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T. Mase,R. Kitahata,T. Hirogaki,E. Aoyama 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
With the advancement of the motion control of industrial robots in recent years, there is a demand for a method that can easily measure the accuracy of the synchronous control of a 2-axis dual-arm robot. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on the work plate and uses the rolling motion error with respect to the reference circle. In this study, we conducted experiments on the teaching method when controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. Results showed that an error occurred in the maximum inclination angle of the plate, which we kept the ball steady by correcting a teaching program. As the load is applied to the wrist joints by the plate, the effect of the correction of the teaching point angle cannot be obtained. However, the method of correcting the angular velocity between the teaching points was found to be effective.
Surface segregation and oxidation of Pt<sub>3</sub>Ni(111) alloys under oxygen environment
Lee, H.C.,Kim, B.M.,Jeong, C.K.,Toyoshima, R.,Kondoh, H.,Shimada, T.,Mase, K.,Mao, B.,Liu, Z.,Lee, H.,Huang, C.Q.,Li, W.X.,Ross, P.N.,Mun, B.S. Elsevier Science Publishers 2016 CATALYSIS TODAY - Vol.260 No.-
<P>Utilizing ambient pressure X-ray photoelectron spectroscopy (AP-XPS), the surface segregation and oxidation of Pt3Ni(1 1 1) alloys are investigated as a function of temperature and oxygen pressure. The in situ AP-XPS measurements of oxygen oxidation process show that the Pt 'skin' surface is not stable under the exposure of oxygen pressure of 100 mTorr at room temperature. As the temperature and pressure are elevated, the formations of Ni2O3, NiOx, and NiO are observed on surface while Pt atom starts to reduce its adsorbed oxygen, which is a clear sign of surface segregation of Ni to surface. Upon the evacuation of oxygen gas, i.e. ultrahigh vacuum condition, both of NiOx and NiO oxide get reduced and Ni2O3 remains on the surface. The DFT calculation is employed to explain the formation of surface oxides under oxidation condition. (C) 2015 Elsevier B.V. All rights reserved.</P>