CAD CAM Robotics and Factories of the

Future Proceedings of the 28th

International Conference on CARs FoF
2016 1st Edition Dipak Kumar Mandal
Visit to download the full and correct content document:
https://textbookfull.com/product/cad-cam-robotics-and-factories-of-the-future-proceedi
ngs-of-the-28th-international-conference-on-cars-fof-2016-1st-edition-dipak-kumar-m
andal/
More products digital (pdf, epub, mobi) instant
download maybe you interests ...

Advances in Service and Industrial Robotics:

Proceedings of the 28th International Conference on
Robotics in Alpe-Adria-Danube Region (RAAD 2019)
Karsten Berns
https://textbookfull.com/product/advances-in-service-and-
industrial-robotics-proceedings-of-the-28th-international-
conference-on-robotics-in-alpe-adria-danube-region-
raad-2019-karsten-berns/

Proceedings of the International Conference on

Martensitic Transformations Chicago J. K. Mandal

https://textbookfull.com/product/proceedings-of-the-
international-conference-on-martensitic-transformations-chicago-
j-k-mandal/

Computational Intelligence and Machine Learning

Proceedings of the 7th International Conference on
Advanced Computing Networking and Informatics ICACNI
2019 Jyotsna Kumar Mandal
https://textbookfull.com/product/computational-intelligence-and-
machine-learning-proceedings-of-the-7th-international-conference-
on-advanced-computing-networking-and-informatics-
icacni-2019-jyotsna-kumar-mandal/

New Advances in Mechanisms, Mechanical Transmissions

and Robotics: Proceedings of The Joint International
Conference of the XII International Conference on
Mechanisms and Mechanical Transmissions (MTM) and the
XXIII International Conference on Robotics (R 1st
https://textbookfull.com/product/new-advances-in-mechanisms-
mechanical-transmissions-and-robotics-proceedings-of-the-joint-
Edition Burkhard Corves
international-conference-of-the-xii-international-conference-on-
Computer Aided Verification 28th International
Conference CAV 2016 Toronto ON Canada July 17 23 2016
Proceedings Part II 1st Edition Swarat Chaudhuri

https://textbookfull.com/product/computer-aided-
verification-28th-international-conference-cav-2016-toronto-on-
canada-july-17-23-2016-proceedings-part-ii-1st-edition-swarat-
chaudhuri/

Recent Developments in Mechatronics and Intelligent

Robotics: Proceedings of the International Conference
on Mechatronics and Intelligent Robotics (ICMIR2017) -
Volume 1 1st Edition Feng Qiao
https://textbookfull.com/product/recent-developments-in-
mechatronics-and-intelligent-robotics-proceedings-of-the-
international-conference-on-mechatronics-and-intelligent-
robotics-icmir2017-volume-1-1st-edition-feng-qiao/

Recent Developments in Mechatronics and Intelligent

Robotics: Proceedings of the International Conference
on Mechatronics and Intelligent Robotics (ICMIR2017) –
Volume 2 1st Edition Feng Qiao
https://textbookfull.com/product/recent-developments-in-
mechatronics-and-intelligent-robotics-proceedings-of-the-
international-conference-on-mechatronics-and-intelligent-
robotics-icmir2017-volume-2-1st-edition-feng-qiao/

ICCCE 2018: Proceedings of the International Conference

on Communications and Cyber Physical Engineering 2018
Amit Kumar

https://textbookfull.com/product/iccce-2018-proceedings-of-the-
international-conference-on-communications-and-cyber-physical-
engineering-2018-amit-kumar/

ICCCE 2019: Proceedings of the 2nd International

Conference on Communications and Cyber Physical
Engineering Amit Kumar

https://textbookfull.com/product/iccce-2019-proceedings-of-
the-2nd-international-conference-on-communications-and-cyber-
physical-engineering-amit-kumar/
Lecture Notes in Mechanical Engineering

Dipak Kumar Mandal

Chanan Singh Syan Editors

CAD/CAM,
Robotics and
Factories of the
Future
Proceedings of the 28th International
Conference on CARs & FoF 2016
Lecture Notes in Mechanical Engineering
About this Series

Lecture Notes in Mechanical Engineering (LNME) publishes the latest

developments in Mechanical Engineering—quickly, informally and with high
quality. Original research reported in proceedings and post-proceedings represents
the core of LNME. Also considered for publication are monographs, contributed
volumes and lecture notes of exceptionally high quality and interest. Volumes
published in LNME embrace all aspects, subfields and new challenges of
mechanical engineering. Topics in the series include:

• Engineering Design
• Machinery and Machine Elements
• Mechanical Structures and Stress Analysis
• Automotive Engineering
• Engine Technology
• Aerospace Technology and Astronautics
• Nanotechnology and Microengineering
• Control, Robotics, Mechatronics
• MEMS
• Theoretical and Applied Mechanics
• Dynamical Systems, Control
• Fluid Mechanics
• Engineering Thermodynamics, Heat and Mass Transfer
• Manufacturing
• Precision Engineering, Instrumentation, Measurement
• Materials Engineering
• Tribology and Surface Technology

More information about this series at http://www.springer.com/series/11236

Dipak Kumar Mandal Chanan Singh Syan
•

Editors

CAD/CAM, Robotics
and Factories of the Future
Proceedings of the 28th International
Conference on CARs & FoF 2016

123
Editors
Dipak Kumar Mandal Chanan Singh Syan
Department of Mechanical Engineering Department of Mechanical
College of Engineering and Management and Manufacturing Engineering
Kolaghat, West Bengal The University of the West Indies
India St. Augustine
Trinidad and Tobago

ISSN 2195-4356 ISSN 2195-4364 (electronic)

Lecture Notes in Mechanical Engineering
ISBN 978-81-322-2738-0 ISBN 978-81-322-2740-3 (eBook)
DOI 10.1007/978-81-322-2740-3

Library of Congress Control Number: 2015959937

© Springer India 2016

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, express or implied, with respect to the material contained herein or
for any errors or omissions that may have been made.

