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Every time you think up a complicated solution to a robotic problem, take a moment and see if you can nd a simpler way of doing it. How would someone from the steam-powered age handle it Finally, we looked at how delays in a controller can be important. Fast response is not always useful, so we added hysteresis, or delays, to our bag of tricks.

Fig 748: Influence of the number of jets on the load coefficient [3]



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Figure 748 shows the influence of dispersion and of the number of jets per row upon the bearing load capacity The two curves in the figure represent the theoretical work of Dudgeon and Lowe and the experimental data from the work of Robinson and Sterry The reduction in the load capacity due to the effect of dispersion reduces as the number of jets increases The two curves are quite identical especially when there are a higher number of jets per row The load capacity falls rapidly at a low number of jets due to dispersion, as a result of which most practical designs use between six and 12 jets per row, with more jets for low length-to-diameter ratios The increase in clearance for these bearings is compensated by increasing the number of jets without having to increase the diameter of the bearing The influence of non-axial flow in determining the choice of length-to-diameter ratio, and the position of the rows of jets is shown in Figure 749 and Figure 750 Figure 749 indicates the relationship between the jet position and the load coefficient It can be seen that the highest load coefficients are realized when the rows of jets are stationed between a quarter and one-eighth of the





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1. According to the author, what makes a robot interesting 2. What kind of control systems did the nineteenth-century automata use 3. Fancier robots need fancier control systems. What is another, more capable, type of control

01 Simple orifices with circular pockets e = 05 For e = 09 multiply CL by 165 0 0 0125 0250 Jet station I/L 0375 0500 30

Based on theory of Dudgeon and Lowe and substantiated by several experimenters for air with Pa = 147 lbf/in2, (Po Pa) in range 20 to 100 lbf/in2, and 2ho in range 06 30 10 3 in

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While basic feedback control holds a valuable place in the spectrum of control systems, most robotic systems need more complex control solutions. Many robot tasks require the machine to perform a preprogrammed sequence of behaviors, one thing after another and so on until the pattern is complete. A sequence of behavior can be de ned by a program, which is a list of instructions telling the machine what to do. We shall turn to the computer, the ultimate in reprogrammable controllers, to develop these control programs. There are also simple, mechanical ways to create a sequential program, so we look at these rst.

Fig 749: Influence of the jet position on the journal bearing load coefficient [3]

bearing length from the ends of the bearings Moving the row of jets closer to the end of the bearing will increase the effect of dispersion For short bearings, slot-fed bearings are usually preferred whenever possible The choice of six or eight feed holes per row and one or two rows of feed holes can now be decided The load coefficient at an eccentricity ratio of 05 is calculated to be CL =

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