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1. Communication is a way to transmit information between two entities, such as people. It can be in the form of language, gestures, tone of voice, facial expressions, and so on. 2. A program is a series of numbers to the computer. The arrangement of the electronic components that make up the computer s processing unit provides meaning to the numbers. 3. The Turing machine is a generic, universal computer. It consists of a long tape covered with symbols that act as data for the machine. A read/write head manipulates the tape, while an internal state register



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Radial Force This acts in a radial direction from the centerline of the work piece and is generally the smallest of the three, often about 50% as large as the longitudinal force Its effect on power requirements is very small because the velocity in the radial direction is negligible g = rake angle = a f = shear plane angle

keeps track of the machine s status. A transition table provides guidance to the machine. 4. There are di erent ways to break down the world of computer languages. One arrangement consists of control ow, data ow, and declarative (no ow) languages. Of course, there is also human language, which doesn t t any single category.

Fig 311: The shear plane in metal cutting [2]





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Shear Angle Certain characteristics of continuous chips are determined by the shear angle The shear angle concerns the plane on which a slip occurs to begin chip formation Regardless of the shear angle, the compressive deformation caused by the tool force against the chip will cause the chip to be thicker and shorter than the layer of the work piece material removed The work or energy required to deform the material usually accounts for the largest portion of forces and power involved in a metal removing operation

(12-225)

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333 Merchant s Theory [8]

Ff = friction force FN = normal force Fc = cutting force Ft = thrust force Fs = shear force Fn = normal compressive force

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1. I couldn t de ne intelligence either, not with any great level of success. For most robots, there is no need for any type of intelligence. Their needs are limited to the rote execution of instructions and some lowlevel re exes to shut down when something goes wrong. 2. PID (proportional, integral, derivative) controls are used to drive all sorts of systems, from motors to elevators (which are mostly just a box and a motor), to factory systems. They adjust their output based on an error measurement, the accumulation of error measurements, and even a prediction of error measurements to come. 3. The tricky aspect of sequential behaviors is often the decision as to when to change the behavior. For many cases this is easy punch three holes and then change tools. In other cases it is hard, such as nd Fred and give him this message. The driving around is not too hard, and replaying a message is easy, but how do you know it is Fred Layered behaviors have the same pattern-matching situation. How does one layer know when to subsume the next Of course, in many cases the behaviors are hard to program as well. In those cases, it s all hard. 4. There are probably others, but we discussed neural networks. In the simple one-layer network explored in this chapter, each neuron compares its template, or pattern example, with the signals it is receiving. The one with the best match shouts its result the loudest and wins the vote.

Mechanics of Materials Cutting = Friction angle rc = chip ratio = t1/t2 < 1 Assumptions in Merchant s theory 1 The tool is sharp 2 Type 2 chips are obtained (normally continuous chips without Built-up chips) 3 The chip tool work force system is in equilibrium 4 Pure orthogonal machining is used 5 Principle of minimum energy criteria is applicable Referring to Figure 312, the chip thickness ratio can be given as rc =

18

J1 AB sin = J2 AB cos ( )

Fs cos ( ) cos ( + )

1. Industrial sensors provide feedback to the controller so it can ne-tune the position of the robot s actuators.

A = Cross sectional area of the undeformed chip = Feed Depth of cut = )

cos ( ) S SA sin cos ( + )

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