Adaptive SMC for trajectory tracking in freeform grinding
This work is a first step to the automation of freeform surface grinding. A control strategy for a robotic manipulator following a path which includes switching between different surfaces, constant depths of cut and system-inherent as well as environmental uncertainties is presented. The sliding mode control scheme with adaptive parameter update law is verified through simulation.
Continuous shape-grinding experiment based on constraint-combined force / position hybrid control method
Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation. To give the grinding system the ability to adapt to any object shape being changed by the grinding, we added estimating function of the constraint condition in real time for the adaptive position / force control, which is indispensable for our method instead of not using force sensor. Evaluations through continuous shape-grinding experiment by fitting the changing constraint surface with spline functions, indicates that reliable position / force control and shape-grinding work can be achieved by this proposed controller.
A technique for large-field, superficial electron therapy.
The application of electron beams to radiation therapy has received increased attention in recent years. This interest stems largely from the special characteristics of the electron depth-dose distribution; the fall-off in depth dose near the end of the range of the electrons is particularly rapid for electron beams having energies less than about 10 Mev. Such an electron beam is suitable for the treatment of widespread, superficial lesions, where it is desirable to minimize the dose to deep tissues. All the common sources of super-voltage x-rays, apart from radioactive substances, are inherently capable of producing an external beam of electrons, though with varying degrees of complexity. Electrons of about the energy suitable for superficial therapy (several Mev) may be used to produce an x-ray beam which is sufficiently penetrating for the treatment of even the deepest lesions. The Stanford medical linear accelerator was designed to provide both x-rays and electron beams. The accelerator and its applic...