Printed on acid-free paper

This Springer imprint is published by SpringerNature

The registered company is Springer (India) Pvt. Ltd.
Preface

We have great pleasure in announcing the 28th International Conference on

CAD/CAM, Robotics and Factories of the Future, hosted by the International
Society for Productivity Enhancement and College of Engineering and
Management, Kolaghat, West Bengal, India. The conference is also supported and
sponsored by Robotics Society of India, AMM, BRNS, IEI, DST, MTAB and
TEQIP-II.
The conference includes plenary lectures in key areas of the conference which
are followed by parallel sessions. The plenary lectures are delivered by the eminent
personalities invited to introduce the theme of the conference. Each parallel session
starts with an invited talk on specific topic followed by contributed papers. Papers
are invited from industry, academic institutions, R&D organisations and profes-
sional engineers. Through Easychair 120 full papers were submitted, which were
reviewed by experts from the review committee of CARS & FOF 2016, composed
of 35 members from over 30 institutions/organisations from 12 countries. Finally,
93 full papers, authored by over 130 researchers from 70 institutions/organisations
from five countries, were selected for presentation at the conference and for pub-
lication as chapters in this volume. Among them, 81 papers were registered for oral
presentation as well as publication in the proceedings. This conference specially
focuses on the positive changes made in the field of robotics, CAD/CAM and the
future predication of emerging factories. Some of the important topics that are
discussed in the conference are product development and sustainability, modelling
and simulation, automation, robotics and handling systems, supply chain man-
agement and logistics, advanced manufacturing processes, human aspects in
engineering activities, emerging scenarios in engineering education and training.
CARS & FOF 2016 includes nine keynotes from prominent researchers and
practitioners from around the world: Prof. M. Rahman, Professor of Manufacturing
Engineering, National University, Singapore; Dr. Brian Prasad, Technical Director,
Knowledge Solutions, Irvine, CA, USA; Prof. Ashitava Ghosal, Professor of
Mechanical Engineering, IISc, Bangalore; Dr. Ashish Dutta, IIT Kanpur; Dr. D.N.
Badodkar (OS), BARC, Trombay, Mumbai; Dr. Prabir K. Pal, DRHR, BARC,

v
vi Preface

Mumbai, India; Dr. Subir Kumar Saha, IIT Delhi; Dr. Debanik Roy, BARC, DAE,
Mumbai, India; Dr. Pradeep Kumar, VSSC, Thiruvananthapuram.

Acknowledgements

The editors thank Robotics Society of India, AMM, MTAB, BRNS, IEI, DST and
TEQIP-II for their support of this event. Organising an event such as this would not
have been possible without the help of many colleagues. We are grateful to the
members of the Organising Committee, the International Scientific Committee, our
sponsors and all those colleagues who have helped in the review of many abstracts
and consequently full papers. This has required meticulous attention to detail and
strict adherence to very tight deadlines. The organisers also recognise the support
provided by our sponsors. Their continued support over the course of the planning
period and also during the event itself is very much appreciated. We are also
indebted to all the contributors to the conference, particularly the researchers and
practitioners.
Finally, we would like to thank Springer, especially Swati Meherishi, Senior
Editor, Applied Sciences and Engineering and Aparajita Singh, Editorial Assistant,
Physical Sciences, for the wonderful support extended in the publication of these
proceedings for the CARS & FOF 2016 International Conference.
Dipak Kumar Mandal
Chanan Singh Syan
Contents

Design and Development of a Low Cost Automation Injection Molding

Machine of 250 g Capacity Using Microcontroller . . . . . . . . . . . . . . . . 1
Soumya Kanti Manna, Saibal Kumar Pradhan and Dipak Kumar Mandal
Design, Development and Testing of a Three Component Lathe Tool
Dynamometer Using Resistance Strain Gauges . . . . . . . . . . . . . . . . . . . 13
Rahul Jain, J.K. Rathore and V.K. Gorana
Study of Laser Transmission Welding Process Using a Volumetric
Heat Source Model and Experimental Analysis . . . . . . . . . . . . . . . . . . 23
Bappa Acherjee, Arunanshu S. Kuar, Souren Mitra and Dipten Misra
Comparison of Grinding Performance Under Different Eco-Friendly
Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
D. Dewanjee, P. Kundu, B. Sikder, D. Biswas, Bijoy Mandal
and Santanu Das
Design of a Maintenance Optimisation Approach for Offshore Oil
and Gas Production Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Chanan S. Syan and Geeta G. Ramsoobag
Investigating the Feasibility of BCI-Based Social Media Interaction. . . . 51
Chanan S. Syan and Randy E.S. Harnarinesingh
Virtual Experiments for Integrated Teaching and Learning
of Robot Mechanics Using RoboAnalyzer . . . . . . . . . . . . . . . . . . . . . . . 59
Ratan Sadanand, Ravi Prakash Joshi, Rajeevlochana G. Chittawadigi
and Subir Kumar Saha
Fuzzy Based Object Shape Recognition Using Translation, Rotation
and Scale Invariant Parameters—An Automatic Approach . . . . . . . . . . 69
Jeet Banerjee, Soma Banerji, Ranjit Ray and Sankar Nath Shome

vii
viii Contents

Need of Agriculture Hand Tool Design Using Quality and Ergonomics

Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Rahul Jain, M.L. Meena and G.S. Dangayach
Inverse Dynamics and Feet-Terrain Collision Model for Optimal
Distribution of the Contact Forces During Crab Motion of a Hexapod
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Abhijit Mahapatra, Shibendu Shekhar Roy and Dilip Kumar Pratihar
Sensing Human Pulse Bit Using Ionic Polymer Metal Composite
(IPMC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Debabrata Chatterjee and Adrish Bhaumik
Order Reduction of Interval SISO Systems Using Least Square
Methods with a Linear Shift ‘a’ Obtained by Harmonic Mean . . . . . . . 103
K. Kiran Kumar and G.V.K.R. Sastry
Identifying and Updating the Kinematics of KUKA-iiwaR800
in CAD for Accurate Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Abdullah Aamir Hayat, Arun Dayal Udai and Subir Kumar Saha
Parametric Optimization of Link Lengths of a SCARA Robot
for Deburring of Circular Paths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
P.V.S. Subhashini, N.V.S. Raju and G. Venkata Rao
Integrating Artificial Intelligence and Simulation for Controlling
Steady Flow of Fixtures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Fentahun Moges Kasie, Glen Bright and Anthony Walker
Predictions of Hip and Knee Power Consumptions of Patients
Having Different Body Heights and Masses During
Normal Walking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Abhishek Rudra Pal, Ankit Omprakash Mundada and Dilip Kumar Pratihar
CFX, Static Structural Analysis of Tractor Exhaust System
Based on FEA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Faraz Ahmad, Ashwani Kumar, Karuna Kanwar and P.P. Patil
FEA Simulation Based Thermo-mechanical Analysis of Tractor
Exhaust Manifold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Faraz Ahmad, Vipul Tomer, Ashwani Kumar and P.P. Patil
Stress Analysis of a Circuit Breaker Switchgear Mechanism
by Using Multi Body Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
J. Anjaneyulu, G. Krishna Mohana Rao and G. Venkata Rao
Contents ix

Integration of Fuzzy Logic with Response Surface Methodology

for Predicting the Effect of Process Parameters on Build Time
and Model Material Volume in FDM Process . . . . . . . . . . . . . . . . . . . . 195
Manu Srivastava, Sachin Maheshwari, T.K. Kundra,
Ramkrishna Yashaswi and Sandeep Rathee
A Study on State of the Art Technology of Laminated Object
Manufacturing (LOM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Bewketu Gizachew Mekonnen, Glen Bright and Anthony Walker
Design Analysis and Manufacturing of Device for Rehabilitation
of Hand Fingers Based on Illusionary Movements by Tendon
Vibrations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Bonny Bernard and Preethika Immaculate Britto
Experimental Investigation of Process Parameters for Build Time
Estimation in FDM Process Using RSM Technique. . . . . . . . . . . . . . . . 229
Manu Srivastava, Sachin Maheshwari, T.K. Kundra, Sandeep Rathee
and Ramkrishna Yashaswi
Analysis of Prismatic Springs of Non-circular Coil Shape
Using Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Arkadeep Narayan Chaudhury, Arnab Ghosh, Krishnendu Banerjee,
Abhijit Mondal and Debasis Datta
TiC, W2C Reinforced Ti-W MMC Coating Developed
on Ti-6Al-4V Substrate Through Laser Cladding . . . . . . . . . . . . . . . . . 253
Parth Gattani, Adil Azeem and Partha Saha
Motion Programming of SCORBOT ER-4u Using Fusion
of Robot Kinematics and Inertial Sensor . . . . . . . . . . . . . . . . . . . . . . . 263
Abhishek Jha, Shital S. Chiddarwar and Veer Alakshendra
Trajectory Tracking Control of Three-Wheeled Omnidirectional
Mobile Robot: Adaptive Sliding Mode Approach . . . . . . . . . . . . . . . . . 275
Veer Alakshendra, Shital S. Chiddarwar and Abhishek Jha
Point Mass Models for Dynamic Balancing of Industrial Manipulators
Using Genetic Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Devi Singh Kumani and Himanshu Chaudhary
Application of the Attractive Ellipsoid Methodology to Robust Control
Design of a Class of Switched Systems . . . . . . . . . . . . . . . . . . . . . . . . . 299
V. Azhmyakov and J.H. Carvajal Rojas
A Three Finger Tendon Driven Robotic Hand Design
and Its Kinematics Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
I.A. Sainul, Sankha Deb and A.K. Deb
x Contents

An Intelligent Methodology for Assembly Tools Selection

and Assembly Sequence Optimisation . . . . . . . . . . . . . . . . . . . . . . . . . 323
Atul Mishra and Sankha Deb
Alignment Based Inspection Framework for Additive Manufactured
Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Vimal Kumar Pathak and Amit Kumar Singh
An Investigation on Slab Milling Operation to Find Out Optimum
Cutting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Spandan Guha, Tapas Banerjee, Asish Bandyopadhyay
and Santanu Das
Recognition of Force Closed Point Grasp for 2D Object . . . . . . . . . . . . 357
Abhijit Das and Sankha Deb
Developing a GUI for Optimization of Acoustic Enclosure
of a Compressor Chamber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
T. Ramamohan Rao and S. Kirthana
A Pilot Study of Sustainable Machining Process Design in Indian
Process Industry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Sumit Gupta, G.S. Dangayach, Amit Kumar Singh and P.N. Rao
Sagittal Position Analysis of Gait Cycle for a Five Link
Biped Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Ramanpreet Singh, Himanshu Chaudhary and Amit Kumar Singh
A Note on Mechanical Feasibility Predicate for Robotic Assembly
Sequence Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
M.V.A. Raju Bahubalendruni, Bibhuti Bhusan Biswal, Manish Kumar
and B.B.V.L. Deepak
Weld Seam Tracking and Simulation of 3-Axis Robotic Arm
for Performing Welding Operation in CAD Environment . . . . . . . . . . . 405
B.B.V.L. Deepak, C.A. Rao and B.M.V.A. Raju
A Comparative Performance Analysis of Discrete Wavelet
Transforms for Denoising of Medical Images . . . . . . . . . . . . . . . . . . . . 417
Yogesh S. Bahendwar and G.R. Sinha
Deterministic Model for RF Hot Spots Location and Probability
Within Empty Rectangular Structures . . . . . . . . . . . . . . . . . . . . . . . . . 425
Ricardo Rodriguez and Winston G. Lewis
Heat Stress in the Workplace: A Case Study of a Cement
Manufacturing Facility in Trinidad . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
Winston G. Lewis and Ricardo Rodriguez
Contents xi

