The paper proposes and experimentally verifies an approach for estimating the thermal imaging error depending from the method of the subsurface defect’s linear dimensions filtering for forming the appropriate commands of the control program in a collaborative robotic system. The results are presented for the absolute error estimation depending on the filtration method with a confidence probability p=0,9972.

Based on the results of experimental studies, an approach to assessing the linear dimensions of subsurface defects by the thermal imaging method in real-time is proposed to form the corresponding commands for the control program of a multipurpose robotic system. The scaling factors and optimal operating modes of thermal imaging equipment for calculating the linear dimensions of subsurface defects based on data on the distribution of thermal fields over the surface of the research object have been determined. The results of evaluating the error in determining linear dimensions by the thermal imaging method for various types of materials, including metal, polymer, composite materials, complex organic tissues, and bone formations, are presented. A general assessment of the limits of applicability of this method is given, as well as the possibility of obtaining additional information on the properties of the material based on the results of the analysis of the obtained thermograms.

Industrial robots perform technological operations, such as spot and arc welding, machining and laser cutting along different trajectories within their performance characteristics. The evaluation of these characteristics is carried out according to the criteria of the standard ISO 9283. The criteria of this standard are applicable in industrial manufacturing, but not in the medical industry, as they are not developed in the framework of medical tasks. Therefore, it is necessary to evaluate according to criteria built on different principles. In this article, the question of comparative evaluation of trajectories from program movements of a robot and manual movements of a surgeon, arising during the development of robotic medical complexes using industrial robots, is considered. A comparative evaluation is required to prove the expediency of automating medical operations in maxillofacial surgery. This study focuses on the estimation of velocity accuracy of a medical instrument. To obtain the velocity of the medical instrument, coordinates of the trajectory points from the program movements of the robot KUKA LWR4+ and trajectories from the manual movements of a professional surgeon have been measured. The measurement was carried out using a coordinate measuring machine, the laser tracker Leica LTD800. The accuracy estimation was carried out by two criteria: the criterion set out in the ISO 9283 standard, and the developed alternative criterion, the description of which is presented in this article. A quantitative comparative evaluation of the trajectories of a robot and a surgeon was obtained.

A methodology has been developed to assess the roughness of a surface from the parameters of the curvature of peaks and valleys of the profile based on computer spectral analysis. The dependence of these parameters on the type and modes of processing, as well as on the material, is established.

We propose and have tested a method of determining linear thermal expansion coefficients, which is not affected by the influence of thermal deformation of structural elements of the measuring system on the results determining these coefficients. We present recommendations for the application of the developed methodology.

We have analyzed the Kasa and Levenberg algorithms for estimating the error in determining the center of rotation of links in a kinematic chain of an industrial robot. We develop recommendations for the initialization of calibration techniques for commercially produced industrial robots using a laser coordinate-measuring system.

Thermal deformations in structural elements of a stand and measurement support are estimated and values for the thermal deformation coefficient are determined. Recommendations are made regarding the use of stands and supports for nanometer-range measurements.

Выбраны параметры шероховатости поверхности после электроэрозионной обработки. Установлено, что высотный параметр шероховатости трехмерной поверхности позволяет получать наиболее информативную оценку ее качества после указанной обработки и коррелирует с профильным параметром.The surface roughness parameters after electroerosion machining were selected. It has been determined that altitude roughness parameter of 3D surface enables to obtain the most informative estimation of surface quality after. This machining and has a good correlation with the profile parameter.

An experimental plant for the display of fire vortices is developed. An analysis of the nonstationary flame obtained as a result of burning of solid fuel is carried out. Nonstationary fire vortex structures are identified by means of an infrared thermograph. An algorithm for establishing a fire vortex from a thermogram and determining its geometric and temperature characteristics is proposed.

Проанализированы алгоритмы Kasa и Levenberg для оценки погрешности при определении центров вращения звеньев кинематической цепи промышленного робота. Разработаны рекомендации для начального этапа методики калибровки серийно выпускаемых промышленных роботов с помощью лазерной координатно-измерительной системы.The different algorithms Kasa end Levenberg to estimate errors during determination of industrial robot´s kinematic chain links rotation centers have been analysed. The recommendations for initial stage of serial industrial robots calibration procedure by means of laser coordinate measuring system were developed.

Разработана экспериментальная установка для визуализации огненных вихрей. Проведен анализ нестационарного пламени, получаемого в результате сжигания твердого горючего. С помощью инфракрасного термографа идентифицированы нестационарные огненные вихревые структуры. Предложен алгоритм фиксации огненного вихря по термограмме и определения его геометрических и температурных характеристик.The experimental installation for visualization of wall-free fire vortices has been developed. The analysis of the non-stationary fire generated by burning of solid fuel has been carried out. An identification of the non-stationary fire vortex structures occurrence by means of infrared thermograph was done. An algorithm of the fire vortex fixation by thermogram and its geometry/temperature parameters determination has been suggested.

