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While the percentages of grains, bonds and their spacing in the wheel determine the wheel s structure, the concentration indicates the volume of diamond or CBN in the grinding layer It is defined as the percentage weight of the abrasive grit per cubic unit of the grinding layer For diamond, the basic value of C100 means that every cm3 of layer volume contains 44 carats of diamond (1 ct = 02 g,

Fig. 17-1.

Fig 42: Equivalent international standard of grit sizes for diamond and cubic boron nitride used by the FEPA,



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US, DIN and ISO standards compared to WINTER designations [17]: (a) a dense structure, (b) a medium structure and (c) an open structure

or other mechanical or chemical system, and its control system. The control system senses the state of the robot and uses this information, in comparison with the goal, to generate output actions. The equation Z f (X,Y) means that the output action Z is a function of the sensed state X and the input goal Y. The function can be as simple as equation (17-1): f X,Y Y X Z Y X 17-1

Fig 43: The structure of a grinding wheel [18]





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If the sensed state is greater than the goal, the action will be to increase the state of the robot so it matches the goal. Hardly rocket science. This only works with numbers, of course. The goal, the sensed state, and the action are all assumed to be represented by numbers. Equation (17-1) makes the assumption that the output action directly affects the input sense, using the same range and scale of values. The real world is rarely so accommodating.

Typical single-layer grinding wheel (b)

Fig 44: Schematic diagrams showing (a) the ideal grain structure with a controlled grain spacing and projection

The traditional control example is the thermostat. The goal is a temperature you set and the sense is the actual temperature. The output is not, however, a power setting for the heater but instead a simple on/off switch. Most home heaters operate at full on or full off. At first thought, the control logic might look like:

height and (b) a typical single-layer grinding wheel with random grain spacing and projection height [21]

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diamond density = 353 g/cm3), which is equivalent to 25% by volume of the diamond content in the grinding layer As a general rule, for selection of the desired concentration, high concentrations are suitable for small contact areas and low concentrations for large contact areas [17]

This is a terrible control system. The heater will be clicking on and o all the time. To fix it, we introduce our old friend hysteresis. By defining a dead band around the desired setting we can reduce the number of on/off transitions (Fig. 17-2). The control logic is only complicated a little bit by this hysteresis. Note we are using a compact notation here, just one of many possible notations: b DeadBand 2

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