Modeling and Simulation of a Near Omni-Directional

Hexapod Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
D. Mahata, Ranjit Ray and Sankar Nath Shome
Optimization of Vibration of Collecting Plates of Electrostatic
Precipitator Through FEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Harshal Shinde, Akshata Sangle, Sumit Shendkar, Omkar Kulkarni,
Ninad Kulkarni, G.M. Kakandikar and V.M. Nandedkar
Full Aperture Optical Polishing Process: Overview and Challenges . . . . 461
Raj Kumar Pal, Harry Garg and Vinod Karar
Stability Analysis of Haptic Virtual Environment Systems
for Active Interactions in Surgical Robot Simulators . . . . . . . . . . . . . . 471
Rishika Khandelwal and Asokan Thondiyath
Synchronized Optimization of Injection Moulding Parameters
for Higher Acceptance of Polypropylene Products . . . . . . . . . . . . . . . . 481
Bikash Bepari, Tanumoy Kolay, Kamal Nayan and Subham Mishra
Use of Visual Analytics and Durometer in Risk Reduction of Foot
Problems in Diabetes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Vinaytosh Mishra, Anubha Rautela, B. Manjunatha, Cherian Samuel,
S.K. Sharma and A. Mishra
On the Complexities in Machining Titanium Alloys . . . . . . . . . . . . . . . 499
Paramjit Singh, Harish Pungotra and Nirmal S. Kalsi
Modeling, Analysis and Trajectory Planning of a 5 Degree
of Freedom Robotic Arm for a Transmission Line Crossing Robot . . . . 509
C.M. Shruthi, A.P. Sudheer and M.L. Joy
Design and Modelling of Dual Faceplate Centrifugal Casting
Equipment for Manufacturing of Turbine Bearing . . . . . . . . . . . . . . . . 523
Saumil Desai, Saurin Sheth and Purvi Chauhan
Design and Control of Tendon Driven Robotic Hand for Prosthesis
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Roshan Kumar Hota, Arvind Ahirwar and Cheruvu Shiv Kumar
Stabilization of Posture of Humanoid Using PID Controller
in Gazebo Simulator Using Robot Operating System (ROS) . . . . . . . . . 543
V. Madhu Babu, G.V.V. Surya Kiran, S.K. Sameer,
Roshan Kumar Hota and Cheruvu Shiv Kumar
Robotic Picking of Cylindrical Fuel Pellets from a Boat
Using 3D Range Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
Rahul Jain, Abhishek Jaju, Namita Singh, Sanjeev Sharma
and Prabir K. Pal
xii Contents

Swachh-Bharat Bot: A Sweeping Robot . . . . . . . . . . . . . . . . . . . . . . . . 563

Swapnil Jogal and Kamal Sharma
Force Sensitive Robotic Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569
Meher Tabassum and D.D. Ray
Electron Beam Melting of Steel Plates: Temperature Measurement
Using Thermocouples and Prediction Through Finite Element
Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
Debasish Das, Dilip Kumar Pratihar and Gour Gopal Roy
Design and Analysis Towards Successful Development
of a Tele-Operated Mobile Robot for Underground Coal Mines . . . . . . 589
Dip N. Ray, Riddhi Das, Bijo Sebastian, Biplob Roy
and Somajyoti Majumder
Design-of-Experiments (DOE) to Compute the Effect of Chromium
Abrasives in Kerosene Oil as Dielectric of EDM of OHNS Die Steel . . . 603
Kamal Sabharwal and Paramjit Singh
CFD Modeling for Slurry Flow Through Bends and Straight
Pipe Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615
Arvind Kumar
Role and Significance of Visualisation in Product Design
at Prototyping Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
Sawankumar Naik and Ravi Terkar
Positional Analysis of a DC Brushed Encoder Motor
Using Ziegler-Nichols Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
Priyam Anilkumar Parikh, Saurin Sheth and Trupal Patel
A Hybrid Approach to Motion Planning for Stepping over
and Obstacle Avoidance in Humanoids . . . . . . . . . . . . . . . . . . . . . . . . 651
Hari Prasanth and A.P. Sudheer
Web Based Simulation and Remote Triggered Laboratory
for Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665
A.T. Navaraja, Neha Jain, Debashree Sengupta and C.S. Kumar
Modular Robotic Assistance in Cluttered Environments:
A Broad-Spectrum of Industrial Applications . . . . . . . . . . . . . . . . . . . . 679
Satwinder Singh, Akshit Kaplish and Ekta Singla
A Benchmarking Model for Indian Service Industries. . . . . . . . . . . . . . 689
Bhupender Singh, Sandeep Grover and Vikram Singh
Optimal Design of a Production System . . . . . . . . . . . . . . . . . . . . . . . . 697
P.K. Arora, Abid Haleem, M.K. Singh, Harish Kumar
and D.P. Singh
Contents xiii

