Three dimensional coordinate metrology is a firmly established technique in industry.Scanning technology is now widely used in coordinate metrology and is increasingly usedfor the measurement of small features. This paper presents a new real shape approach toclosest point inspection involutes curve of gear tooth by coordinate measuring machinery(CMM). This method aims to select the most likely contact point for each successive arc byapplying geometrical criteria and a fuzzy logic estimator. This method is particularly,but not exclusively, suitable for the metrology of features with small radii as well asmetrological discontinuities. It does not require obtaining the normal vectortraditionally used for probe tip correction. Elapsed time is 144.09 s. Tests have beendone on limps of machine tool speed (pinion type cutter), which is highly applied in ourcountry.

Conflicts between resource users and managers are common and well documented on Mafia Island (Tanzania), where there has been a history of unresolved conflict over marine conservation initiatives. The perceptions of fisheries and park restrictions among resource users and managers were evaluated to try to understand the underlying causes of these conflicts. Responses concerning management preferences of government officials employed by the Mafia Island Marine Park (MIMP), personnel of the fisheries department, and heads of households in three villages in and out of the Park were compared. The largest differences in perceptions were found between villagers and managers, but all respondents agreed that minimum fish lengths and gear restrictions were beneficial and that benefits increased along the scale of the individual – community – national government. Villagers and government officials differed most in their perceptions towards area-based management, spatial and temporal closures, and species restrictions. Perceptions of management restrictions and benefits were only weakly correlated with the socioeconomic status of the villagers, but more strongly correlated with their living in or out of the Park and their family's economic options. The most negative perceptions towards restrictions were found in villages near fisheries closures, where there was a heavy reliance on marine resources and a higher numbers of jobs per household, but less reliance on cash crops, animal husbandry and tourism. The lack of these three options appears to have produced lower levels of support for MIMP and associated restrictions, and might be overcome by (1) using gear and minimum size restrictions more than fisheries closures and (2) increasing access to tourism, cash crops, animal husbandry and salaried employment, rather than simply increasing livelihood diversity.

The paper is concerned with the relationship between the equation of elastic line motion, the “Euler-Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the bending moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and can not be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the joint and of the link (two modes), as well the environment force dynamics.

Nous nous intéressons dans cette étude à un modèle dynamique non-linéaire d'un engrenage droit à un degré de liberté. Ce modèle permet de prendre en compte la présence du jeu entre dents ainsi que la non-linéarité de la raideur d'engrènement associée à l'évolution instantanée du nombre de dents en prise. Notre étude concerne le cas d'engrenages corrigés par des corrections linéaires en tête de denture ainsi que des engrenages non corrigés. Le but de cette étude a été d'analyser la pertinence de ce modèle vis-à-vis de résultats expérimentaux mettant en œuvre un banc d'essais dont les caractéristiques, notamment aux niveaux de la micro-géométrie des dentures, sont parfaitement contrôlées. En conclusion, les résultats comparatifs sont encourageants, même si nous n'avons pas pu reproduire par simulation certains phénomènes non-linéaires observés. Parmi ceux-ci, on peut citer le cas de la cascade harmonique observée sur un engrenage corrigé et prenant naissance au niveau de la résonance principale.