The content of this thesis is the description the various component of the linear feed axis, which are used in heavy duty machine tools. This describes their features, advantages and disadvantages and on these basics, are selected different appropriate design variants. In the second part of this thesis has been drawn up constructional design of these variants. They were subsequently compared and then was chosen the most ideal one for the designed machine, which is heavy machine tool upper gantry type. The work also includes the 3D CAD model of the final version and drawing documentation.

his Disertation thesis involves the creating of the simulation model of the C axis drive over mentioned machine and them verification on the prototype of this machine. C axis is controlled with position feedback. Simulation model was created before the realisation of the machine prototype for the preliminary identification of the dynamic behaviours in the working cycles and them opportunity of the realisation this conception. C axis is constructed with worm gear and is controlled with help of Master-Slave drive. This torque drive eliminates the production backlash in the worm gear. The multifunction turning center, where is used this C axis, is determinate for heavy duty roughing cutting of the forged peaces, where is problem with dynamic stability of the cutting process. Simulation model includes the problems with multi-body mass system, friction on the worm gear, self locking, damping on the worm gear and the optimization of the parametrs for many regulators. Simulation model was verified on the prototype of the machine. Achieved results bring the new knowledge, which are used for simulation complicated machine nodes and this knowledge is used for research and developing of the similar mechatronics system.

A presente dissertação analisa o modo como Hegel concebe e defende um modelo de formação do indivíduo para a liberdade. Com tal propósito em vista, a dialética do senhor e do escravo é analisada, inicialmente em um estudo sobre as circunstâncias em que tal situação ocorre, e, posteriormente, com o propósito de apontar de que modo este tema da filosofia hegeliana contribui para a caracterização de sua perspectiva no que diz respeito à questão da formação de um indivíduo livre. Em um segundo estágio, são apresentadas as diferentes instâncias pelas quais passa o indivíduo em seu percurso de formação, e é analisado em que medida tais instâncias cumprem os objetivos a elas atribuídos. Nesse contexto, o trabalho é objeto de especial atenção, sendo apresentado como meio de libertar o indivíduo de suas necessidades. São expostas as relações existentes entre as necessidades e os meios para a satisfação das mesmas, assim como um dos impedimentos à satisfação das necessidades, a pobreza. Em seguida, as soluções propostas por Hegel são apresentadas, e igualmente o são as críticas que lhe podem ser interpostas. Como desenvolvimento subseqüente, estuda-se o surgimento da plebe como resultado da pobreza, e, vinculado a este tema, como seria possível combater o comportamento egoísta que se apresenta tanto entre os membros da plebe quanto entre os membros de diferentes grupos da sociedade. Também são avaliados os motivos apresentados para justificar a punição dos criminosos e a possibilidade de que a punição esteja vinculada à formação do indivíduo para a liberdade. Por fim, na conclusão são reunidos os resultados parciais para elaborar uma análise conjunta do projeto de Hegel e igualmente da cogência dos argumentos que o apóiam. / The present dissertation analyzes how Hegel conceives and defends a model of formation for freedom of the individual. Taking this purpose in view, the master-slave dialectic is analyzed, initially in a study about the circumstances in which this situation takes place, and, posteriorly, with the purpose of pointing out how this issue of Hegelian’s philosophy contributes for a characterization of his perspective regarding the question of the formation of a free individual. In a second stage, are presented the many instances through which the individual goes in his or her journey of formation, and it is analyzed in which extent such instances fulfill the objectives ascribed to them. In this context, the work is an object of especial attention, being presented as a means of freeing the individual from his or her needs. The existing relations between the needs and the means for satisfying them are exposed, as well as one of the impediments to the satisfaction of the needs, poverty. On the sequence, the solutions proposed by Hegel are presented, as well as the critiques that can be interposed to them. As a subsequent development, the emergence of the rabble, as a result of poverty, is studied, and, connected to this issue, how it would be possible to fight the selfish behavior that is presented either in the members of the rabble or in the members of the many groups of the society. Also the reasons presented in order to justify the punishment of the criminals are evaluated, as well as the possibility that the punishment is bonded to a formation of the individual for freedom. At last, in the conclusion the partial results are assembled, in order to elaborate a complete analysis of Hegel’s project, as well as of the cogency of the arguments that support it.

