8. Ответьте на вопросы.

1. What components can initiate a fault?

2. Why can the software faults be uncovered during the operation of the system?

3. What is it reasonable to supervise in order to minimize the number of faults?

4. How is software diagnosis realized?

5. How can faulty modules be located in function-oriented diagnosis technology?

6. What program is used to analyse the location of the fault?

9. Найдите в тексте лексические эквиваленты следующих выражений.

to consider the system, defective modules, to discover the fault, to supervise automatically

10. Переведите словосочетания.

безошибочный, программа обнаружения ошибки, обнаружить местоположение ошибки, ошибки происходят, обнаруженная ошибка, различать ошибки, разнообразие методов

11. Переведите текст письменно со словарем.

Motion control of Robot manipulation

The design of intelligent, autonomous machines to perform tasks that are dull and dangerous for humans is the ultimate goal of robotics research. Examples of such tasks include manufacturing, construction, space exploration, robotic-assisted medicine etc. The field of robotics is highly interdisciplinary and requires the integration of control theory with computer science, mechanics and electronics.

The term "robot" has been applied to a wide variety of mechanical devices, from children's toy to guided missiles. An important class of robots is the manipulator arms. These manipulators are used primarily in materials handling, assembly and other manufacturing applications.

Robot manipulators are basically multi-degree-of-freedom positioning devices. The robot, as "the plant to be controlled", is a multi-input/multi-output, nonlinear mechatronic system. The main task in the motion control of these robots is the complexity of the dynamics and uncertainties, both parametric and dynamic. Parametric uncertainties arise from imprecise knowledge of kinematic parameters and inertia parameters while dynamic uncertainties arise from link flexibility, actuator dynamics, friction, sensor noise and unknown environment dynamics.

Урок 21

1. Правильно прочитайте и вспомните значение слов.

to carry out, the machine tool, to associate, to match, to search, to execute, the frame network, to find, the approach, to fulfill

2. Прочитайте ряды однокоренных слов. Переведите их, исходя из значения словообразовательных элементов.

capable (a), incapable (a), capability (n)

require (v), required (past p.), requiring (pres. p.), requirement (n)

fulfill (v), fulfillment (n)

describe (v), description (n)

structure (n), structure (v), structurize (v)

3. Прочитайте и переведите словосочетания.

computer-aided tool, structured knowledge memory, conclusion rule, short response time, larger knowledge bases, service technician

4. Переведите предложения, обращая внимание на выделенные слова. Выпишите их значения из словаря.

1. The careless manner of carrying out the experiment may induce the assistant to an error.

2. This device can be used in two different ways.

3. In this way, compensation for tool wear can be achieved.

4. In adaptive control the use of acoustic emission is a way of analyzing high frequency patterns.

5. The machine tool of tomorrow must be able to monitor the process and diagnose all events in almost intelligent way.

6. One common way to increase the sensitivity of the transducers is to make the structure more flexible. Another way is to use modern calculating tools to find the optimal placement of the transducer.

7. These dynamic characteristics may sometimes influence measuring results in an undesirable way.

8. Logical cell controllers are equal decision makers and perform all planning in a cooperative manner.