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Nt1310 Unit 3 Assignment 1 Study Guide

Satisfactory Essays
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All substates of $S_{1,L_2}$ describe the actual mating process. $S_{3,L_3}$ describes the first contact between the spline shaft and its socket. $C_U$ of $C_{3,L_2}$ is defined that the acting forces and torques are above the sensor noise level and that there is a nearly constant $z$-position. $C_R$ demands that both workpieces have not been in contact before. So the state $S_{3,L_3}$ or $\ll$\textit{firstContact}$\gg$ describes how the spline shaft is inserted into the socket. The end of the mating task is represented by state $S_{4,L_3}$ or $\ll$\textit{finalMating}$\gg$. For being in this state, $C_{4,L_2}$ requires a high $z$-force peak and after that a constant $z$-position. Another substate is $S_{2,L_3}$ or $\ll$\textit{preBlocking}$\gg$ and this substate is discussed in detail during the description of the online fault detection in Subsec.~\ref{subsec:OnlineFaultDetection}. The last substate is $S_{1,L_3}$ which is named $\ll$\textit{mating}$\gg$ again. That is because this …show more content…

The first is named $S_{6,L_3}$ or $\ll$\textit{break}$\gg$. In order to be in this state, $C_{6,L_2}$ has to be fulfilled and this condition requires a constant $z$-position and constant forces and torques. It is defined by the domain expert that a constant $z$-position and changing forces and torques are equal to the condition $C_{5,L_2}$. The corresponding state is named $S_{5,L_3}$ or $\ll$\textit{blocking}$\gg$. This is a very interesting state because it contains a problem during task execution. On higher decomposition levels, the substates of this state also describe how the problem was handled in order to solve it. But on higher levels, the domain expert has to be aware of the maximal human movement frequency in order to identify intended human actions. If a state does not take enough time, it can represent an intended movement. So the domain expert has to define a $C_R$ according to the maximal movement frequency of a

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