Development of a technology orientated programming system for industrial robots
The disassembly of used goods is characterized by strongly varying quantities and a wide range of different kinds and states of products. Furthermore, the requirements of a disassembly system are determined by the disassembly object, by the process as well as by the disassembly system itself. As a result of the high labor costs in industrial countries and the huge amount of used goods, an automated disassembly is favored for the industrial disassembly. New methods for the programming of industrial robots have to be developed because the costs for a programming of small lot sizes are a key factor of the economic efficiency of small and medium sized enterprises (SME). In this paper an off-line programming environment for programming of industrial robots in the field of automated disassembly is presented. The exemplary implementation is realized at a pilot disassembly system, which was built up at the Institut für Werkzeugmaschinen und Fabrikbetrieb (IWF) of the Technische Universität Berlin.
Realization of an adaptive modular control for a disassembly system
At the Institute for Machine Tools and Factory Management (IWF) an adaptive modular control for a pilot disassembly, which increases the reliability and efficiency of a disassembly plant system was realized The previous research activities for the generation of operating sequences of disassembly processes were extended by the examination of the availabilities of disassembly facilities and the technical feasibilities of disassembly procedures. The exemplary implementation of the concept of the adaptive modular control is presented on the disassembly step "destructive disassembly of a washing machine side panel". Also the adjustment of the soft- and hardware components of the pilot disassembly system is discussed, whereby the connection of the IT components and the adjustment of the software details is introduced. For the realization of the adaptive control necessary adjustments were made. The programs of the programmable logic control and the robot were customized. The interface technologies are relevant factors. Beyond that the linkage of the IT-components forms the basis of the modular adaptive control
Acetylation analysis of saccharides. 2. Microanalysis of neutral glycosphingolipids by means of acetylation with radioactive acetic anhydride.
Abstract The quantitative analysis of mixtures of glycosphingolipids by acetylation with radioactive acetic anhydride and separation by thin-layer chromatography is described. The method was primarily developed for screening of glycosphingolipid composition of tissues, cultured cells, and virus preparations. The sensitivity and linearity of the method is demonstrated. Although theoretically a much higher sensitivity is achievable, in practive about 10 −9 g of glycosphingolipid can be detected and tentatively identified. As an example, the acetylation pattern of lipids from a preparation of herpes simplex virus is demonstrated.