Apart from accuracy, one of the parameters describing industrial robots is positioning accuracy. The parameter in question, which is the subject of this paper, is often the decisive factor determining whether to apply a given robot to perform certain tasks or not. Articulated robots are predominantly used in such processes as: spot welding, transport of materials and other welding applications, where high positioning repeatability is required. It is therefore essential to recognise the parameter in question and to control it throughout the operation of the robot. This paper presents methodology for robot positioning accuracy measurements based on vision technique. The measurements were conducted with Phantom v2511 high-speed camera and TEMA Motion software, for motion analysis. The object of the measurements was a 6-axis Yaskawa Motoman HP20F industrial robot. The results of measurements obtained in tests provided data for the calculation of positioning accuracy of the robot, which was then juxtaposed against robot specifications. Also analysed was the impact of the direction of displacement on the value of attained pose errors. Test results are given in a graphic form.

During polymerization, composite materials cause a temperature rise which may lead to irreversible changes in the dental pulp. The mechanical properties of composite materials depend on a number of factors, such as the composition of the material, the type of polymerization unit, the polymerization mode, and the duration of polymerization. The objective of this study was to assess the temperature rise values and flexural strength of composite materials, as obtained using different modes and times of polymerization. A total of six composite materials were used in the study. Samples of each of the materials were cured using seven polymerization protocols. A CMP-401 digital meter (Sonel, Świdnica, Poland), complete with a type K thermocouple (NiCr-Ni), was used to record the temperature increases during the light curing of the resin composites. Temperature rises were recorded beneath the composite disc in an acrylic matrix. The specimens were tested for flexural strength using a Cometech QC-508M2 testing machine. The lowest results for the increased mean temperature were obtained for Fast-Cure 3 s (39.0 °C), while the highest results were obtained for Fast-Cure 20 s (45.8 °C). The highest average temperature values for all tested protocols were recorded for the Z550 Filtek material. Mean flexural strengths as measured in each test group were higher than the minimum value for composite materials as per the ISO:4049 standard. In the case of deep caries with a thin layer of dentin separating the filling from pulp, a base layer or a short polymerization duration mode is recommended to protect pulp from thermal injury.

The paper presents the application of the IMGAMO (immune game theory multiobective algorithm) in the optimal design of electrothermal microactuators. Several numerical tests on the mathematical benchmark test functions were performed, showing the superiority of the IMGAMO, when a large number of criteria are considered, in comparison to other multiobjective optimizers. A parametric numerical model of an electrothermal microactuaror was developed and verified. Six functionals, which depend on various thermal and mechanical quantities of the microactuator, were proposed, formulated and numerically implemented. These functionals represent real requirements asked of microactuators. The boundary-value problem of an electro-thermo-mechanical field was solved multiple times during the course of optimization by way of the finite element method (FEM). A numerical example of multiobjective optimization of chevron-type electrothermal actuators is included in the paper. Representation of the multi-dimensional Pareto fronts by means of scatter plot matrices, aided by self-organizing maps (SOMs), is presented. The novel method of selecting interesting, compromise-solutions is proposed and described.

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