An optical fiber droplet sizer which is applicable to droplet size measurements in a steam turbine has been developed. This sizer uses the forward scattering method. The performance of the droplet sizer was verified by 0.1–5.7 μm average diameter polystyrene particles. Using this sizer, droplet size measurements were made at the last stage moving blade outlet in a 10 MW experimental steam turbine. Average diameters between 0.2 and 1.0 μm, which depend on wetness (6–14 percent) and locations in the radial direction of the blade, were obtained.
We are developing a conceptual design for a power distribution line maintenance robot system using a CG (computer graphics) simulator and an experimental robot system. This system is a semi-autonomous robot system that performs tasks using task-level instructions. An operator directs the tasks, for example inserting a bolt into a hole, and clicks the work objects "Bolt" and "Hole" in the picture on the display with a mouse.
W e developed a robot s y s t e m which can play one-onone volleyball games with a h u m a n player. It can n o t only hit a flying ball back t o the player correctly but also have various autonomous functionalities t o interact with h u m a n s necessary for playing games, i.e., it can pick u p a ball of a requested color b y recognizing voice instructions, can locate the players b y recognizing their faces, and can shake hands. This robot performed the entire game sequence over 100 times at a company-sponsored exhibition, where the ball rally continued over 25 t i m e s with a n arbitrary player. In this paper, we mainly describe the real-time visual feedback s y s t e m of the robot which is essential for playing ball games.
This piper presents ii force controlled robot system ,fi,r grinding, chnmferiizg and polishing in machining [,/Lints.To facilitrite easy operations, a task-oriented robot language and N ,force control method for following edges of workpieces have been developed. In the task-oriented robot language, a task is declared~first by a trisk ncime, a tool code and a tool center point. The tool center point is a position in contrict with U workpiece. These indexes arid ( I force control motion command determine the parameters f o r the force control of the robot. The workpieces f o r grinding, chamfering, and polishing almost cihvays direr their setting position, their size andlor their shcipe each by each even when the workpieces are the same parts in ( I machine. To cope with such workpiece diflerence, a tool monient control method, ci skip fiinction, and ii round filnction have been developed.The experiments chamfering of the edges oj ci part in an injection molding machine are reported
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