic synthesis of grasps for planar and revolute objects with SARAH and vision-based pose estimation of the object to be grasped. For both stages, we assume that a model of the object is available off-line. Findings - In the paper, numerical results are presented for grasp synthesis of several objects with SARAH to demonstrate the feasibility and optimality of the synthesized grasps. Experimental results are also obtained with SARAH as the end-effector of a seven-degree-of-freedom robotic arm, demonstrating the feasibility of the integrated vision-based grasping. Research limitations/implications - The methodology described in the paper, although represents a substantial step towards automated grasping with a robotic manipulator, still requires some decision making from the user. Further work can improve the pose identification aspects of the algorithm to make them more robust and free of human intervention. As well, the grasp synthesis procedure can be expanded to handle more complex and possibly moving objects, as well as to allow for different grasp types than those considered here. Practical implications - The work demonstrates feasibility of autonomous grasp execution in industrial setting by using a three-finger hand as a robotic gripper. Originality/value - The results presented in the paper demonstrate the feasibility of synthesising optimised grasps which take into account the kinematics of the gripper. We also demonstrate a real implementation of vision-based grasping by using a robotic manipulator with a three-finger hand.

Notes: Purpose - Robotic hands are still a long way from matching the grasping and manipulation capability of their human counterparts, but computer simulation may help us understand this disparity. We present our publicly available simulator, and describe our research projects involving the system including the development of a human hand model derived from experimental measurements. Design/methodology/approach - Unlike other simulation systems, our system was built specifically to analyze grasps. It can import a wide variety of robot designs by using standard descriptions of the kinematics and link geometries. Various components support the analysis of grasps, visualization of results, dynamic simulation of grasping tasks, and grasp planning. Findings - The simulator has been used in several grasping research problems and can be used to plan grasps for an actual robot. With the aid of a vision system, we have shown that these grasps can be executed by a robot. Research limitations/implications - We are currently developing methods to handle deformable surfaces, tendon driven models, and non-ideal joints in order to better model human grasping. Practical implications - This work is part of our current project to create a biomechanically realistic human hand model to better understand what features are most important to mimic in the designs of robotic hands. Such a model will also help clinicians better plan reconstructive hand surgeries. Originality/value - We describe our publicly available grasping simulator and review experiments performed with it. The paper demonstrates the usefulness of this system as a tool for grasping research.

Notes: Purpose - The purpose of this paper is to inform the readers of the design process and practical implications of a new gripping device created by the authors. Design/methodology/approach - We have developed a novel gripping device based on the biomechanics of the feeding apparatus of the marine mollusk, Aplysia californica. The gripping device uses modified McKibben artificial muscles arranged in rings and placed in parallel. The rings contract sequentially to produce peristalsis, which moves a grasping mechanism back and forth through the rings. Findings - The central grasper is capable of conforming to soft and irregular material. Practical implications - This device could have novel applications both for removal of tissue in medical applications and for removing material from clogged plumbing lines. Originality/value - This paper demonstrates the utility of using biological inspiration for developing novel robotic devices and suggests new ways of handling slippery, irregular, and fragile material.

Notes: Purpose - Aims to review the CLAWAR 2004 conference on climbing and walking robots. Design/methodology/approach - Selects key papers from the conference and presents a brief outline of the research undertaken and the conclusions reached. Findings - The CLAWAR conference covered every aspect of climbing and walking robots including design, locomotion, navigation, actuation and control, sensors, tele-operation and tele-presence. Researchers spoke of robots for applications ranging from de-mining, tank inspection and building cleaning to walking aids for the disabled. Research limitations/implications - Focuses only on part of the CLAWAR 2004 conference, which featured some 120 presentations. Practical implications - Climbing robots are starting to achieve practical applications such as cleaning building facades and windows. Originality/value - Outlines trends in the development of climbing and walking robots.

Notes: Purpose - Aims to describe design, prototyping and characteristics of a pole climbing/manipulating robot with ability of passing bends and branches of the pole. Design/methodology/approach - Introducing a hybrid (parallel/serial) four degree of freedom (DOF) mechanism as the main part of the robot and also introduces a unique gripper design for pole climbing robots. Findings - Finds that a robot, with the ability of climbing and manipulating on poles with bends and branches, needs at least 4 DOFs. Also an electrical cylinder is a good option for climbing robots and has some advantages over pneumatic or hydraulic cylinders. Research limitations/implications - The robot is semi-industrial size. Design and manufacturing of an industrial size robot are a good suggestion for future works. Practical implications - With some changes on the gripper module and the last tool module, the robot is able to do some service works like pipe testing, pipe/pole cleaning, light bulb changing in highways etc. Originality/value - Design and manufacturing of a pole-climbing and manipulating robot with minimum DOFs for construction and service works.

Notes: Purpose - Examines a recently launched integration of smart cameras into industrial robots to make them responsive to a changing environment. Design/methodology/approach - Reviews the capabilities of the vision-enabled robot, citing installations in Sweden and the UK, then describes the robot and vision programming procedure. Findings - Vision integration opens up a range of new possibilities such as simultaneous product handling and inspection, as well as providing real-time robot guidance. Standardisation plays an extremely valuable role in building integrated systems from disparate technological elements. Here ActiveX web standards, ethernet connectivity, a standard interchangeable family of cameras and a common controller for a whole range of robots are the keys to the synthesis of a powerful new combination of robot and machine vision. Originality/value - Draws to the attention of industrial engineers the availability of a family of robots with integrated machine vision.

Notes: Purpose - Offers a broad overview on Japanese prototype service robot R&D trends and examples. Design/methodology/approach - Displays two examples of service robotics: the forestry robot WOODY-1, and the android presenter and entertainer/informer/guide Repliee Q1. Findings - More and more frequently robotics usage has expanded into more diverse areas that involve work outside the confines of the factory floor. The paper highlights interesting Japanese service robot prototypes, as well as identifies some new R&D trends and requirements. Research limitations/implications - The potential for new service robotics applications is enormous, ranging from childcare and nursing, to forestry. Practical implications - The practical implications of the increased diversity of service robotics will reduce human workload and environmental strain. Originality/value - Reveals examples of innovation in service robot design and application.

Notes: Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima.

Notes: Purpose - Reviews the benefits and potential application of tactile sensors for use with robots. Design/methodology/approach - Includes the most recent advances in both the design/manufacturing of various tactile sensors and their applications in different industries. Although these types of sensors have been adopted in a considerable number of areas, the applications such as, medical, agricultural/livestock and food, grippers/manipulators design, prosthetic, and environmental studies have gained more popularity and are presented in this paper. Findings - Robots can perform very useful and repetitive tasks in controlled environments. However, when the robots are required to handle the unstructured and changing environments, there is a need for more elaborate means to improve their performance. In this scenario, tactile sensors can play a major role. In the unstructured environments, the robots must be able to grasp objects (or tissues, in the case of medical robots) and move objects from one location to another. Originality/value - In this work, the emphasis was on the most interesting and fast developing areas of the tactile sensors applications, including, medical, agriculture and food, grippers and manipulators design, prosthetic, and environmental studies.

