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23. Application of technical vision systems in the task of developing a collaborative robot for automating assembly processes.

Author

Serebrenny, V. V., Ermakov, A. S., Pavlov, V. V., and Orlov, S. A.

Subjects
INDUSTRIAL robots, ROBOTIC assembly, HUMAN-robot interaction, INTERNATIONAL competition, ROBOTS, LOW vision, AIRFRAMES
Abstract

Currently, the domestic structure of aircraft design is being integrated into the global market system. Considering the smaller production volumes, it is possible to achieve successful competition with foreign companies only by reducing the cost of production. In turn, the introduction of collaborative robotics in assembly operations can reduce the cost of production, while improving the quality and productivity of assembly processes. In contrast to robots that do not work together with humans, cobots (collaborative robots) have crucial safety requirements: since human-robot interaction usually occurs in a poorly structured and dynamic environment, the coexistence of human and cobot in a common space forms dangerous situation that require appropriate mechanisms to ensure the safety of both humans and robots. The design of such mechanisms must comply with industry standards. The technical vision system (TVS) will ensure safety for both humans and robots when they work together, which is especially important in assembly operations. In accordance with the ISO/TS 15066 standard, safety mechanisms are divided into 4 types: controlled stop with a safety rating, manual control, speed control and zone separation, power and torque limitation. It is proposed to take the methods of speed control and zone limitation, as well as power and effort limitation as the basis for creating a TVS to ensure the safety of a cobot and a person. With the help of the TVS other tasks necessary for the assembly of aircraft facing by the cobot can also be solved. The development of algorithms for determining processing points by a collaborative robot based on TVS will allow the use of dynamic determination of the processing route in the distribution of tasks between the robot and the person, depending on the capabilities of the cobot to reach a particular processing zone, as well as on the relative position of the cobot and the person at each time, so that the person and the robot can work together. It is proposed to determine the processing zones based on the set of information about the location of reference points by scaling the processing path to the actual size of the part, while taking into account the data on the approximation of the cobot to a person. [ABSTRACT FROM AUTHOR]

Published
2023
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31. Magnetic-field-induced crossover from the inverse Faraday effect to the optical orientation in EuTe.

Author

Pavlov, V. V., Pisarev, R. V., Nefedov, S. G., Akimov, I. A., Yakovlev, D. R., Bayer, M., Henriques, A. B., Rappl, P. H. O., and Abramof, E.

Subjects
*MAGNETIC fields, *ELECTROMAGNETIC fields, *MAGNETIC properties, *ELECTROMAGNETIC theory, *SPECTRUM analysis
Abstract

A time-resolved optical pump-probe technique has been applied for studying the ultrafast dynamics in the magnetic semiconductor EuTe near the absorption band gap. We show that application of external magnetic field up to 6 T results in crossover from the inverse Faraday effect taking place on the femtosecond time scale to the optical orientation phenomenon with an evolution in the picosecond time domain. We propose a model which includes both these processes, possessing different spectral and temporal properties. The circularly polarized optical pumping induces the electronic transition 4 f 7 5 d 0 → 4 f 6 5 d 1 forming the absorption band gap in EuTe. The observed crossover is related to a strong magnetic-field shift of the band gap in EuTe at low temperatures. It was found that manipulation of spin states on intrinsic defect levels takes place on a time scale of 19 ps in the applied magnetic field of 6 T. [ABSTRACT FROM AUTHOR]

Published
2018
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45. Conceptual design of the Spin Physics Detector