Modelling and Analysis of a Novel Ancillary Braking System

for All Terrain Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
Amitansu Pattanaik and Nirbhay Jain
Nonlinear Tracking Control of Parallel Manipulator Dynamics
with Intelligent Gain Tuning Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . 715
K.V. Varalakshmi and J. Srinivas
Study of Joining Different Types of Polymers by Friction
Stir Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731
Nitin Panaskar and Ravi Terkar
Single Point Incremental Forming Using Flexible Die . . . . . . . . . . . . . . 741
Deepesh Panjwani, Prashant K. Jain, M.K. Samal, J.J. Roy, Debanik Roy
and Puneet Tandon
Hilbert Curve Based Toolpath for FDM Process. . . . . . . . . . . . . . . . . . 751
Saquib Shaikh, Narendra Kumar, Prashant K. Jain and Puneet Tandon
Development of Edge Processing and Drawing Algorithms
for a 6 Axis Industrial Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761
G. Kalaiarasan, A. Tony Thomas, C. Kirubha and B. Saravanan
Experimental Investigation and Fuzzy Modelling of Flatness
and Surface Roughness for WCB Material Using Face Milling
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769
Saurin Sheth and P.M. George
A Retrospective Investigation of Different Uncertainty
of Measurement Estimation Approaches. . . . . . . . . . . . . . . . . . . . . . . . 779
Harish Kumar, P.K. Arora, Girija Moona, D.P. Singh, Jasveer Singh
and Anil Kumar
Design of Automatic Fuel Filling System Using a Mechatronics
Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785
Saurin Sheth, Kavit H. Patel and Harsh Patel
A Framework for Evaluation of Environmental Sustainability
in Pharmaceutical Industry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 797
Geo Raju, Harpreet Singh, Prabir Sarkar and Ekta Singla
Aero-Structure Interaction for Mechanical Integration
of HP Compressor Blades in a Gas Engine Rotor . . . . . . . . . . . . . . . . . 807
N. Vinayaka, Nilotpal Banerjee, B.S. Ajay Kumar
and Kumar K. Gowda
Appraisement of Mass Customization Capability Level
Using Multi-grade Fuzzy Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 821
Jayant K. Purohit, M.L. Mittal, Milind Kumar Sharma
and Sameer Mittal
xiv Contents

Analysis of Solar Ejector—Jet Refrigeration System

Using Eco-Friendly Material R1234yf . . . . . . . . . . . . . . . . . . . . . . . . . 831
Gaurav and Raj Kumar
Numerical Investigation of Thermohydraulics Performance
in Elliptical Twisted Duct Heat Exchanger . . . . . . . . . . . . . . . . . . . . . . 839
Suvanjan Bhattacharyya, Himadri Chattopadhyay, Tarun Kanti Pal
and Anirban Roy

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851

About the Conference

The International Society for Productivity Enhancement (ISPE) was founded in

1984 in the USA with the goal to accelerate and augment the international exchange
of ideas and scientific knowledge in the field of technological applications. The
primary aim of ISPE is to integrate technologies, strategies and resources to
enhance productivity, competitiveness, and thereby, improve the quality and
standard of life. ISPE has been promoting research and education by organising
conferences, training workshops and seminars and various other professional
activities. Among others, the primary aim of ISPE is to unite, on a common plat-
form, policy makers, researchers, people from academia, engineers and users of
CAD/CAM, robotics and automation, advanced technologies and factories and
systems research and development.
International institutions globally have been hosting the CARs & FoF conference
since its formation in 1984. Middlesex University organised the 27th CARs & FoF
in 2014. The 28th CARs & FoF 2016 Conference is hosted by College of
Engineering and Management, Kolaghat, from 6 to 8 January 2016. The College of
Engineering and Management, Kolaghat is situated in the integrated complex of the
Kolaghat Thermal Power Station of the West Bengal Power Development
Corporation Limited, a premier power generation company in India. The college has
a close institute–industry partnership with the power station. Established in 1998, it
is one of the premier private engineering colleges in the state of West Bengal. The
college has received a INR 100 million assistance from the World Bank.

xv
About the Editors

Dr. Dipak Kumar Mandal completed his Master’s Degree in Heat Power
Engineering from Bengal Engineering and Science University, Shibpur, West
Bengal in the year 1999. He obtained his Ph.D. in the year of 2010 from the same
university. He is currently Associate Professor and Head of Mechanical
Engineering Department at the College of Engineering and Management, Kolaghat,
West Bengal. He has worked at the Kolaghat Thermal Power Plant. His research
fields are computational fluid dynamics and bio-fluid dynamics. He has published
several papers in international journals and conference proceedings. He has
authored one book and is a regular reviewer for several journals.
Prof. Dr. Chanan Singh Syan graduated from the University of Bradford, UK in
1983 with a B.Eng. (Hons) in Mechanical Engineering. In 1988 he obtained a
doctorate from the University of Hull, UK in Artificial Intelligence in Design for
Manufacture. He has over 15 years of industrial experience and over 28 years of
academic experience. Presently, he is Head of Production Engineering and
Management Office (postgraduate office), Leader of Graduate Programmes and
Professor at the University of the West Indies. His research specialisations include
brain–computer interface (BCI), manufacturing, design and manufacture, and asset
management. He is heading the BCI and Robotics and Automation research groups.

xvii
Design and Development of a Low Cost
Automation Injection Molding Machine
of 250 g Capacity Using Microcontroller

Soumya Kanti Manna, Saibal Kumar Pradhan

and Dipak Kumar Mandal

Abstract This article will describe an innovative way of implementing the

automation of an injection molding machine using microcontroller which in turn
will reduce total automation cost to only a few thousands rupees. In the piston side,
toggle mechanism is used instead of direct drive to get extra mechanical advantage
and safety features. The whole design is being simplified by cutting out some
features which in turn reduce the total cost of the system without affecting its
effectiveness. The system can be operated in two modes. In primary mode, the
operator can easily operate through on-board keypad by entering only time
sequences with the help of the manual. In the second one, it can be remotely
controlled though a PC based application software.

