Prediction of dry ice mass for firefighting robot actuation

using of dry ice for astringency removal in persimmon fruit

introduction: there are two types of japanese persimmon (diospyros kaki thunb.), astringent and non-astringent, based on the degree of astringent taste at maturity state. fruits of either type are strongly astringent when small and immature, but non-astringent type loses its astringency during development on the tree, still with firm flesh. however, the astringent type keeps its astringency and...

Actuation for Probe-Based Mass Data Storage

This paper describes the development of a micro media actuator (MMA) for probe-based mass data storage. The process is based on dry etching and incorporates a thinned silicon media sled to increase the frequency response of the system. The suspended micro-mechanical media sled moves in x-y (±50 μm) using electrostatic actuation. The system design specification requires actuation of an 8x8 mm ma...

Robot Acceleration Capability: the Actuation Eeciency Measure

This article presents a new performance measure, the actuation eeciency, which describes isotropy in acceleration capability for non-redundant manipulators. It measures the imbalance between the end-eeector accelerations achievable in diierent directions. Prior to this, no measure of this characteristic was adequate for a six degree-of-freedom manipulator, because its end-eeector motions are re...

Robot Acceleration Capability: The Actuation Efficiency Measure

This article presents a new performance meamre, the actuation eficiency, which describes isotropy in acceleration capability for non-redundant manipulators. It measures the imbalance between the end-effector accelerations achievable in different directions. Prior to this, no measurre of this characteriStic was adequate for a six dem-of-freedom manipulator, because its endeffector motions are re...

Fundamentals of Dry Ice Blast Cleaning Technology