Notes: Purpose - Aims to determine how robotics is used in white goods manufacture. Design/methodology/approach - Interviews production specialists at BSH Bosch and Siemens Hausgerate about the application of robots to dishwasher manufacture at the company's Dillingen plant in Germany, and reviews several robot applications at the facility. Findings - Robots have an important though limited role to play in dishwasher manufacture due to most automation needs being met by dedicated machinery Originality/value - Reveals how the white goods industry views robotics and its value to production

Notes: Purpose - Aims to determine how robotics is used in white goods manufacture. Design/methodology/approach - Assesses robot applications at several white goods manufacturers, examining the challenges posed and the achievements made. Findings - The white goods sector offers diverse opportunities for robotisation, but the number of units installed is low. Originality/value - Reveals how the white goods industry views robotics and its value to production.

Notes: Purpose - The paper aims to advance methodologies to optimize fuzzy logic controller parameters via neural network and use the neuro-fuzzy scheme to control two cooperating robots. Design/methodology/approach - The paper presents a special neural network architecture that can be converted to fuzzy logic controller. Concepts of model predictive control (MPC) have been used to generate optimal signal to be used to train the neural network via backpropagation. Subsequently, a trained neural network is used to obtain fuzzy logic controller parameters. Findings - The proposed neuro-fuzzy scheme is able to precisely learn the control relation between input-output training data generated by the learning algorithm. From the experiments performed on the industrial grade robots at Robotics and Manufacturing Automation (RAMA) Laboratory, it was found that the neuro-fuzzy controller was able to learn fuzzy logic rules and parameters accurately. Research limitations/implications - The backpropagation method, used in this research, is extremely dependent on initial choice of parameters, and offers no mechanism to restrict the parameters within specified range during training. Use of alternative learning mechanisms, such as reinforcement learning, needs to be investigated. Practical implications - The neuro-fuzzy scheme presented can be used to develop controller for plants for which it is difficult to obtain analytical model or sufficient information about input-output heuristic relation is not available. Originality/value - The paper presents the neural network architecture and introduces a learning mechanism to train this architecture online.

Notes: Purpose - Aims to discuss how impedance-controlled parallel robots can effectively perform industrial assembly tasks. Design/methodology/approach - A new purely translational parallel robot has been designed to fulfil the requirements of industrial assembly tasks. The kinematic and dynamic models of the robot have been obtained in analytic form. A full-scale prototype has been realized within the Italian research programme PRIDE (Parallel Robots Interacting with Dynamic Environments). An impedance control algorithm based on the kinematic and dynamic models has been implemented on the control unit of the PRIDE prototype. The effectiveness of the impedance-controlled PKM has been evaluated performing the assembly of white goods components. Findings - The test results show that the combined use of impedance control and dynamic compensation applied to parallel kinematics machines allows to reduce remarkably the operational time compared to the currently used position-controlled industrial robots. Research limitations/implications - The experimental tests on the PRIDE prototype show the overall industrial feasibility of impedance-controlled parallel kinematics machines. Practical implications - The introduction of impedance-controlled PKMs may improve, with a relatively low cost, the level of automation of several production plants in which delicate operations requiring force control are still executed manually. Originality/value - While there is a large number of existing position-controlled PKMs, the experimental research about force-controlled or impedance-controlled PKMs is not widespread.

Notes: Purpose - In this paper a solution capable of extracting robot motion information from CAD data is briefly presented and explored. Design/methodology/approach - The motion information is added by the user to the CAD file, defining in this way the approach, fly-by and welding trajectories. So the user programs the robot. An application is then used to extract that information and constitute a pre-program, which should be tuned with the real robot using a small set of rules. In this way, versatility of robotic cells is improved and its programming is simplified. Findings - The developed CAD interface is tested using a robot welding experiment on a steel beam used for industrial buildings. Originality/value - This paper builds on work previously described in "CAD interface for automatic robot welding programming" published in Industrial Robot, Vol. 31, No. 1.

Notes: Purpose - A review of safety-technology, applicable safety-related standards and the impact on the use of robots in industrial environments. Design/methodology/approach - Technological developments are presented in safety-related control technology, including programmable safety controllers, configurable safety controllers, safety networking and robotic safety in human environments. The technological developments are related to new and emerging safety standards. Findings - The development of safety-related technology and new international and European standards have fundamentally changed the way in which safety is now being engineered in industry. The introduction of new standards and revision of others have allowed safety-related systems to utilise "state of the art" electronic, programmable, and network based technologies. New international standards are likely to include collaborative working with humans in the robotic workspace. This is set to change how robots are utilised in manufacturing environments. Originality/value - The review of applicable standards and technical developments: with examples from current research and new technologies, demonstrating engineering solutions that embody the principles of the new standards.

Notes: Purpose - The purpose of this research is to develop closed-loop control of robotic welding processes. Design/methodology/approach - The approach being developed is the creation of three-dimensional models of the weld pool using stereo imagining. These models will be used in a model-based feedback control system. Fusion of more than one sensor type in the controller is used. Findings - Three-dimensional images can be produced from stereo images of GMAW-p weld pools. This requires coordinating the image capture with the arc pulse to allow observation of the pool. Research limitations/implications - This is a work in progress. The imaging is not being done in real time at this point in time. Future work will address this issue. Also, how the image information is to be used to make corrections within the controller is future work. Practical implications - Closing the loop on GMAW welding will allow robotic automation of welding to proceed to a much broader degree of application. Originality/value - This paper demonstrates that stereo imaging of out-of-position GMAW-p weld pools is possible and the useful information can be obtained from these images. It also provides insights into the analysis required within the model-based controller if one is to close the loop on the process specifically with regard to weld pool stability.

Notes: Purpose - Aims to determine how BMW's use of robots in car manufacturing is evolving. Design/methodology/approach - Presents the latest applications of robots at BMW's Regensburg plant where the new small 1-series car started production in 2004. Findings - Finds that robots are being used to bring greater flexibility to car manufacture and to raise process quality and productivity, particularly in the area of the paint shop. Originality/value - Reveals how one of the world's most innovative car manufacturers is applying robots in new ways to achieve increasing benefits.

Notes: Purpose - The paper describes the operation of two hose maufacturing machines. Design/methodology/approach - The systems use servo drives (Rexroth) and ultrasonic cutting heads. Findings - System reduces costs and gives greater flexibility with an expected payback time of 2-3 years. Originality/value - A useful source of information for those involved in special purpose machinery manufacturing.

