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The purpose of the current paper is to develop a numerical methodology, based on the immersed boundary-lattice Boltzmann computational framework, for the Neumann and Dirichlet boundary conditions in problems involving natural and forced convection heat transfer.

The direct forcing immersed boundary method is extended to study the heat transfer by incompressible flow within the thermal lattice Boltzmann method (LBM) computational framework. The direct forcing and heating immersed boundary-LBM introduces a heat source term to the thermal LBM to account for the heat transfer occurring at the immersed boundary. New numerical treatments for the Neumann type of boundary condition and for the calculation of the local Nusselt number are developed. The developed methodologies have been applied to flows around immersed bodies with natural and forced convection, including steady as well as unsteady flows.

Numerical experiments involving immersed bodies in natural and forced convection have been performed in order to assess the validity of the direct heating IB-LBM. The flow cases studied also include steady and transient flow phenomena. Flow velocity field and isotherms have been used for qualitative comparisons with existing, published results. The surface averaged Nusselt number, Strouhal number, and lift coefficient (for the unsteady flow cases) have been used for quantitative comparison with published results. The results show that there are satisfactory agreements, qualitatively and quantitatively, between the results obtained by using the present method and those previously published.

Limited application of immersed boundary to thermal flows within the LBM has been studied by researchers; the few past studies were limited to Dirichlet boundary conditions and/or using of feedback forcing and heating approaches. In the current paper, the direct forcing and heating approach was used which helps to eliminate the arbitrary constants used in the feedback approaches. The developed new numerical treatments for the Neumann type of boundary condition and for the calculation of the local Nusselt number eliminate the need to determine surface normal and temperature gradient in the normal direction for heat transfer calculation, which is particularly beneficial in cases with deforming or changing boundaries.

In customized production such as plate workpiece grinding, because of the diversity of the workpiece shapes and the positional/orientational clamping errors, great efforts are taken to repeatedly calibrate and program the robots. To change this situation, the purpose of this study is to propose a method of robotic direct grinding for unknown workpiece contour based on adaptive constant force control and human–robot collaboration.

First, an adaptive constant force controller based on stiffness estimation is proposed, which can distinguish the contact of the human hand and the unknown workpiece contour. Second, a normal vector search algorithm is developed to calculate the normal vector of the unknown workpiece contour in real-time. Finally, the force and position are controlled in the calculated normal and tangential directions to realize the direct grinding.

The method considers the disturbance of the tangential grinding force and the friction, so the robot can track and grind the workpiece contour simultaneously. The experiments prove that the method can ensure the force error and the normal vector calculating error within 0.3 N and 4°. This human–robot collaboration pattern improves the convenience of the grinding process.

The proposed method realizes constant force grinding of unknown workpiece contour in real-time and ensures the grinding consistency. In addition, combined with human–robot collaboration, the method saves the time spent in repeated calibration and programming.

Compared with other related research, this method has better accuracy and anti-disturbance capability of force control and normal vector calculation during the actual grinding process.

The aim of this paper is to implement direct teaching of industrial manipulators using current sensors. The traditional way to implement teaching is either to use a teaching pedant, which is time consuming, or use force sensors, which increases system cost. To overcome these disadvantages, a novel method is explored in the paper by using current sensors installed at joints as torque observers.

The method uses current sensors installed at each joint of a manipulator as torque observers and estimates external forces from differences between joint-driven torque computed based on the values of current sensors and commanded values of motor-driven torque. The joint-driven torque is computed by cancelling out both pre-calibrated gravity and friction resistance (compensation). Also, to make the method robust, the paper presents a strategy to detect unexpected slowly drifts and zero external forces and stop the robot in those situations.

Experimental results demonstrated that compensating the joint torques using both pre-calibrated gravity and friction resistance has performance comparable to a force sensor installed on the end effector of a manipulator. It is possible to implement satisfying direct teaching without using force sensors on 7 degree of freedom manipulators with large mass and friction resistance.

The main contribution of the paper is that the authors cancel out both pre-calibrated gravity and friction resistance to improve the direct teaching using only current sensors; they develop methods to avoid unsafe situations like slow drifts. The method will benefit industrial manipulators, especially those with large mass and friction resistance, to realize flexible and reliable direct teaching.

Advancements in robotics have led to significant improvements in robot‐assisted minimally invasive surgery. This paper describes our design of an automated laparoscopic grasper with tri‐directional force measurement capability at the grasping jaws. The laparoscopic tool can measure normal, lateral, and longitudinal grasping forces while grasping soft tissue. Additionally, the tool can also be used to measure the tissue probing forces. Initial testing of the prototype has shown its ability to accurately characterize artificial tissue samples of varying stiffness and accurately measure the probing forces.