A presente dissertação analisa o modo como Hegel concebe e defende um modelo de formação do indivíduo para a liberdade. Com tal propósito em vista, a dialética do senhor e do escravo é analisada, inicialmente em um estudo sobre as circunstâncias em que tal situação ocorre, e, posteriormente, com o propósito de apontar de que modo este tema da filosofia hegeliana contribui para a caracterização de sua perspectiva no que diz respeito à questão da formação de um indivíduo livre. Em um segundo estágio, são apresentadas as diferentes instâncias pelas quais passa o indivíduo em seu percurso de formação, e é analisado em que medida tais instâncias cumprem os objetivos a elas atribuídos. Nesse contexto, o trabalho é objeto de especial atenção, sendo apresentado como meio de libertar o indivíduo de suas necessidades. São expostas as relações existentes entre as necessidades e os meios para a satisfação das mesmas, assim como um dos impedimentos à satisfação das necessidades, a pobreza. Em seguida, as soluções propostas por Hegel são apresentadas, e igualmente o são as críticas que lhe podem ser interpostas. Como desenvolvimento subseqüente, estuda-se o surgimento da plebe como resultado da pobreza, e, vinculado a este tema, como seria possível combater o comportamento egoísta que se apresenta tanto entre os membros da plebe quanto entre os membros de diferentes grupos da sociedade. Também são avaliados os motivos apresentados para justificar a punição dos criminosos e a possibilidade de que a punição esteja vinculada à formação do indivíduo para a liberdade. Por fim, na conclusão são reunidos os resultados parciais para elaborar uma análise conjunta do projeto de Hegel e igualmente da cogência dos argumentos que o apóiam. / The present dissertation analyzes how Hegel conceives and defends a model of formation for freedom of the individual. Taking this purpose in view, the master-slave dialectic is analyzed, initially in a study about the circumstances in which this situation takes place, and, posteriorly, with the purpose of pointing out how this issue of Hegelian’s philosophy contributes for a characterization of his perspective regarding the question of the formation of a free individual. In a second stage, are presented the many instances through which the individual goes in his or her journey of formation, and it is analyzed in which extent such instances fulfill the objectives ascribed to them. In this context, the work is an object of especial attention, being presented as a means of freeing the individual from his or her needs. The existing relations between the needs and the means for satisfying them are exposed, as well as one of the impediments to the satisfaction of the needs, poverty. On the sequence, the solutions proposed by Hegel are presented, as well as the critiques that can be interposed to them. As a subsequent development, the emergence of the rabble, as a result of poverty, is studied, and, connected to this issue, how it would be possible to fight the selfish behavior that is presented either in the members of the rabble or in the members of the many groups of the society. Also the reasons presented in order to justify the punishment of the criminals are evaluated, as well as the possibility that the punishment is bonded to a formation of the individual for freedom. At last, in the conclusion the partial results are assembled, in order to elaborate a complete analysis of Hegel’s project, as well as of the cogency of the arguments that support it.

A presente dissertação analisa o modo como Hegel concebe e defende um modelo de formação do indivíduo para a liberdade. Com tal propósito em vista, a dialética do senhor e do escravo é analisada, inicialmente em um estudo sobre as circunstâncias em que tal situação ocorre, e, posteriormente, com o propósito de apontar de que modo este tema da filosofia hegeliana contribui para a caracterização de sua perspectiva no que diz respeito à questão da formação de um indivíduo livre. Em um segundo estágio, são apresentadas as diferentes instâncias pelas quais passa o indivíduo em seu percurso de formação, e é analisado em que medida tais instâncias cumprem os objetivos a elas atribuídos. Nesse contexto, o trabalho é objeto de especial atenção, sendo apresentado como meio de libertar o indivíduo de suas necessidades. São expostas as relações existentes entre as necessidades e os meios para a satisfação das mesmas, assim como um dos impedimentos à satisfação das necessidades, a pobreza. Em seguida, as soluções propostas por Hegel são apresentadas, e igualmente o são as críticas que lhe podem ser interpostas. Como desenvolvimento subseqüente, estuda-se o surgimento da plebe como resultado da pobreza, e, vinculado a este tema, como seria possível combater o comportamento egoísta que se apresenta tanto entre os membros da plebe quanto entre os membros de diferentes grupos da sociedade. Também são avaliados os motivos apresentados para justificar a punição dos criminosos e a possibilidade de que a punição esteja vinculada à formação do indivíduo para a liberdade. Por fim, na conclusão são reunidos os resultados parciais para elaborar uma análise conjunta do projeto de Hegel e igualmente da cogência dos argumentos que o apóiam. / The present dissertation analyzes how Hegel conceives and defends a model of formation for freedom of the individual. Taking this purpose in view, the master-slave dialectic is analyzed, initially in a study about the circumstances in which this situation takes place, and, posteriorly, with the purpose of pointing out how this issue of Hegelian’s philosophy contributes for a characterization of his perspective regarding the question of the formation of a free individual. In a second stage, are presented the many instances through which the individual goes in his or her journey of formation, and it is analyzed in which extent such instances fulfill the objectives ascribed to them. In this context, the work is an object of especial attention, being presented as a means of freeing the individual from his or her needs. The existing relations between the needs and the means for satisfying them are exposed, as well as one of the impediments to the satisfaction of the needs, poverty. On the sequence, the solutions proposed by Hegel are presented, as well as the critiques that can be interposed to them. As a subsequent development, the emergence of the rabble, as a result of poverty, is studied, and, connected to this issue, how it would be possible to fight the selfish behavior that is presented either in the members of the rabble or in the members of the many groups of the society. Also the reasons presented in order to justify the punishment of the criminals are evaluated, as well as the possibility that the punishment is bonded to a formation of the individual for freedom. At last, in the conclusion the partial results are assembled, in order to elaborate a complete analysis of Hegel’s project, as well as of the cogency of the arguments that support it.