Keywords Automation Microcontroller
Hybrid control
GUI
PC based


control Predefined control

1 Introduction

Now a day’s plastic is an essential material in our daily life. That’s why polymer
industry has been grown up day by day. There are a few pioneers in the manu-
facturing industry which manufacture automation injection molding machine like
Wilson, Ferro Milacron, Magnum industries etc. Existing injection molding
machines are costly as they use PLC based system for automation. Thus it is
difficult for the SSI (Small Scale Industry) and MSI (Micro Scale Industry) unit to
install those machines for production. Also in case of manually controlled machine
the production rate is very low and labor cost is very high. It is known to everybody
that the production rate and control architecture of an injection molding machine

S.K. Manna (&)
S.K. Pradhan
D.K. Mandal

College of Engineering & Management, Kolaghat, India
e-mail: soumyakanti.mid@gmail.com

© Springer India 2016 1

D.K. Mandal and C.S. Syan (eds.), CAD/CAM, Robotics and Factories
of the Future, Lecture Notes in Mechanical Engineering,
DOI 10.1007/978-81-322-2740-3_1
2 S.K. Manna et al.

depend on the hardware specification of machine. The control of an

injection-molding process would be differentiating into three categories such as
all-phase control, phase-dependent control, and cycle to cycle control. Each man-
ufacturer producing injection molding machine has its proprietary control tech-
nique, which generally depends on system specifications and hardware components
of controllers and instrumentation. Those control methods are solely dedicated to a
specific brand of machines and cannot be used by others. Besides, control codes are
usually implemented with special software toolkits owned by different companies.
It is very much needed to apply a general control strategy to all types of injection
molding machines so that maintenance and innovations will be an easy task for
engineers. Different computer aided technology and designing software like
ROBOTMASTER (case study, ROBOTMASTER) is used for tool movement in 6
axes without using G code. Cox (Hadzistevic et al. 2010) is a new tool which has
opened a new direction of numerical simulation of injection molding and mold
design in plastic industry. Researchers are finding new way to resolve the problems
in CAD-CAM modeling (Bohatier et al. 1988). Cheng et al. (2002) have used the
java technology for the automation technique. But it requires sophisticated pro-
gramming technology as well as highly advanced processor to implement. People
are very much concerned about the kind of automation tool or technique being used
for getting better performance criteria. Frank et al. (2014) have used model-driven
engineering (MDE) of Manufacturing Automation Software Projects (MASP). But
complexity in this technique is higher and implementation is getting tougher. Also
it is much more oriented to proprietary hardware components. Becker et al. (2013),
have used software tool for cooling in automation injection molding machine as it is
one of the main criteria in designing. Network based distributed control is also used
for injection molding machine (Abraham and Muthamizhselvi 2013). Also there is
a disadvantage of in terms of its speed of communication and no of devices con-
nected through it. Flex Ray based network (Komathi et al. 2014) is used to control a
series of injection molding machine through a PC based controller. To maintain the
productivity and quality of the output, operator has to stand beside the machine. So
this kind of network based control will make those systems a standalone system and
product quality will be much better. Ahmed 2007 have discussed hydroelectric
model of injection molding machine. Developed CAD model and a small prototype
are shown below in Fig. 1.

2 Embedded System

People generally use standard techniques for controlling injection molding machine
such as G code and M code or part programming where operator should also be a
technical person for prominent control. The rate of production and the production
quality solely depend on the performance criteria of the operator. Here in the
machine, the controlling portion is very much simplified by adding some extra
features to the system. In the generalized standard machine, nothing is predefined
Design and Development of a Low Cost … 3

Fig. 1 CAD model and prototype developed at our workshop

like the path of the tool or hydraulic drive, screw or speed of those as well as the
time of molding. So operator has put the command through keypad for defining
those phenomena’s to run the system. But here that complicacy has been removed.
Basically some of the criteria which are quite unchangeable for a system are hereby
fixed to avoid extra hurdles regarding the control action. As a result, it will become
a cost effective and user-friendly system.
(i) Generally the speed of a particular hydraulic or AC motor is limited to a
certain range. In the other way, the speed of the hydraulic drive for running the
piston as well as the screw can be fixed up to a certain limit.
(ii) The length between the starting position and the mold position from both ends
can be fixed for a particular system. That means the time needs to travel for
piston as well as the screw to travel from its starting position to the mold
position can be fixed.
There are few things only depend upon the production rate and production
quality of the machine
(i) The stop time in the molding position is changeable. It depends upon the raw
material as well as the quality of the final product.
(ii) The production rate is also one of the main criteria for a particular injection
molding machine. It depends upon the size of the mold and the no of runs. The
size of mold is totally depends upon the mold maker and the people using
them for their production. If the user makes the mold having a huge no of
slots, therefore production rate is also higher after each shot. Also the machine
can be controlled by entering value through keypad before initialization.
Ultimately if predefined phenomena can be fixed, the no of shots per minute or
production rate can be determined. User can easily enter molding time as well as the
no strokes to run the machine through the keypad. User can easily get the help from
manual which defines required time for each material and its quality. This will make
the machine operated as per the required no of times.
4 S.K. Manna et al.