Notes: Purpose - The aim of the research is to investigate the influence of ceramic coating on the wear performance of machine parts. Design/methodology/approach - Ductile cast iron parts were coated using ceramics. Three ceramics were used for this purpose. These coated parts were subjected to wear tests under a stable load. A pin-on-disc wear test apparatus was used. Findings - As a result of this study, the following findings are reported: According to ASTM G 99-90 pin-on-disc experiments, Cr2O3 was found to be best coating material with low wearing rate. Within row, Al2O3 and ZrO2 can be given. According to the previous work, motor parts for example piston ring, cylinder liner and engine valve can be coated with ceramic. In this study, it is observed that the figure of merit is increased in this study. Only wearing data is given in this research. The other results are also supporter of the results taken from the wearing experiments. As a result, due to the decrease in heat loss and coaling stability of part can provide good results. With these, by coating there is a decrease in oil reduction. Research limitations/implications - Coatings were limited with three ceramics, a stable load was used, and coated parts were subjected to wear test. Practical implications - For future work, instead of using other coating materials, Cr2O3 is used for the best coating material with low wearing rate. By this process, working life of the machine parts can be extended and a number of economical advantages may also be obtained. Originality/value - This paper fulfills identified information needs and offers practical help to the industrial firms working with ceramic coating and also to the academicians working on wear of materials.

Notes: Purpose - To make a derivation of the load-carrying capacity of elastohydrodynamic lubrication for special operating conditions, i.e. extremely heavy loads or extremely low rolling speeds based on the Newtonian fluid model by taking the Grubin-type EHL inlet zone analysis, justify the load-carrying capacity of elastohydrodynamic lubrication film in these operating conditions, and propose future trends of the research in EHL and mixed EHL based on the obtained results in the present paper. Design/methodology/approach - A Grubin-type EHL inlet zone analysis is carried out for the isothermal EHL of line contacts in special operating conditions, i.e. extremely heavy loads or extremely low rolling speeds based on the Newtonian fluid model. Comparison is made between the central EHL film thickness in line contacts, respectively, predicted by conventional EHL theories and accurately predicted from the present analysis for these operating conditions. An interpretation is made for the EHL film thickness in these operating conditions by taking the approach of the transportation and flow of the fluid through elastohydrodynamic contact when the EHL film is, respectively, thick and molecularly thin in the Hertzian zone. Conclusions are drawn on the load-carrying capacity of EHL, EHL contact regimes and mixed EHL regimes in these operating conditions. Findings - The present EHL inlet zone analysis shows that the EHL film thickness in the Hertzian zone is on the nanometer scale and the lubricant is non-continuum across the film thickness in the Hertzian zone at relatively heavy loads in line contact EHL when the dimensionless rolling speed is lower than the dimensionless characteristic rolling speed Uch=0.0372W1.50/G. In this case, the central EHL film thickness in line contact EHL predicted by the conventional EHL theory may be several orders of magnitudes higher than that accurately predicted. This difference may be greater for heavier loads.The present results for line contact EHL based on the Newtonian fluid model show that in line contact EHL, for relatively heavy loads and the dimensionless rolling speed lower than the dimensionless characteristic rolling speed Uch=0.0372W1.50/G, the EHL analysis needs to further incorporate the lubricant non-continuum effect across the film thickness in part of the lubricated area to investigate the EHL film thickness and the EHL film pressure in the contact in this very low film thickness condition; only the results based on such an analysis are believable for the EHL stage where the lubricant film thickness in the Hertzian zone approaches to zero and then vanishes; the results for EHL based on the Newtonian fluid model is unable to conclude that the EHL film thickness in the Hertzian zone is zero and dry contact occurs between the contact surfaces in EHL in any operating condition for ignoring the lubricant non-continuum regime governing the EHL stage preceding the occurrence of the zero lubricant film thickness in EHL. Practical implications - A very useful source of information for academic scientists, engineers and tribologists who are engaged in the study and application of the theory of elastohydrodynamic lubrication. Originality/value - A derivation is first carried out for the isothermal EHL of line contacts in extremely heavy loads or extremely low rolling speeds by taking the Grubin-type EHL inlet zone analysis by the present paper. Results and conclusions on the load-carrying capacity of EHL in these operating conditions are first strict and thus convincing. These results are also original in clarifying the future trends of the researches in EHL and mixed EHL.

Notes: Purpose - Engine oil degrades in quality during its use and after certain period of time the oil needs to be changed depending upon its condition. The purpose of this paper is to design and develop an online condition monitoring device for engine oil. Design/methodology/approach - Based on the previous works in this line and some testing of used oils in the laboratory, the correlation of change in colour with other properties were identified. An optical colour sensor was then designed and developed which can transform the darkness of oil colour into electrical resistance. A series of tests were undertaken to calibrate the system for its correctness. Findings - This type of sensor provides the information about the condition of the oil and also can inform about the probable time for drain-off of the oil. Practical implications - Engine oil changes are normally done by schedules which are highly conservative and cost the user as the oil is changed when it could be still used for some time. Use of an online sensor will minimize the cost on lubricants to some extent. Originality/value - The device is of great value to the users of IC engines as it not only reduces the cost on lubricants but also informs the user about the present condition of the oil.

Notes: Purpose - Wear behavior of boronized GGG-80 ductile cast iron were studied against WC-Co ball for determining the effect of boronizing time and temperature. Design/methodology/approach - Ball on disk arrangement was used for determination of tribological properties of boronized ductile cast iron depending on process time and temperature. Boronizing treatment was performed on GGG-80 ductile cast iron using salt bath immersion boronizing technique at 850 and 950°C for 2-8?h. Friction and wear tests were carried out at dry test conditions under 2, 5 and 10?N loads with 2.5?m/min sliding speed. Findings - The result showed that the friction coefficient values ranged from 0.12 to 0.2 depending on the process parameters. The higher the treatment temperature and the longer the treatment time, the thicker the boride layer, the more the FeB phase and the higher the specific wear rate became. The specific wear rate of boronized ductile cast irons depending on process time, temperature and applied load against WC-Co ball ranged from 1.25?×?10-5 to 42.45?×?10-5?mm3/Nm. Values of coefficient of boronized ductile cast irons increases with increase in load in the wear test and increase in boronizing time and temperature. Research limitations/implications - The study deals with only ductile cast irons and their tribological properties. Practical implications - The results are very useful for practical applications and academic study. There is a little number of studies on the boronizing of cast irons. This study will be helpful for the researcher studied on boronizing of cast irons. Originality/value - The properties of the tribological properties of ductile cast irons have not explained detail in the earlier study. There are new results in this study on the tribological properties of boronized ductile cast irons. Because of this, the paper is original.