This diploma thesis deals with the design the drive of the feed coordinate portal machining center using a gear rack and pinion. The thesis contains researches from the area of CNC machining centers for non-rotating parts and sliding linear systems. Market analysis of portal machining centers of type of lower gantry with a gear rack and pinion was done. Furthermore, several design variants are proposed in terms of positioning the drive on the machine. These variants were further compared and the best option was selected for the specified machine. Subsequently, the technical calculation of the drive is performed and individual parameters and structural elements are proposed. The thesis also includes a 3D model of the proposed variant and the required drawing documentation.

This thesis is an exploration of the relationships between humans and mechanized beings in Japanese science fiction anime. In it I will be discussing the following texts: Ergo Proxy (2006), Chobits (2002), Gunslinger Girl (2003/2004), and Mahoromatic (2001/2002). I argue that these relationships in these anime series take the form of master/slave relationships, with the humans as the masters and the mechanized beings as the slaves. In virtually every case, the mechanized beings are young females and the masters are older human males. I will argue that this dynamic serves to reinforce traditional power structures and gender dynamics in a posthuman landscape. Additionally, I will argue that by enforcing a dynamic of human-male as master and nonhuman-female as slave, science fiction anime works to fortify the “human” as the primary subject of society. This is done to preserve humanism in the overpowering wave of posthumanism.

This thesis presents the analysis, design and characterization of an integrated high-frequency phase-locked loop (PLL) frequency multiplier. The frequency multiplier is novel in its use of a low multiplication factor of 4 and a fully differential topology for rejection of common mode interference signals. The PLL is composed of a voltage controlled oscillator (VCO), injection-locked frequency divider (ILFD) for the first divide-by-two stage, a static master-slave flip-flop (MSFF) divider for the second divide-by-two stage and a Gilbert cell mixer phase detector (PD). The circuit has been fabricated using a standard CMOS 0.18-um process based on its relatively low cost and ready availability. The PLL frequency multiplier generates an output signal at 26 GHz and is the highest operational frequency PLL in the technology node reported to date. Time domain phase plane analysis is used for prediction of PLL locking range based on initial conditions of phase and frequency offsets. Tracking range of the PLL is limited by the inherent narrow locking range of the ILFD, and is confirmed via experimental results. The performance benefits of the fully differential PLL are experimentally confirmed by the injection of differential- and common-mode interfering signals at the VCO control lines. A comparison of the common- and differential-mode modulation indices reveals that a common mode rejection ratio (CMRR) of greater than 20 dB is possible for carrier offset frequencies of less than 1 MHz. Closed-loop frequency domain transfer functions are used for prediction of the PLL phase noise response, with the PLL being dominated by the reference and VCO phase noise contributions. Regions of dominant phase noise contributions are presented and correlated to the overall PLL phase noise performance. Experimental verifications display good agreement and confirm the usefulness of the techniques for PLL performance prediction. The PLL clock multiplier has an operational output frequency of 26.204 to 26.796 GHz and a maximum output frequency step of 16 MHz. Measured phase noise at 1 MHz offset from the carrier is -103.9 dBc/Hz. The PLL clock multiplier core circuit (VCO/ILFD/MSFF Divider/PD) consumes 186 mW of combined power from 2.8 and 4.3 V DC rails. / Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2009-04-24 11:31:35.384