Power supply 5 V
4*4 Keypad for
DC & 12 V DC
manual control

Controller Comparator Proximity

circuit circuit sensor

GUI for PC
based Input/
Output port

3*8 Decoder Power supply 5 V

DC & 12 V DC

Solid state 12V

DC relay

High current
driven contactor

Bidirectional
solenoid

Actuator-AC motor/
hydraulic motor

Final
control

Fig. 2 Block diagram of the controlling circuit

Here a two way control has been used for the control of the system. The machine
can be controlled by software module as well as hardware. In manual control, there
is a keypad through which all the functions can be operated because any kinds of
commands can be transmitted to the system. Also a GUI is there through which the
same function can be transmitted from PC. A feedback loop is there for monitoring
whether it is following the particular path or not. Proximity sensor is used at the end
position to detect the end position as well as to continue the motion for the required
no of times.
Though the feedback sensor is sensing the instantaneous position all the time, it
also has some safety scheme to avoid accidents. If any actuator moves beyond the
particular range of motion, the end limit switch automatically activate and cut down
power supply. Also there is a mechanical barrier at the end of every joint end so that
actuator cannot move further. Block diagram f the whole circuit is shown in Fig. 2.
Design and Development of a Low Cost … 5

3 Interfacing of Driver Circuit with Microcontroller

for PC Based Control

As per design, a Graphical User Interface (Fig. 3) is used to send particular com-
mand related to a particular motion control which totally depends upon the material,
thickness of the product, product quality and the no of strokes. First of all, signals
and inputs come to the PC through Controller. PC activates those relays which are
required for that particular motion. It sends the command bits in a package through
serial communication. When it receives the command bit serially from PC, it
activates those particular port pins of the controller.
The interfacing circuit between microcontroller and other components is shown
in Fig. 4. Eight SPDT relays are interfaced with I/O ports of the microcontroller
followed by a driver transistor. Driving current from microcontroller port is not
high enough to make the relay on. Therefore to supply high current, power tran-
sistor is needed for amplifying the signal. Those relays are used to operate
hydroelectric motor or any electromagnetic contact. Command will be sent to the
microcontroller pin to activate relay. A diode is used in the circuit to prevent back
EMF from damaging driving transistor when the relay releases. A LED will indicate
on stage of relay (Fig. 4).
In GUI portal, first of all, user has to configure serial communication.
Actually USB communication is very much complicated and difficult to implement
in case of sending commands for a PC based automation technique. So there is
another easy way to convert any command from USB to RS232 protocol though
readymade software. Basically any command can be easily sent through serial
communication only by converting it into ASCII code. There is an IC MAX232 at

Fig. 3 GUI for PC based control

6 S.K. Manna et al.

Fig. 4 Schematic diagram of controlling circuit

the receiving end for receiving command. As shown in the figure, one dedicated
7805 is connected to microcontroller for 5 V DC power supply. A serial IC
MAX232 is connected to the microcontroller to convert the RS232’s signals to TTL
Design and Development of a Low Cost … 7

voltage levels that will be compatible to 8051’s Txd and Rxd pins. In RS232
communication, logic 1 is represented by −3 to −25 V, while a logic 0 bit is
+3 to + 25 V, making −3 to +3 undefined. In serial communication the packet data
always in ASCII character. In the command frame, the original data is surrounded
by a single start bit, whereas the stop bit will includes one or two bits. The start bit
is always a 0 (low) and the stop bit(s) is 1 (high). It receives those ASCII code via
serially. First of all, COM port will be selected as well as baud rate for setting up
serial communication. COM port is being selected from device manager. Actually
microcontroller can communicate with several other devices via several standard
speeds. Generally it is in the multiplication factor of 4800 bps. Internally it can be
decided by setting up a few register of the controller in software mode. Also we
need to see whether microcontroller is compatible with the particular speed. When
microcontroller receives particular command from PC, it activates particular port
pins. Those port pins are being connected to solid-state relay for driving the output.
Actually before sending activation signal to relay, first of all it should be amplified
from +5 to +12 V by using the NPN transistor. Microcontroller has the logical
output logic 1 or 0 which is equivalent to +5 or 0 V DC level. Therefore for driving
the relay circuit, it should be amplified first. Here total 8 no of relays are being
operated through microcontroller using 3:8 decoder. Using decoder, all the relays
can be easily controlled using less no of port pins of microcontroller. The line
current of 12 V DC solid-state relays is around 7.5 a, 240 V AC. But when system
is running at full automatic condition, it will consume a huge current near to 15 A
which may create a loading effect on the internal circuit. Therefore optocoupler is
required create an isolation between input and output circuit. This is not also
sufficient to reduce the loading effect especially when 2 HP AC motor is used to
drive the hydraulic cylinder or screw. Actually pressure is created for driving those
hydraulic cylinders is near about 10 N which create an extra load on the driving
relay. So sometimes it will trip down. The only solution is contactor which is also
another kind of electromagnetic relay having high current driving facility.
Contactor is used to supply coil voltage which is very small near about 12 or 24 V
DC. Line voltage near about 440 V AC with a current rating up to 1000 A can be
easily driven at the output. Ultimately final control element such as solenoid valve
or motor is connected to the contactor output for production (Fig. 5).

4 Manual Control

We generally use Keyboards and LCDs for manual control operation. First key
press and keyboard detection mechanisms have been discussed. At the lowest level,
keyboards are oriented in a matrix of rows and columns. We are able to access a
switch in the array of rows and columns by scanning port pins; therefore a keypad
containing 4 × 4 matrix of keys is connected to a 8 pin port of microcontroller.
8 S.K. Manna et al.

Selection mode
Yes No

Switch is pressed?

