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defects do not extend below the finished surface and that there is sufficient material left for finishing them to the desired form, size accuracy and finish The material removal mechanism by this mode has been analogous to the indentation sliding analysis conducted by Lawn et al [31][32] The schematic diagram of the indentation process in brittle materials is shown in Figure 333(a) The following summarizes the behaviour of brittle materials when they are progressively indented (loading and unloading) which leads to brittle fracture on the surface: (i) the sharp point of the indenter produces an elastic deformation zone, (ii) at some threshold, a deformation-induced flow suddenly develops into a small crack, termed a median crack, (iii) an increase in the load causes further, a steady growth of the median crack, (iv) upon unloading, the median crack begins to close, (v) upon complete removal, the lateral vents continue their extension, towards the specimen surface and may accordingly lead to chipping (vi) Inasaki [33] cited the work of Taniguchi in comparing the behaviour of materials when indenters with different tip radii are impressed on brittle and ductile materials Localized deformation and fracture developed on these surfaces depending on the geometry of indenter and the loading conditions as shown in Figure 333(b) For ductile materials, such as metal, plastic deformation is mostly induced,



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A remote-control robot is arguably not a robot at all, though there will de nitely be argument. If a human is directly controlling the actions of the machine, is it a robot If not, what is it

Fig 333: (a) Inasaki s schematic illustration [33] of the point indentation process showing the development of

plastic deformation, median cracks and lateral cracks leading to the chipping of hard and brittle materials (b) Lawn s different indenter geometry and loading conditions provide different effects on ductile and brittle materials [34]





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If the human controller is simply giving high-level commands to the machine, more like a supervisor giving instructions to a worker, the machine starts to seem more robotic At a certain point of abstraction the commands are less in the form of turn left and more in the form of go explore that rock A robot that can operate by itself, under the instructive guidance of a remote operator, is said to be semi-autonomous This is the twilight state between a remote-controlled machine and the fully autonomous (self-directing or, literally, following its own laws) robot There are times when a remote-controlled robotic telepresence is desired but not possible When a robot is on Mars, for example, it takes between 4 to 24 minutes to communicate with it using a direct communication link Light may be fast, but it s not in nitely fast, and Mars is a long way away.

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and cracks are not propagated regardless of the size of the indenter and pressure On the contrary, in the case of indentation on brittle materials, initiation and propagation of cracks become remarkable When the tip radius of the indenter is large (of the order of mm), the so-called cone crack is initiated Indentation with a small radius tip initiates and propagates median as well as lateral cracks when the pressure is high For the initiation of the aforementioned cracks, pre-existing flaws in the material are assumed, with the distance being smaller than the stress field The crack is assumed to initiate at some dominant flaw in the material It is generally believed that all metals contain defects such as grain boundaries, missing and impurity atoms [17] In line with this hypothesis, Taniguchi [18] presented the defect distribution mode in materials and explained how they affect the type of processing energy required in machining ductile and brittle materials (Figure 334) As the chip thickness becomes smaller corresponding to the depth of cut, the amount of energy required becomes higher This is known as the size effect As indicated in Figure 334, the atomic lattice range is between 02 and 04 nm, and the point defect range is from 1 to 100 nm Theoretically, as the depth of cut is reduced to the sub-nanometre level, which is close to the atomic lattice distance, the cutting tool encounters fewer defects existing in this region, and thus the distribution of movable dislocations in the metal crystals approaches zero At this particular condition, an extremely high energy is needed to overcome the very large atomic lattice bonding forces for shearing to take place Compared to atomic processing, micromachining

Fig 334: Distribution of pre-existing defects in materials, which influences the types of processing: (a) nanometric

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