Notes: Purpose - Surface roughness is an important parameter in manufacturing engineering with significant influence on the performance of mechanical parts. Failures, sometimes catastrophic failures, leading to high costs, have been imputed to a component's surface roughness. Owing to the need for improvement of machining parameters in order to obtain a prescribed surface roughness, new developments have been recently investigated. This work aims to report on a study of an optimisation model based on genetic algorithms (GAs). Design/methodology/approach - The developed algorithm considers a machining parameter data population obtained from experimental tests. The exchange of structured information based on natural selection principles and "survival-of-the-fittest" allows the combination of solutions in a sequence of generations leading to the best solution. Findings - Over standard experimental design methodologies the proposed GA approach shows advantages in finding the optimal conditions under the imposed constraints. Indeed the quality of the produced surface roughness cannot be evaluated using only a criterion. This GA method determines the combined effects of the input parameters to the optimal machining parameter. Originality/value - A new methodology for determining optimal machining parameters in dry turning based on the measurement of the surface roughness is proposed. The numerical and experimental developed model can be used with success on further applications with industrial interest.

Notes: Purpose - When designing hardware and algorithms for robotic manipulation and grasping, sensory information is typically needed to control the grasping process. This paper presents an overview of the major grasping and manipulation approaches and the more common hardware used to obtain the necessary sensory information. Design/methodology/approach - This paper presents an overview of tactile sensing in intelligent robotic manipulation. The history, the common issues, and applications are reviewed. Sensor performance is briefly discussed and compared to the human tactile sense. Advantages and disadvantages of the most common sensor approaches are discussed. Some examples are given of sensors that are widely available as of today. Eventually, some examples of the state-of-the-art in tactile sensing application are presented. Findings - Although many sensor technologies and strong theoretical models have been developed, there is still much left to be done in intelligent grasping and manipulation. This is partly due to the youth of the field and the complex nature of safe control in uncertain environments. Even though there are impressive results when it comes to specific examples of advanced manipulation, there seems to be room for great improvements of hardware and especially algorithms when it comes to more generic everyday domestic tasks. Originality/value - This paper presents a review of sensor hardware while also giving a glimpse of the major topics in grasping and manipulation. While better hardware of course is desirable, the major challenges seem to lie in the development and application of grasping and manipulation algorithms.

Notes: Purpose - The aim of the research is to design, build and test a robot able to autonomously execute slope consolidation tasks. Design/methodology/approach - A multidisciplinary approach has been adopted to solve the problem: mechanical and control architecture have been conceived simultaneously. Modularity and lifecycle are considered. The robot can climb by means of four legs and two ropes. The drilling system is hosted onboard. Drilling process is fully automated, motion can be controlled in tele-operation. Findings - The performance of the first prototype has satisfied the end-user; new on-site tests and improvements are planned. Research limitations/implications - Roboclimber is cumbersome; both robot transport and on-site positioning are complex operations. Coordination between legs motion and ropes tensioning is a difficult task. Practical implications - The system reduces operating costs and working time, while avoiding the human presence in unsafe and harsh environments. Originality/value - Roboclimber is the first robot able to do heavy duty works on rocky walls

Notes: Purpose - Describes how BMW is investing in new body-in-white capital equipment to make a new version of the Mini due out in 2007. Design/methodology/approach - Describes the major production line technologies that are under close scrutiny to manufacture the body shell of the next generation Mini car at BMW Group's Oxford plant in the UK. Technologies to be implemented include a further 160 KUKA robots (most of which will be used for spot welding) and a new generation of control software. Findings - BMW managers and engineers have decided to expand the present body-in-white facility at Oxford by a further 15,000m2. At the same time they are planning to move some of the present manufacture to the company's plant at Swindon, Wiltshire. This includes various cells to manufacture closures, including doors, tailgate and bonnet assemblies. Already the Cabriolet tailgate assembly has been moved to Swindon. At the same time, engineers plan to introduce a new control standard, product line 2 (PL2), which is already the standard used throughout BMW's manufacturing organization. Research limitations/implications - Engineers BMW's oxford plant have been upgrading the present r50 control standard into a hybrid version that will be known as R50.1. This work is due to be complete by the end of this year. The new standard, PL2, will be introduced into the new facilities so there will in effect be two standards running in parallel in the works. At the same time the there will be a switch to Siemens S7 software, which will be faster and offer much increased processing power. Following development and work arising out of previous experience, BMW engineers have opted for KUKA KRC2 robots. Practical implications - The practical implications of the new facilities will allow BMW engineers greater flexibility. Although it has not yet been made public, it is likely the company will introduce a special framing unit that will allow manufacturing engineers to produce more than one version of the mini on the body-in-white line. Originality/value - The work being done at Oxford for the 2007 Mini will incorporate technology and know-how already developed within the BMW Group to manufacture the 1-Series and the 3-Series cars.

Notes: Purpose - This paper presents a new method for deploying RoboCrane-type cable robots, without the need for fixed rigid cable support points. That is, the system provides its own deployable mobile overhead support points. Design/methodology/approach - This paper presents a new RoboCrane support concept based on rigid members, cable actuation, and cable suspension. It is self-contained and provides mobility for the required six overhead cable connections, thus extending the workspace of the existing RoboCrane. The paper presents the RoboCrane support concept overview, followed by kinematics and statics analysis, plus a case study of a specific design. Findings - Design for kinematic horizontality, workspace, and statics are competing so the designer must make tradeoffs for the best system performance according to specific design needs. Research limitations/implications - Since the support system plus RoboCrane are both cable-suspended robots, there are limitations in the pseudostatic workspace, i.e. since the cables can only exert tension and cannot push, the motion range is limited. Practical implications - Specific system design and deployment is still remaining work - practical issues such as outriggers for moment and tipping resistance, easy portability, control of the mast from the ground, and safety must be solved in the future. Originality/value - Enables RoboCrane applications in many more arenas, such as automated construction, where rigid overhead cable support points are simply unavailable.

Notes: Purpose - Top-face control of weld penetration in TIG welding is required for fully automated systems to overcome variations in the welding process and fixturing systems. Design/methodology/approach - This paper presents a system based upon based on the real-time vision measurement and control of the upper surface or "topface" weld pool size. The primary objective has been to demonstrate the feasibility of using vision-based image processing to provide measurements and the subsequent control of upper bead weld geometrical properties during the weld formation or molten phase and correlate this to the backface weld bead size. Findings - Vision based measurement of the upper surface of the weld pool can be used, in real-time, to control the weld pool size. This allows more uniform weld penetration to be achieved in the presence of disturbances. Research limitations/implications - The system requires that the pool edges can be accurately identified using a correlation method. This requires images with good contrast between the weld pool and the workpiece. Practical implications - The system is applicable to both continuous and pulsed TIG welding. Originality/value - A novel reference feature correlation-based image analysis algorithm has been developed that may be configured to operate with a number of different welding processes. The issues of system integration, i.e. interfacing the system with legacy welding equipment are also discussed.

