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To remove material quickly, and end up with the desired surface, the contact area between the grinding tool and the workpiece should be as large as possible As only spheres and toroids permit the condition of a full-area contact, partial-area contact, or line contact will be the best alternative The use of a machine with a rotating tool suggests that the contact surface must be symmetrically rotational In general, the shape of the workpiece is not predictable; hence, the condition of having a large contact area is put in jeopardy Thus, the method was chosen based on a long line contact between the tool and the workpiece during the first step of rough grinding During the subsequent steps of polishing, the use of a flexible tool allows conformity between the workpiece and the tool, approaching the original condition of the contact area Two cup-shaped identical sized diamond-grinding wheels with metallic (D20/30 MICL50M1/4) and resinoid (SD240-R1OO B69-6 mm) bonding were used The profile of the grinding edge is circular in this case, but not restricted to this shape, thus, forming a toroid The important feature is that the grinding surface shape is axially symmetrical It is now possible to programme the path of this tool on the CNC machine such that it is in line (or arc) contact with the workpiece as it cuts the desired shape on the glass To illustrate this, the grinding of a paraboloid is shown The cup tool can be thought of as consisting of a collection of circles whose planes are perpendicular to the axis of rotation of the tool When a plane, as shown in Figure 431, intersects the paraboloid the common line is an ellipse To cut a concave paraboloid, the tool must fit inside the paraboloid Hence, the tool must have a diameter smaller than the shortest radius found on the ellipse of intersection of any plane intersecting the paraboloid In the case of a paraboloid, the shortest radius of curvature on the eclipse of intersection is found when the plane contains the axis of symmetry of the paraboloid Any circle at the outer side of the tool can be contained in one of the planes intersecting the paraboloid The angle that this plane makes with the axis of the paraboloid can be adjusted such that I the arc of the circle and that of the ellipse (Figure 431) at d differs in the sag height by no more than a preset tolerance This condition sets a certain common arc length over which the difference in sag does not exceed a certain value, say 05 m B d Subsequently, the tool axis can be programmed to Plane take a slightly different position relative to the axis of rotation of the workpiece, as well as relative to Zone the apex P, of the paraboloid The sequence is then Paraboloid P repeated to form a neighbouring zone of the one indicated in Figure 431 The principle of the process is somewhat similar Fig 431: The basic principle of zone-based to the one used in producing spherical lenses Instead grinding [60] of making the whole lens surface with a spherical.



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This chapter provided a brief tour through several levels of behavioral control. At the bottom of the intelligence scale were the reflexive controls, exemplified by the PID industrial control formula. These reflexes use sensory feedback to keep the lowest level of the robot, the motors and other actuators, on track.

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Different behaviors and reflexes can be combined and coordinated at the middle level. The simplest form of coordination is the simple serial, scripted manager that selects behaviors one at a time until the task is complete. The subsumption architecture provides a parallel approach, allowing the different behaviors to override each other as needed, or as triggered by their environment. This architecture is a useful middle-level control for mobile robots. At a higher level of abstraction, formal logical systems can provide a framework to manage knowledge. While this appears to be a bit too abstract for robot control, it can have a place. Can you think of a way that logic can be used by a robot One of the harder problems to solve in robot control is recognizing a particular object or situation, so the robot can change its behavior appropriately. Heuristics, statistics, and natural computation in the form of neural networks are all technologies that address this pattern-matching problem.

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