Author

Abazov, V. M., Abramov, V., Afanasyev, L. G., Akhunzyanov, R. R., Akindinov, A. V., Akopov, N., Alekseev, I. G., Aleshko, A. M., Alexakhin, V. Yu., Alexeev, G. D., Alexeev, M., Amoroso, A., Anikin, I. V., Andreev, V. F., Anosov, V. A., Arbuzov, A. B., Azorskiy, N. I., Baldin, A. A., Balandina, V. V., Baldina, E. G., Barabanov, M. Yu., Barsov, S. G., Baskov, V. A., Beloborodov, A. N., Belov, I. N., Belova, A. P., Belyaev, A. V., Berdnikov, A. Ya., Berdnikov, Ya. A., Berezhnoy, A. V., Bleko, V. V., Bobkov, A. V., Bogoslovsky, D. N., Boguslavsky, I. N., Boltushkin, E. V., Boos, E. E., Burtsev, V. E., Chen, Lei, Chepurnov, A. S., Chiosso, M., Chumakov, A., Dalkarov, O. D., Datta, A., Demikhov, E. I., Denisenko, I. I., Denisov, O. Yu., Duginov, V. N., Dunin, V. B., Dygnarowicz, K., Efremov, A. V., El-Kholy, R., Eliseev, D. A., Enik, T. L., Fedin, O. L., Feofilov, G. A., Filatov, Yu. N., Finger, M., Frolov, V. N., Galinski, G., Galoyan, A. S., Trapaga, C. E Garsia, Gavrishchuk, O. P., Gerasimov, S. G., Glonti, L., Goloskokov, S. V., Golovanov, G. A., Golubev, A. A., M., Golubykh S., V., Goncharov P., O., Grafov N., Y., Gribkov D., Gribovsky, A. S., Gridin, A. O., Grinyov, B. V., Gritsay, K. I., Gromov, S. A., Gromov, V. A., Gurchin, Yu. V., Gusakov, Yu. V., Guskov, A. V., Guzman, F., Haidenbauer, J., Havranek, M., Ivanov, A. V., Ivanov, N. Ya., Isupov, A. Yu., Jary, V., Jia, Shi-Hai, Jokovic, D., Kaplii, A., Karpishkov, A. V., Kasianova, E. A., Kekelidze, G. D., Khabarov, S. V., Kharusov, P. R., Khrenov, A. N., Kim, V. T., Kirichkov, N. V., Kirin, D. Yu., Kishchin, I., Klekotko, A., Klopot, Ya., Kluev, A., Kokoulina, E. S., Komarov, V. I., Kondratenko, A. M., Kondratenko, M. A., Konorov, I., Kopylov, Yu. A., Korjik, M. V., Korovkin, P. S., Korzenev, A. Yu., Kostukov, E. V., Kotzinian, A., Kovalenko, A. D., Kovalenko, V. N., A., Kozhin M., Kramarenko, V. A., Kruglov, V. N., Kubankin, A., Kubankin, Yu., Kuleshov, S., Kovtun, V. E., Kulikov, A. V., Kurbatov, V. S., Kurjata, R., Kutuzov, S. A., Kuznetsova, E. V., Ladygin, E. A., Ladygin, V. P., Larionova, D. M., Lednicky, D., Lednicky, R., Li, Pei-Yu, Li, Xiao-Mei, Lobko, A. S., Luschevskaya, E., L'vov, A. I., Lyashchenko, V. N., Lysan, V. M., Lyubovitskij, V., Maggiora, A., Maleev, V. P., Maltsev, A., Malykhina, T. V., Makankin, A. M., Makarenko, V. V., Maletic, D., Malkevich, D. B., Marcisovsky, M., Martovitsky, E. V., Marzec, J., Merkin, M. M., Meshcheriakov, G. V., Mitrankov, Yu. M., Mitrankova, M. M., Mitrofanov, E. O., Morozov, B., Moshkovsky, I. V., Movsisyan, A., Nagorniy, S. N., Nechaeva, P. Yu., Nefedov, M. A., Nefedov, Yu. A., Negodaev, M. A., Neue, G., Nikiforov, D. N., Nikitin, V. A., Nikolaev, A. S., Oleynik, D. A., Ososkov, G. A., Panzieri, D., Parsamyan, B., Parzhitsky, S. S., Pastuszak, G., Pavlov, V. V., Pavlova, A. A., Pelevanyuk, I. S., Perepelkin, E. E., Peshekhonov, D. V., Petrosyan, A. Sh., Piskun, A. A., Plotnikov, V. V., Podgainy, D. V., Polozov, P., Polyakova, R. V., Polyansky, V. V., Popov, V. V., Popule, J., Prochazka, I., Prokhorov, I. K., Reva, S. N., Reznikov, S. G., Rezvaya, E. P., Richard, J. -M., Rogachevsky, O. V., Romanov, V. M., Rudenko, A. I., Rumyantsev, M. A., Rusinov, V., Rybakov, N. A., Rychter, A., Rymbekova, A., Safonov, A. B., Salamatin, K. M., Saleev, V. A., Samartsev, A. G., Savenkov, A. A., Savic, M., Semak, A. A., Shaikovsky, V. N., Shavrin, A. A., Sheremeteva, A. I., Shimanskii, S. S., Shipilova, A. V., Shtejer, K., Shulyakovsky, R., Sinitsa, A. A., Skachkov, N. B., Skachkova, A. N., Slunecka, M., Sluneckova, V., Solin, A. A., Solin, A. V., Song, Jin-Xin, Sotnikov, V. V., Sun, Peng-Fei, Starikova, S. Yu., Stavinskiy, A. V., Streletskaya, E. A., Strikman, M., Strusik-Kotlozh, D., Suchkov, S. I., Sultanov, R. I., Sun, Hao, Svirida, D. N., Tarasov, O. G., Tarkovskyi, E. I., Temerbayev, A., Terekhin, A. A., V., Tereschenko V., R., Terkulov A., V., Teryaev O., V., Tishevsky A., V., Tkachenko A., Tokmenin, A. A. V. V., Tomasek, L., Tomasi-Gustafsson, E., Topchiev, N. P., Topilin, N. D., Topko, B. L., Tosello, F., Trifonov, A., Troyan., Yu. A., Trunov, N. O., Tsenov, R., Usenko, E. A., Uzhinsky, V. V., Uzikov, Yu. N., Valiev, F. F., Vasilieva, E. V., Vechernin, V. V., Verkheev, A. Yu., Vertogradov, L. S., Vertogradova, Yu. L., Vesenkov, V. A., Virius, M., Volchansky, N. I., Volkov, I. S., Volkov, P. V., Vorobiev, A., Vrba, V., Wang, Qian, Yudin, I. P., Zamora, J., Zamyatin, N. I., Zaremba, K., Zelenov, A. V., Zemlyanichkina, E. V., Zhang, Yun-Yu, Zhang, Jun-Wei, Zhao, Ming-Rui, Zhao, Qiang, Zhi, Yu, Zhemchugov, A. S., Zhevlakov, A., Zhigareva, N. M., Zhmurin, P. N., Zhukov, I. A., Zhuravlev., N. I, Ziembicki, M., Zinin, A. V., Zubarev, E. V., and Zuev, M. I.

Subjects
High Energy Physics - Experiment (hep-ex), Physics - Instrumentation and Detectors, Physics::Instrumentation and Detectors, Nuclear Theory, FOS: Physical sciences, Physics::Accelerator Physics, Condensed Matter::Strongly Correlated Electrons, Instrumentation and Detectors (physics.ins-det), Nuclear Experiment, High Energy Physics - Experiment
Abstract

The Spin Physics Detector, a universal facility for studying the nucleon spin structure and other spin-related phenomena with polarized proton and deuteron beams, is proposed to be placed in one of the two interaction points of the NICA collider that is under construction at the Joint Institute for Nuclear Research (Dubna, Russia). At the heart of the project there is huge experience with polarized beams at JINR. The main objective of the proposed experiment is the comprehensive study of the unpolarized and polarized gluon content of the nucleon. Spin measurements at the Spin Physics Detector at the NICA collider have bright perspectives to make a unique contribution and challenge our understanding of the spin structure of the nucleon. In this document the Conceptual Design of the Spin Physics Detector is presented.

Published
2021

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