Experimental study of stability prediction for high-speed robotic milling of aluminum

It has been fully demonstrated that the regenerative chatter theory is applicable for predicting chatter-free milling parameters for computer numerical control machine tools, but researchers are still arguing whether it is effective for robotic milling processes. The main reason is that the robot’s modes greatly shift, depending on its varying dynamic parameters and joint configurations. More experimental investigations are required to study and better understand the mechanism of vibration in robotic machining. The present paper is focusing on finding experimental support for chatter-free prediction in robot high-speed milling by the regenerative chatter theory. Modal tests are first conducted on a milling robot and used to predict stability lobes by zeroth order approximation. A number of high-speed slotting tests are then carried out to verify the prediction results. Thus, the regenerative chatter theory is proved to be also applicable to robotic high-speed milling. Furthermore, low-frequency modes of the robot structure are investigated by more modal experiments involving a laser tracker and a displacement sensor. The low-frequency modes are identified as the main part of the prediction error of the zeroth order approximation method, which could also be dominant in low-speed robotic milling processes. In addition, robots are different from computer numerical control machines in terms of stiffness, trajectory following error, forced vibration, and motion coupling. These long-period trend terms have to be carefully taken into account in the regenerative chatter theory for robotic high-speed milling.

TOWARDS (DE)CONSTRUCTING 4D YANG-MILLS THEORY

We investigate 3D Yang-Mills theory coupled to an adjoint scalar, which can be regarded as a zeroth order approximation in (de)constructing 4D Yang-Mills theory. We develop a new algorithm to obtain the renormalized Hamiltonian with the Karabali-Nair variable, by carefully identifying finite local counterterms. We also discuss how this formalism can be applied to obtain glueball spectrum.

A mathematical analysis of wind effects on a long-jumper

A perturbation model is used to predict the distance jumped by a long-jumper for a range of tailwinds and headwinds. The zeroth-order approximation is based on gravity being the only force present, the effects of drag and lift only being included in the first-order corrections. The difference in predicted distances produced by the zeroth and first-order approximations is less than 2% for headwinds or tailwinds upto 4 ms−1. Most increases or decreases due to wind are caused by changes in the run-up speed, and consequently the take-off angle and speed.

Some Aspects of Chemical Abundance Determinations in Planetary Nebulae

The determination of the chemical compositions of gaseous nebulae in general and of planetary nebulae in particular is a difficult undertaking. The zeroth-order approximation is straightforward, the first approximation is challenging, and the second approximation is almost intractable.