Notes: Purpose - This paper reviews some of the applications addressed by a new company that specialises in the integration of sensors on assembly plants. Design/methodology/approach - The company's expertise encompasses mechanical, electrical and electronic and optical engineering, and it is able to provide complete solutions, using off-the-shelf and bespoke elements as necessary. Findings - The ability to integrate standard products from different suppliers gives Complete Sensing Solutions Ltd an edge over any single sensor producer. Its further skill in manufacturing bespoke elements - whether software or hardware - also gives it the unique advantage of providing complete systems. Originality/value - Brings to the attention of production managers the existence of a sensor specialist able to design, build, integrate and install equipment on the plant.

Notes: Purpose - Describes how BMW is implementing data matrix technology to trace and track major engine components. Design/methodology/approach - Describes the major production line hardware components of a new system that is being installed at the company's Hams Hall, UK engine plant that will be used in conjunction with Tecnomatix's XFactory intelligent software to provide a comprehensive database both for the purposes of production control as well as for use in service. Findings - The basic hardware elements of the data matrix system have already been proven out at Hams Hall using RVSI's HawkEye 1510 cutting-edge cameras and data matrix marking machines supplied by Technifor Ltd of Leamington Spa. Technifor, also supplied the 2D data matrix readers and verifiers from RVSI in Nashua, New Hampshire, USA. The XFactory software was installed in the last month of 2004. Research limitations/implications - Engineers at BMW plan to expand the technology to enable them to use it for selective machining of cylinder heads for various types of engine. Also, as component suppliers to BMW also adopt the technology, data matrix tracking will be used for a large variety of engine components for use in assembly. It also has implications during CMM inspection to quickly identify which machining operations might be faulty. Practical implications - Data matrix technology offers a low-cost approach to the tracking and tracing of complex major engine components during both machining and assembly. Originality/value - BMW claims it is the first automotive engine supplier in the UK to use data matrix technology to track and trace components.

Notes: Purpose - This describes a new automated assembly technique, developed by Leica Geosystems and the Swiss Federal Institute of Technology, which allows the automated precision assembly of miniature optical components and subsystems. Design/methodology/approach - Dubbed TRIMO-SMD (three-dimensional miniaturised optical surface-mounted device), this new technique is designed for use with optical components of around 2?mm in diameter such as laser diodes. It uses six-axis robotic motion, automated optical alignment with cameras and position sensors and laser-reflow soldering to assemble photonic modules. Findings - This development has been commercialised and is being used in a production environment by Leica Geosystems. It fixes the optical element into position in just 2?s and the placement accuracy of each component is repeatable to within 1?µm. Practical implications - This technique has allowed novel micro-optical assemblies to be produced automatically and has improved the performance and reduced the size and weight of certain precision optical products such as laser rangefinders and Lidar transceiver modules. Originality/value - This is a new technique which, by allowing the automated, precision assembly of miniature optical components, will benefit companies involved with the manufacture of optical sensing, telecommunications, medical and other products.

Notes: Purpose - In precision robotic assembly visual sensing techniques have been widely used since they can detect large misalignments and also part's shape at a distance. Develops two novel visual sensing methodologies. Design/methodology/approach - Both systems consist of four components: an inside mirror and an outside mirror, a pair of plane mirrors and a camera with a collecting lens. The difference between the two is that system A adopts a pyramidal mirror configuration, while system B employs a conic one. Owing to this configuration difference, system A can detect three-dimensional measurements of objects with only one image capture, while in addition to this functionality system B is shown to be capable of detecting two omni-directional image. The measurement principles are described in detail and compared with each other. Findings - The image acquiring process is shown to easily detect the in situ status of each assembly action, while the recognition method is found to be effective to identify instantaneous misalignment between the peg and the hole. The results obtained from a series of experiments show that the proposed visual sensing methods are an effective means of detecting misalignment between mating parts even in the presence of self-occlusion. Practical implications - The proposed sensing methods will dramatically increase the rate of success when actually utilized in assembly processes. Originality/value - Describes the development of two novel visual sensing methodologies.

Notes: Purpose - To provide new observations about dynamic strain ageing in medium carbon microalloyed steels which are used for automotive applications. Design/methodology/approach - The present work aims to provide theoretical and practical information to industries or researchers who maybe interested in the effects of dynamic strain ageing on mechanical properties of microalloyed steel. The sources are sorted into sections: introduction, experimental procedure, results and discussion, conclusion. Findings - Microalloyed medium carbon steel was susceptible to dynamic strain ageing where serrated flow is observed at temperatures between 200 and 350°C. In this temperature regime, ultimate tensile strength and proof stress exhibit maximum values, however, elongation to fracture showed a decrease until 250°C, after which it increased. Above 350°C, a sharp decrease in tensile strength and proof stress were observed. Abrasive wear resistance of the microalloyed medium carbon steel was also increased at temperatures between 200 and 350°C due to dynamic strain ageing. Research limitations/implications - A search of the literature indicated that although there is considerable volume of information related to dynamic strain ageing in mild steel or in low-carbon steel no extensive investigation has been made of dynamic strain ageing in microalloyed steel due to the ease with which nitrogen is combined AlN, VN, NbN, etc. which perhaps increase its implications. Practical implications - A very useful source of information for industries using or planning to produce microalloyed steels. Originality/value - This paper fulfils an identified resource need and offers practical help to the industries.

Notes: Purpose - To provide a concise briefing on a robot hand. Design/methodology/approach - The approach is to present briefly the development and features of a robot hand by the Shadow Robot Company for one of its customers. Findings - Finds that the robot hand replicates the characteristics of a human hand as far as possible, being of a similar size with the same balance of strength and movement. Originality/value - The paper provides information of value to those interested in developments in the robotics industries.

Notes: Purpose - To provide a concise briefing on the developments in robotic welding. Design/methodology/approach - The paper is based on the ABB "Open Days" held at its UK operation. Findings - Gives information on the launch of MultiArc; the arc welding application based on its MultiMove multiple cooperating robot software that runs on the new IRC5 robot controller. Another piece of technology launched was the wireless proximity sensor, which drastically minimises cabling in a manufacturing cell. Some welding software packages were demonstrated, including VirtualArc for off-line MIG/MAG welding parameter prediction and ArcWeld PowerPac off-line programming and simulation. Also shown were management software for real time measurement of Overall Equipment Effectiveness (OEE), and SmartSpares, a web-based tool for managing critical spares. Originality/value - The paper provides information of value to those working or interested in developments in the robotics welding and associated industries.

