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And communication to a robot on Mars is rarely direct or immediate Communication normally occurs through several relays The communication won t work if the planets are in the way, so there could be long delays while the planets slowly rotate back into position When it is impossible to directly control a robot, we turn to semi-autonomous systems There are two control cycles in semi-autonomous systems The high-level control occurs over a long time scale A remote operator analyzes the most recent information from the robot and decides on its next course of action This action is stated as commands to the robot go here, do this, report on that These commands are then sent to the robot Once the robot receives its commands, the second control cycle takes over This is where the robot interprets the commands and tries to carry them out.



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processing with point defects, (b) micromachining in ductile mode with dislocations, (c) micromachining in brittle mode with microcracks and (d) combined ductile-brittle mode machining with grain boundaries [18]





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It may have to deal with unforeseen problems, such as obstacles in its path or other unusual conditions A clever robot can work around these obstacles, changing its path or avoiding problems as needed The high-level commands are still carried out, but the details of their execution are up to the robot A robot that is capable of solving the small problems it encounters is able to follow its commands better than a dumb robot that only replays low-level commands to its motor control systems The universe is messy and there are always little problems that get in the way of a robot s operation When the robot can solve these problems without human intervention, that robot becomes more reliable As the robot carries out its instructions, it records information about its environment and internal status.

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requires less energy at this level as the tool encounters dislocations of grains and pre-existing flaws in the respective materials, which in turn helps to dislodge materials as chips The aforementioned indentation and pre-existing defect models attribute material removal in brittle materials to microfracture There are cases where brittle materials exhibit ductile behaviour without undergoing any microfracture when subjected to high hydrostatic pressures Komanduri et al [35] have cited the work of Bridgman and Johnson to explain the mechanism of material removal of brittle materials when there is no microfracture involved, which is based on the plasticity theory According to this theory, the yield strength of a material is determined by the magnitude of the hydrostatic stress state, which determines the extent of plastic deformation prior to fracture At room temperature, a high value of the hydrostatic pressure is a prerequisite for plastic flow to occur in brittle materials Such conditions generally exist at light loads under the indenter in indentation testing as shown in Figure 335 Below the indenter, the material is considered to behave as a radially expanding core , exerting a uniform hydrostatic pressure on its surroundings; encasing the core in an ideally plastic region within which flow occurs according to some yield criterion; the elastic matrix lies beyond the plastic region According to this model, the state of the stress determines whether fracture will occur or not Fig 335: A model of the elastic plastic indention of The resulting stress, which acts on the surface, brittle materials in which the dark region depends on the geometry of the tool or the represents the hydrostatic core, the shaded region denotes the plastic region and the abrasive grain (indenter) and the depth of cut surrounding region denotes the elastic and workpiece material properties Komanduri matrix [35] et al [35], Tabor [36][37], and Puttick and Hosseini [38] reported that the tendency of subsurface microcracks to develop in brittle materials decreases with the decrease in the undeformed chip thickness It appears that a significant deformation underneath the tool is necessary to provide adequate hydrostatic pressures for enabling plastic deformation of the workpiece material to occur Figure 336 illustrates various tools used for machining with their associated cutting force components and their chip formation ahead of the tool Apart from conventional cutting, other tools have a very large negative rake, which is typically necessary to provide hydrostatic pressures on the workpiece In ultra-precision machining, at depths of cut smaller than the tool edge radius, the tool presents a large negative rake angle to the workpiece material, and the radius of the tool edge acts as an indenter Similar behaviour is shown in the case of indentation sliding where the tool functions as a blunt indenter across the workpiece In grinding, although a definite rake angle cannot be identified as it is unknown and varies continuously due to wear and a self-sharpening action, it is generally.

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