Предложена и опробована методика определения температурных коэффициентов линейного расширения концевых мер длины, позволяющая исключить влияние температурных деформаций конструктивных элементов измерительной системы на результаты определения этих коэффициентов. Даны рекомендации по применению разработанной методики.A procedure for determination of temperature coefficients of end standards of meter linear expansion was proposed and practically tested. It allows to exclude the effect of thermal deformations of measurement system constructive parts on the results of there coefficients determination. The recommendation on procedure application are also presented.

Оценены температурные деформации конструктивных элементов стойки и измерительного штатива, определены значения коэффициентов температурной деформации. Даны рекомендации по применению стоек и штативов для измерений в нанометровом диапазоне.The studies on estimation of thermal deformation of the stand and measuring mount structural elements were carried out and the values of thermal deformation coefficients were determined. The recommendations for mouts and measuring stands application for measurements in nanometer range were presented.

Методами ИК-спектроскопии, микрозондовой и лазерной интерференционной микроскопии, динамического рассеяния света исследованы структура новых композиционных покрытий, сформированных при комнатной температуре на подложках из слюды, стекла, кремния, алюминия и золота из дисперсий наночастиц (НЧ) золота в водном растворе пептида (ПТ) Asp–Glu–Val–Asp–Trp–Phe–Asp. Размер НЧ золота в растворе составляет 40 нм. Установлено, что чистый ПТ кристаллизуется с образованием различных структур, характер которых существенно зависит от природы подложки, состояния ее поверхности и рН среды. Из них наиболее сильное влияние оказывает увеличение рН среды. При рН 9 разрушается цвиттерионное состояние молекулы ПТ и изменяется ее изомерная форма (с транс- на цис-конфигурацию). В результате происходит разупорядочение формирующегося пептидного слоя и изменяется механизм роста слоев с латерального на нормальный. В композиционных слоях, непосредственно прилегающих к подложке, формируются глобулярные и фибриллярные структуры, поверх них растут пептидные слои со сложной морфологией (дендриты, сферолиты). Обсуждаются форма и размеры НЧ золота в покрытиях, а также различия в структуре и свойствах пептидных композиционных покрытий с НЧ серебра и золота. Сделан вывод, что процессами кристаллизации НЧ и нанокомпозиционных покрытий можно управлять, изменяя величину электрического заряда молекулы пептида.

Surface roughness parameters were selected after electroerosion machining was performed. It was determined that the height roughness parameter of a three-dimensional surface permits obtaining the most informative assessment of its quality after such machining and correlates with the profile parameter.

A structure of new composite coatings formed at room temperature from dispersions of gold nanoparticles (NPs) in an aqueous solution of a peptide (PT) Asp-Glu-Val-Asp-Trp-Phe-Asp on mica, glass, silicon, aluminum, and gold substrates was investigated by IR spectroscopy, microprobe and laser interference microscopy, and dynamic light scattering. The size of gold NPs in the solution is 40 nm. It has been established that an individual PT crystallizes, forming various structures, the character of which significantly depends on the substrate nature, surface conditions, and pH value of the medium. At pH ∼ 9, a zwitterionic state of the PT molecule breaks down and its isomeric form changes (from trans -to cis -configuration). As a result, the forming peptide layer becomes disordered and the layer growth mechanism changes from lateral to a normal one. Globular and fibrillar structures form in the composite layers adjacent to the substrate, and peptide layers with complicated morphology (dendrites and spherulites) grow above them. The shapes and sizes of gold NPs in the coatings and differences in the structure of PT composite coatings formed with gold and silver NPs have been discussed. The conclusion has been drawn that crystallization of NPs and nanocomposite coatings can be controlled by changing the electric charge of the peptide molecule.

The influence of temperature deformations of end measures of length on the process of monitoring precision parts is examined. An experimental-analytic method for determining temperature deformations of end measures of length is proposed and experimentally tested for use in linear measurements in the nanometer range.

Рассмотрено влияние температурных деформаций конструктивных элементов измерительных систем на процесс контроля прецизионных деталей. Предложен и опробован метод определения температурной деформации измерительной стойки, который можно применить к приборам, используемым для линейных измерений в нанометровом диапазоне.The influence of temperature deformation of construction elements of measuring instruments on the high-precision components control process is considered. A method of determination of measuring stand temperature deformation is suggested and tested. This method is applicable to the used for linear measurements in nanometer range.

The influence of temperature deformations of structural elements of measurement systems on the process of control of precision parts is considered. A method of determining the temperature deformation of measuring stands is proposed and tested. The method may be applied to devices used for linear measurements in the nanometric range.

This paper presents the results of the development of a unique metrologic platform intended for the study of the nanodefects of an object and the measurement of its surface flatness on large areas. The design of the platform is based on the simultaneous use of modulation interference microscopy and noncontact aeromagnetic guides. The optical layout and an algorithm for obtaining panoramic images are considered. It is shown to be promising to use the metrologic platform in the optics and semiconductor industries. (C) 2012 Optical Society of America.