Notes: Purpose - This paper presents the design and prototyping of the Inherently cOmpliant light Weight Active (IOWA) hand, an active hand prosthetic device. Design/methodology/approach - This hand prosthetic device has five actuated fingers, each with three joints. Each joint is designed using a novel, flexible mechanism based on the loading of a compression spring in both transverse and axial directions, and using cable-conduit systems. Rotational motion is transformed into tendon-like behavior, which enables the location of the actuators far from the arm (e.g. on a belt around the waist). Findings - It was shown that several numerical approaches for the study of a mechanical spring undergoing loading conditions in tension, bending moment, and shear can be obtained towards analysis of motion for control of each finder segment. It was also shown that these numerical models are accurate in comparison with experimental results. Originality/value - While the mechanical design of the hand and associated kinematics were presented, we draw an early conclusion (without actual clinical testing) that this type of low-cost inherently compliant hand may have a significant impact for providing added capabilities to a disabled person. It was also shown from the prototype that adequate control over the mechanical linkages leading to each segment of each digit is possible.

Notes: Purpose - Selection of an effective grasp of a complex object using a multifingered gripper is a challenging problem because of the many possible grasp positions that are typically available. Design/methodology/approach - Given the geometrical description of the particular object feature to be grasped, all feasible grasps are performed in offline simulation using a geometrically accurate model of the desired gripper. The six-dimensional convex hull for each grasp is computed and archived. This convex hull indicates the span of forces and torques that the grasp can resist. When a grasp is needed the force/torque due to the total object weight is estimated and the best grasp is selected. The selected grasp has minimum peak contact force consistent with equilibrium. Findings - Experimental trials with several complex object show the method is capable of producing grasps which can support the object and resist external force/torque. Research limitations/implications - An accurate geometrical description of the feature to be grasped must be known in advance. This would typically be a cylindrical or prismatic portion of the object. Practical implications - There are many environments in which a dexterous multifingered gripper must be used due to the variety of objects which must be grasped. The results indicate that effective grasps can be selected for complex objects from a database of simulated grasps. Originality/value - The primary contribution of this paper is the use of a database of simulated grasps on simple graspable features to synthesize grasps on complex objects.

Notes: Purpose - Aims to measure the development and performance of a sensor-augmented industrial robotic system for handling steel bearing races in an unstructured environment. Design/methodology/approach - Performs exhaustive experimentation during installation of the robotic system to assess its performance capability in terms of average lifting capacity and cycle time of operation. Findings - Reveals that improvement can be achieved without damping, though rubber padding still appears to be useful sometimes in higher speed operations. Also unloading operations appear to cause more trouble than loading. Practical implications - The introduction of the robotic system will culminate in lower cycle time, increased productivity and optimal utilization of the annealing furnace. Originality/value - Will be beneficial for those involved in material handling operations in an unstructured environment as opposed to more familiar conditions.

Notes: Purpose - The paper describes a pipe repair conducted in August 2004 using two types of snake-arm robot. The pipe was located 5?m below the reactor core of Ringhals 1 nuclear reactor. Design/methodology/approach - The two types of robot worked co-operatively to replace a section of critical pipe. The 23-degree of freedom arm snaked around obstructing pipes to positions cameras in a humanly unreachable location in order to give the ideal view of the work site. The more substantial second arm used 13 degrees of freedom to deliver fixtures, cutting tools, gas shields, inspection equipment and also conducted both tack welding and continuous welding. Findings - The leaking pipe was repaired manually during the 2004 outage. The robots successfully completed the externally assessed Factory Acceptance Tests which involved copying the complete procedure on a purpose built mock-up. The robots are now on standby for 2005 and beyond. Practical implications - The successful completion of this extremely difficult task indicates that snake-arm robots are now a viable solution to a variety of complex access tasks in all industries including aerospace, pharmaceuticals, the miltary sector and nuclear industries. Originality/value - The paper describes a procedure that has never been attempted before using two completely new designs of redundant snake-arm robot.

Notes: Purpose - To adapt the segway RMP, a dynamically balancing robot base, to build robots capable of playing soccer autonomously. Design/methodology/approach - Focuses on the electro-mechanical mechanisms required to make the Segway RMP autonomous, sensitive, and able to control a football. Findings - Finds that turning a Segway RMP into a soccer-playing robot requires a combined approach to the mechanics, electronics and software control. Research implications - Although software algorithms necessary for autonomous operation and infrastructure supplying logging and debugging facilities have been developed, the scenario of humans and robots playing soccer together has yet to be addressed. Practical implications - Turning the model into a soccer playing robot demonstrates the technique of combining mechanics, electronics and software control. Originality/value - Shows how the model as a base platform can be developed into a fully functional, autonomous, soccer-playing robot.

Notes: Purpose - To present an entirely new technology to be used in the in-service inspection of storage tanks for hazardous products in several different industries. Design/methodology/approach - Current interior storage oil tank plate inspection is a very expensive and time-consuming task. The related tasks involve high cost, several hazards to environment and the operators involved in the cleaning jobs. Several research areas were investigated during the development of this tool, fundamentally robotics and non-destructive test tools. Initial trials in laboratory were complemented with a field test program in near-real conditions. Findings - A new design of tool for in-service inspection of such equipments proved to be feasible to be constructed and operated and in accordance with current safety regulations. Research limitations/implications - New robotics application in non-destructive testing methodologies for application in in-service storage equipments. The internal conditions possible to find in the interior of a storage tank, like fixtures, properties of the stored products (inflammable and aggressive), sludge and sand on the bottom, no ambient light, etc., are significant challenges to the development of such a tool. Practical implications - Developed a robotized tool for inspection of the floor and walls of in-service tanks, in order to allow an evaluation of the condition of the plates of these tanks, avoiding the long period, hazards and high costs necessary for creating the conditions for reality out of service inspection. Originality/value - The novelty of the RobTank Inspec project could be evaluated from the two or three existing competitors in the world, and the results of the surveys undertaken.

Notes: Purpose - To report on the design and development of a robotic automobile aluminium frame welding system. Design/methodology/approach - The customer contracted with a team of suppliers, each with unique skills and products necessary for welding thin aluminium framing. The team employed simulation to help in the design process to avoid problems and to speed the time to complete. Findings - Careful planning, detailed simulation and attention to details helped insure that working production systems was in service to meet a tight deadline. Practical implications - Companies looking to develop welding systems for structures from aluminium or other materials can learn from the benefits of a team approach to complex application development. As the auto industry moves to more use of lightweight materials such as alumnus, successful automation of its welding will be ever widely appreciated. Originality/value - Any user planning an automated aluminium frame welding system can learn from the success of Ford Motor and its welding system design partners. Careful planning and teamwork can help in meeting production and timetable goals.