This diploma thesis is concerned with providing a construction proposal of a linear axis X for multifunctional machining center. Moreover, this work presents characterisations of machining centers, overview of manufacturers, list of main construction components used in the linear axis, their evaluation, assessment of various options for construction, which are then explained further. These detailed construction methods include calculations with the subsequent choice of feed system component. Ultimately, final evaluation of chosen option is provided as well. Another section of this thesis is also an economical assessment and 3D model alongside with mechanical drawing.

Haptic feedback is a growing phenomenon that incorporates the sense of touch through tactile sensations such as vibrations, electrical signals, air pressure, and sound waves or through force feedback, which employs torques and/or forces to replicate the pressure and weight of a simulated object. Utilizing haptic technology establishes a communication bridge between the user and the technical component, enhancing the user's understanding of the technical component's surroundings. This thesis focuses on designing a force feedback haptic device with an impedance control strategy, enabling the imposition of dynamic behavior during simulated robot interactions. Impedance control is a commonly employed approach in haptic devices, utilizing a mass-spring-damper model to vary stiffness, damping, and inertia levels, thereby simulating realistic forces and torques in master-slave interactions.  Initially, a haptic device resembling the shape of a Delta robot was designed using Solidworks, with size and weight distribution serving as the primary design considerations. Subsequently, the device was further represented using a generic robot description format, incorporating the design's joints and links. This representation was then paired with kinematic connections delineating the robot's motion and dynamic matrices to simulate the robot's movement. Alongside the integration of an impedance control strategy, simulations were conducted to emulate robot interactions. These simulations tested the system under various conditions, including scenarios with and without introduced torque disturbances. Including torque disturbances was intended to enhance the simulation's realism and assess the impact of impedance control parameter choices on the system's behavior. In summary, the research concludes how a closed-chain robot, the Delta robot, can be modeled as a haptic device with an impedance control strategy, offering valuable guidance for future research. / Haptisk återkoppling är ett växande fenomen som integreras i allt fler användningsområden. Genom att återskapa känslan av att röra vid eller interagera med föremål, antingen genom att simulera taktila sensationer som vibrationer, elektriska signaler, lufttryck och ljudvågor eller genom att återge kraftåterkoppling till användaren, kan användarens förståelse för tekniska komponenter och deras omgivning öka. Kraftåterkoppling möjliggör imitation av tryck och vikt hos simulaterade objekt, vilket förbättrar realismen i användarupplevelsen. Detta examensarbete har inriktat sig på att designa en haptisk pryl med kraftåterkoppling och en styrmekanism baserad på impedanskontroll. Genom att implementera impedanskontroll kan dynamiska beteenden inkorporeras i systemet genom varierande styrka, dämpning och tröghet. Dessa impedansparametrar möjliggör realistiska simuleringar av kraft och vridmoment i samband med virtuella robotinteraktioner. Först utformades en haptisk pryl som efterliknar formen av en Delta-robot med hjälp av CAD-programmet Solidworks. Här var storlek och viktfördelning primära överväganden i designprocessen. Därefter representerades enheten genom en generisk robotbeskrivning som inkluderade dess leder och länkar. Denna representation kopplades sedan ihop med kinematiska samband som reglerade enhetens rörelse. Tillsammans med integreringen av impedanskontrollstrategin genomfördes simuleringar som efterliknade robotinteraktioner. Dessa simuleringar omfattade olika scenarier, inklusive de med vridmomentsstörningar och de utan. Syftet med att inkludera vridmomentsstörningar var att öka realismen i simuleringen och utvärdera påverkan av valda parametrar för impedanskontrollen på systemets beteende. Sammanfattningsvis har detta arbete resulterat i utformningen av en haptisk pryl med kraftåterkoppling, som efterliknar en Delta-robot. Prylen har modellerats som en trädstruktur, med kinematiska samband som sammanfogar dess ändnoder. Det här arbetet har bidragit till kunskapen om hur realistiska haptiska interaktioner kan skapas och öppnat möjligheter för framtida forskning och utveckling inom detta område.