Magnetic slot wedges are usually installed in open slot high-voltage induction machines. They reduce the no load losses and the magnetization current. Additionally, the leakage inductance increases. However, machines and the slot wedges are getting frequently damaged with a decreasing maintenance interval. The usage of magnetic slot wedges leads to unknown effects. It is possible, that direct magnetic forces or indirect forces, caused by the deformation of the stator or stator teeth during operation, results in the damage of the slots wedges. The purpose of this paper is to fully understand the influence of the magnetic slot wedges and the intrinsic effects.

A finite element model of the affected machine is verified with current and torque values from the data sheet of the affected machine. Three types of forces, which are working on the slot wedges, are considered and compared.

There are direct forces working on the slot wedges. The origin of this forces and a coherence between this forces and the slot number relationship, between stator and rotor slots is shown as well as reasons for the damage to the slot wedges.

There are investigations about the influence of the behaviour of an induction machine by magnetic slot wedges. This investigations consider the influence on the network models of such machines. The paper at hand deals with the intrinsic effects caused by the slot wedges and its consequences.

In this paper, a small revision on force control strategies is presented, stressing the implementation requirements of each strategy with the objective of clarifying the reasons of their poor practical utilization in industry. Furthermore, recognizing that direct force control approaches require system changes on actual robot control systems, which calls for manufacturer cooperation, an indirect force control approach is presented. The controller is introduced along with implementation description. The system is tested with an industrial deburring application that is also briefly introduced. Research experimental results of the proposed controller obtained in the laboratory, and experimental results obtained with the industrial deburring application are presented and discussed.

Recently, working on a project for a leading U.S. industrial firm, the authors identified a highly effective market segmentation approach. The key is segmenting customers by the phase of the purchase decision process.

In September 1990, the financial controller of this Italian subsidiary of a large pharmaceutical company must analyze the implications of two different strategies for introducing a new product into the Italian market: co-marketing distribution, in which Glaxo would permit another company to market the same product but under a different brand name; and direct sales, under which Glaxo's own sales force would be the sole channel of distribution. The tasks for the student are to scrutinize and correct financial forecasts contained in the case and then value the alternative cash flow streams. The purpose of the case is to exercise students' forecasting and valuation skills and to illustrate the application of discounted cash flow analysis to the choice of marketing policies.

The purpose of this study is the identification of the best method to apply the body force in the lattice Boltzmann method (LBM). In the simulation of mixed convection, especially for large Richardson number flows in a square cavity.

First, three methods for applying the body force were compared to each other in the LBM. Then, an LBM-based code was written in the FORTRAN language using these three methods. Next, that code was used to simulate natural/mixed convection in a two-dimensional cavity to evaluate the methods for applying the body force. Finally, the optimum way for applying the body force was used for the simulation of free convection heat transfer in a concentric annulus with Rayleigh number in a range of 1,000 to 50,000, and mixed convection heat transfer in a concentric annulus with Rayleigh number in a range of 10,000 to 50,000 and Reynolds number in a range of 100 to 400.

Mixed convection heat transfer was simulated in a two-dimensional cavity with Richardson number in a range of 0.0001 to 100. The results which were obtained in low Richardson number flows have shown good adaptation to the available data. However, the results of large Richardson number flows, for example, Ri = 100, have shown a significant difference to the available data. Investigations revealed that this difference was due to the method of applying the body force. Therefore, the choice of the best way to apply the body force was investigated. Finally, for the large Richardson number flows, the best method to apply the body force has been identified among the several techniques.

To the authors’ knowledge, the effects of methods for applying the body force were not investigated in the cavities mixed convection, even though there are numerous investigations conducted on mixed convection with the LBM. In this study, the effects of techniques to apply the body force were investigated in large Richardson number flows. Finally, the best method to apply the body force is distinguished between several techniques for the large Richardson number mixed convection flows.

FOR the past twenty‐five years inventors and engineers have laboured to design and perfect an airscrew in which pitch change is accomplished automatically by the action of natural forces to which any operating airscrew is subject. Millions of dollars and extensive efforts in this country and abroad have gone into this quest which produced some unusual designs in the past, but has provided aviation today with the practical realization of feasible automatic airscrews. Controllable airscrew designs featuring simple construction and operation have undergone a similar development period. Many factors have influenced this development; such as considerations of cost, mechanical refinement and the state of small aeroplane and engine performance, which in the past would not always have benefited greatly from variable pitch. Today, the advantages automatic and controllable airscrews hold for performance and desirability of the small and medium planes, which are expected to be used widely, warrant thoughtful consideration.