Notes: Purpose - Aims to summarise the programme of UV Europe, a conference on unmanned vehicles that took place in Paris in June 2005. Design/methodology/approach - Selects key conference presentations and summarises their contents, indicating the main themes. Findings - Finds very strong international activity in the field of unmanned aerial vehicles (UAVs). Most progress has been made in the military sector so far. Concern about air space safety is holding back the industry. Originality/value - Presents the topics relating to UAVs that concern the market today, and summarises the main areas of research and development.

Notes: Purpose - Aims to make an appeal to Japanese robotic community in an attempt to keep global competitivity for the future. Design/methodology/approach - Clarifies the cost structure of the robotic business. Analyses the needs of Japanese society. Leads to suggest the new direction of Japanese robotics. Findings - Specific target robots for the future are suggested. Originality/value - The new direction in R&D is proposed based on the study on the cost structure of the robotic industry and the needs of Japanese society.

Notes: Purpose - Aims to make an industrial robot work human-friendly while coexisting with humans in a same working space, without any modification of the manipulator hardware as well as its motion controller. Design/methodology/approach - Presents a weighted path planning approach based on collision detection for a robot sharing the same workspace with humans. Using a base and wrist force/torque sensors, a model-based method is investigated to estimate the collision force and collision position on the manipulator; then a weighted path planning approach is developed to control the human-robot interaction. Simulation experiments, with collisions between the manipulator and static objects and moving objects, are conducted to validate the efficacy of the method. Findings - The experimental results illustrate the validity of the developed collision detection and planning scheme and make it possible for industrial robots to work safely around humans. The proposed weighted path planner (WPP) outperforms other three path planners. Originality/value - Introduces the WPP based on collision detection. The wrist and base force/torque sensors configuration has the friction free benefit, and the developed method does not modify the existing designs of industrial robots. The contact force is well controlled under the human pain tolerance limit, through the modification of the desired path, and does not need torque control which is usually not available to industrial robots.

Notes: Purpose - Aims to present missing knowledge of welding and sensor application with rotating torch to the technically and economically meaningful employment. With the help of this knowledge, on the one hand, the potential user is to be informed about the applicability of the system in the context of his production line and his products and on the other hand, the classification of the system in the range of the alternatives available on market. Design/methodology/approach - Introduces the welding operation and experimental results of rotating torch integrated with a sensor device using a 6-axis robot. Performed various laboratory experiments investigating variable frequency values with different torch orientations. Findings - Figures out the optimum frequency and torch orientation to obtain ultimate welding geometry by means of compensating gaps with increased weld root. Observed the possibility of out-of-position welding. Research limitations/implications - In this manner, provides a great scope as a pioneer application in industry and a guidance for forthcoming researches. Practical implications - Allows welding of thin sheet metals. Originality/value - Presents a seminal concept in the field of any industrial applications such as marine and pipeline construction.

Notes: Purpose - Aims to present general concepts and framework for increasing the flexibility in robotic arc welding with respect to use of sensors and small series production. Design/methodology/approach - Presents a conceptual model with a framework that integrates existing tools and needed developments and research to increase the usefulness of sensors in robotic arc welding. The conceptual model is based on research within the field which covers supporting tools like robot simulation, sensor modelling and handling and optimization issues with respect to the robot task execution. A descriptive structure and concept is outlined to include welding procedure specifications (WPS) as a key module to provide an integrated and holistic control model of the robotic. Findings - Finds that the outlined conceptual model and architecture supports an increased flexibility of sensor controlled robots for arc welding applications. The arguments are specifically made for small series and one-off production. Research limitations/implications - The paper is limited to arc welding applications and the concept and arguments are made with small series and one-off production in mind. Practical implications - Increased use of sensors and robots in small series production. Originality/value - Introduces a holistic approach for task level control of a robot which introduces a structured way for integrated and coordinated control of the arc welding task. The objective is to execute the welding task with maintained robustness with respect to predefined specifications (quality, productivity).

Notes: Purpose - Aims to describe the application of robotics to the cleaning of the glass roof of the 21?m high pyramid that stands in front of the Louvre in Paris. Design/methodology/approach - Presents the design of the robot, its traction mechanism, cleaning system and operating mode. Findings - Finds that a robot is capable of cleaning a glass roof at a great height and on a steep slope using only suction to adhere to the surface. Originality/value - Introduces the concept of a robot in commercial use that cleans a steeply sloping glass roof.

Notes: Purpose - Describes the application of standard industrial robots to the assembly and riveting of aerostructure sub-assemblies. Design/methodology/approach - Describes the design and operation of special purpose end-effectors for assembly and solid riveting and their integration in an aerostructure sub-assembly fabrication cell. The robots are controlled by a novel control system which allows the cell to compensate for distortion and misalignment of the components. Findings - Demonstrates that with advanced control standard industrial robots can be used to assemble aerostructure sub-assemblies. Originality/value - Introduces techniques for compensating for the inherent distortion that occurs in airframe components during manufacture. This is an enabling technology that will significantly increase the number of possible applications for robots in the assembly of aerostructures.

Notes: Purpose - Development and demonstration of an autonomous, mobile welding robot capable of fabricating large-scale customised structures. Design/methodology/approach - An autonomous welding robot has been developed under the EC Framework V Growth program. The system comprises a global vision system for part location and orientation, and a robot transport vehicle (RTV) which carries a 6-axis robot, robot controller, welding equipment, and local sensors at the welding torch. The RTV path, robot arm motion and weld process programming are performed automatically using sensors and specially customised simulation software. Findings - The technology developed within the project was demonstrated, in November 2004, to be capable of identifying and welding large scale customised structures as found in the earth moving equipment and bridge fabrication industries. Research limitations/implications - The project demonstrated that current sensor technology is capable of being applied successfully to autonomous robots, but further developments in sensor technology are required to improve accuracy and joint access. Practical implications - The NOMAD concept of autonomous mobile robots provides an alternative solution to welding mass customised structures. Originality/value - This project demonstrated, for the first time, the capability of autonomous robots to weld large scale customised structures.

Notes: Purpose - This paper describes a robotic system developed for tiling mosaics based on image processing according to customer expectations. Design/methodology/approach - Many varieties of mosaics art in different forms has been applied manually over centuries for art decorating. Although the mosaics material is cheap with immense decorative potential, the mosaics tiling process is difficult and costly skill to perform. Therefore, an image processing based robotic tiling system has been presented and applied in this study. An algorithm has been developed for converting the computer image to mosaic picture by using Borland C++ Builder 6.0 and successfully utilized on six degrees of freedom Ultimate Puma 500 type industrial robot for tiling glass mosaics to any plane. Findings - According to result of this study, it can be realized that the robots could be successfully utilized on decorating processes, e.g. tiling mosaics, for faster and flexible production. Originality/value - Presented robotic system allows the craftsmen to produce large and extra ordinary mosaic figures by using computer image and glass mosaic tiles. The goal of using a robot in this application is to increase the speed without man-faults and flexibility.

Notes: Purpose - To set-up the study of an unmanned system for refuelling of vehicles, with attention to VOCs recovery. Design/methodology/approach - Presents the architecture of a robotic arm for refuelling. Special attention was allocated to the safety characteristics of the automatic refuelling station assuring the highest protection of people and their safeguard against accidents, preventing any dangerous response of the robotic arm in all the predictable conditions. A concurrent engineering methodology jointly with the life-cycle approach was adopted for the study and evaluation of the equipment. Findings - Finds that a six DoF arm with a tubular architecture with relocated actuation equipped with a specifically designed filler satisfying stage II rules is suitable to perform the task of safe refuelling of vehicles. Research limitations/implications - Provides hints to design refuelling stations, also for fluids of the future (e.g. hydrogen). Practical implications - This robot is a low cost and efficient solution for replacing humans in petrol pump stations, while preserving environmental health. Refuelling will be comfortable and safe even in adverse climate conditions or for dangerous fuels (e.g. hydrogen). Originality/value - Introduces a robotic arm made with tubes so that cables, pipes and VOCs run inside it and a filler granting easy mating with the cap and VOCs collection.

Notes: Purpose - Aims to realize the high accurate contour control with high-speed motion of articulated robot manipulator (ARM) with interference. Design/methodology/approach - Proposes a new contour control method by using Gaussian neural network (GNN) to solve the problem of the deterioration of the contour control performance due to the interference between robot links. The construction of the GNN controller and the approximation of the interference are based on the Euler-Lagrange model of ARM. The actual input/out data about the motion of ARM are used for training the GNN to accurately represent the inverse dynamics of ARM with interference. With the Lyapunov function, the stability and the robustness of the GNN controller are discussed. Through the simulation and experiment, it verified that the precision of the contour control has been improved, and illustrated the good features of the proposed method. Findings - Finds that the actual data about the motion of ARM, which is easily obtained from the working field, can express the real features of ARM, and the GNN controller can improve the precision of the contour control with good features. Practical implications - The proposed method provides an effective method for realizing high accurate contour control of ARM with interference. It can be extended to the ARMs with more than two links and concerning more factors affecting the precision of the contour control, such as friction or gravity. Originality/value - Proposes a new GNN controller for realizing high accurate contour control of ARM with interference, which is significant for industry.

Notes: Purpose - This paper aims to design a new full-body tactile sensor which is essential for the application of personal service robot similar to human skin. Design/methodology/approach - The largest difficulty for designing a full-body tactile sensor is the huge number of output connections. The sensor introduced in this paper is a special multi-layer structure, which could minimize the output connections while sensing both the position and force information. Since it is made of conductive and non-conductive textiles, the sensor could be used to cover the curved surface of robot body. Findings - With better structure design, output connectors and signal measurement times could be dramatically reduced. Research limitations/implications - Sensor area and performance are limited by the sensitivity of the measurement circuits. Originality/value - Introduces an innovate design of full-body tactile sensor.

Notes: Purpose - Aims to collate and analyse data relating to the sales and installations of industrial robots in the UK for the preceding year and, by comparison with data from previous years, identify market trends. Design/methodology/approach - Data has been collected by the annual survey of UK robot sales and installations conducted by the British Automation and Robotics Association. Findings - The key statistics for 2004 are as follows: a total of 785 units installed; total installations to date (from 1978) are 21,744 units adjusted to 14,176 to allow for International Federation of Robotics 12-year retirement rule; the automotive sector remains dominant but dropped 79 per cent from 2003 to 458 units; the non-automotive sector grew 11 per cent from 2003 with 327 units installed; significant growth in three sectors are: plastics and rubber 46 per cent; construction 85 per cent; and pharmaceuticals 95 per cent. Arc and spot welding installations reduced by 45 per cent, however, spot welding remains dominant application; growth of 80 per cent in "Dispensing" applications; six-axis robots account for majority of the market; significant growth in seven-axis robots; majority of installations fall between £10 and 30?k cost classification highlighting a price drop from 2003; robots originating from EU decreased by 145 per cent; and robots originating from Japan increased by 8 per cent. Originality/value - The study identifies current trends in the UK industrial robot market in terms of factors such as industrial sector, application, robot type/structure and cost. By relating the data to the economic and industrial conditions prevalent in the UK this will provide a useful insight for robot application and development for both end-users and vendors.

Notes: Purpose - Examines the selection and diversification of market segments for robotics products with respect to application areas and customer sectors. Design/methodology/approach - This study attempted to investigate the selection and diversification of market segments by 50 robotics firms in the US with respect to application areas and customer sectors that they serve. Based upon the concept of strategic groups, we classified those robotics firms into three distinct strategic groups along the dimensions of application area diversification and customer sector diversification. The three strategic groups were identified as high, moderate, and low diversification groups, with respect to both application areas and customer sectors. Findings - The results show that robotics firms vary in their selection of application areas and customer sectors, and more importantly in the degree of diversification of application areas and customer sectors. Also, three distinct strategic groups are observed among them, based upon the degree of diversification of application areas and customer sectors. Research limitations/implications - A few limitations are recognized in this study. First, we used only the dimensions of market segment diversification in classifying the strategic groups in the US robotics industry. Given the important role of technology in the industry, we may consider pairing market dimensions with technology dimensions in exploring any strategic groups in the industry. Second, we only tested for the existence of strategic groups in the industry. We may further consider investigating the factors or reasons for the differences between the strategic groups, as well as any performance differences between the strategic groups. In studying the firm's performance, it is desirable to utilize financial performance measures such as sales growth and profitability. But securing such financial performance measures for individual robotics firms is hampered by the consolidated financial results of diversified firms and the presence of privately held firms in the industry. Third, we used data compiled from a secondary source. We may consider collecting time-series data directly from robotics firms. These limitations are not certainly exhaustive but rather important ones for future research. Practical implications - Given the limited studies on robotics firms and their strategy, the results should be of interest to those who formulate product strategy in the robotics market. Originality/value - The issues of diversification of market segments and the resultant strategic groups that we examined are well worth trying to understand for more viable market strategy in the field. Particularly, the identification of such strategic groups in the industry would help robotics firms evaluate their competitive positions, as well as competitors' approach to the market place.