Manual Mode Software Mode

Connected to the keypad

Form open

Enter the no of strokes for production COM port

Baud rate selection

Enter the time
for molding Serial communication setup
movement
No
Serial
Time communication is ok?
selection for Yes
stop stroke
Proper material
selection
Combined to make the command frame
Proper thickness selection

Connected to the microcontroller port Enter the no of item for

production

Decision making Start Decision making? Stop

Fit the specific time sequence into the SBUF=start command to SBUF=stop command
specific function in the program microcontroller to microcontroller

Command received
Run the internal program according to the no at microcontroller
of items user has entered for production

Required action
performed

Production

Fig. 5 Flowchart about the total function operated in the machine

When a key is pressed, it will make a contact with a particular row and column.
Figure 4 shows the configuration of a 4 × 4 matrix connected to a single port. The
rows of the keypad matrix are connected to a port considered as the output one and
the columns are connected to another port considered as the input one. If no key has
been pressed, the input port will show 1 s for all columns after scanning because
they are all connected to high (Vcc). If all the rows are connected to ground and a
key is pressed, the pressed switch connected to the column will receive 0 since the
key pressed provides the path to ground. There is an infinite loop through which
Design and Development of a Low Cost … 9

microcontroller used to scan the keyboard continuously to detect and identify which
of the key in the keypad has been pressed. To detect a pressed key, microcontroller
connects all rows to ground by providing 0 to the output port and then it reads input
port through the columns. If the data read after scanning the columns is
D3 − DO = 1111, it indicates that no key has been pressed and the same process
continues until a key press is detected. If one of the column bits shows a zero after
scanning, this determines the occurrence of a key press. For an example, if we find
the column port D3 − DO = 1101, that means a key in the Dl column has been
pressed. Starting with the top row, the microcontroller will connect DO to ground
by providing a low to row DO only; then it reads the input port. If we get all 1 s in
the column port pins, it means no key is activated in that particular row and the
process is repeated to the next row. It generally grounds the next row until the last,
scans the input column port, and checks whether any zero is getting or not. This
iterative process continues thoroughly until the row of the press key is identified. To
determine if any key is pressed, the column port pins are scanned in an infinite loop
until one of them has got a 0 on it. After detection of a key press, the microcon-
troller needs to wait 20 ms for the bouncing period and then it scans those columns
again. Basically it mainly serves two important functions: first of all, it ensures
about genuine key press detection and the same function can be occurred due to a
spike noise, therefore the result can be erroneous one and (b) it prevents multiple
key press. If the key is still pressed after the 20 ms delay, it determines the row it
belongs to; otherwise, it goes back again into that infinite loop to detect a genuine
key press. After finding the row where the key press belongs to, it sets the starting
address of the look-up table that stores ASCII value of that scan codes for that row
and goes to the next stage to identify the key.
There is an infinite loop always running inside the microcontroller for uninter-
rupted production. Actually as per discussion before, there are two things need to
enter through the keypad. One is no of strokes and another is molding time. Those
values will be returned to the sub function of the main program. Each time main
function is running for the no of required times, those functions containing the time
sequence will be called and the machine will run accordingly. All the other func-
tions regarding relay and contactor are described in the PC based automation
technique. The only difference is that in PC based automation user doesn’t have to
go to the system. By controlling the PC, the user can control all the operations. In
manual control, user has to select few things therefore the machine will be running
automatically and give the production. Here also all kinds of precautions are being
taken care off for all safety features. Proximity sensor as well as limit switch is there
for notifying the end position to establish positioned based control as well as end
position. All the controlling actions are same for both PC based and manual control.
The flow chart of hybrid control is shown in Fig. 6.
10 S.K. Manna et al.

Fig. 6 Flow chart of hybrid

Command from microcontroller
control

Command will be sent to the

driver circuit

Driver circuit will send signal

to the relay

Relay will activate switch of the solenoid valve

according to the signal

Relay will activate proper

contactors

Heater will be on and maintain

at a required temp

Prison will move to the forward direction to

join two molding parts

No
Piston will touch the
proximity sensor1?
Yes

Motor will start and run according

to predefined time and stop

Screw will move forward to

push molded plastic

No
Screw will touch the
proximity sensor2?
Yes

Two molds will be joined to make the part

Prison will move to the backward direction

to come to staring position

Prison will move to the backward direction

to come to staring position

Production
Design and Development of a Low Cost … 11

5 Conclusion

The developed machine can be operated in fully automatic and semi-automatic

modes. NXP microcontroller is being used for automation and controlling move-
ment of each component starting from motor, solenoid valve, piston, screw and
mold. A GUI has been developed in Microsoft Visual Studio platform where all the
motions are being loaded in predefined manner. People can operate the machine
from the keypad as well as the application based interface through PC. Ultimately
the process of operation is getting easier because earlier different numeric codes are
needed to move any component. But here user has to put only the time sequences as
per given manual. As a result a non-technical person can easily handle those
machines. It will create a user-friendly and low cost operation.

6 Discussion

There are many advancements have been taken place in the field of embedded
system. A lot of products are being developed using microcontroller because of low
cost and high speed operation. Microcontroller is a very small device with enor-
mous facility. The automation of the whole machine is being implemented using the
same technology. The main aim of using this technology is not to implement high
accuracy or precision. If the PLC based automation technology is being replaced by
microcontroller, the automation cost will be reduced to a huge amount. Actually the
basic motivation of using this technology is to make the system affordable by small
scale and medium scale industry owner. The machine is under full working con-
dition. Using proper feedback sensor, the standard accuracy can be achieved. It is
being further improved to get it fit for batch commercial production.

References

Abraham, M., & Muthamizhselvi, M. (2013). Design and Implementation of can bus for
distributed injection molding machine based on arm controller. International Journal of
Computer Applications, 0975–8887.
Ahmed, S. F. (2007). A new approach in Industrial automation application “Embedded system
design for Injection Molding Machine”. In IEEE Multitopic Conference. Lahore, Pakistan.
Becker, J. M. J., Hansen, H. N., Houten, F., & Tosello, G. (2013). Performance evaluation of a
software engineering tool for automated design of cooling systems in injection molding.
Proceedings of Forty Sixth CIRP Conference on Manufacturing Systems, 7, 270–275.
Bohatier, C., Cagnasso, F., Dubois, B., & Thomas, M. C. (1988). Knowledge base of components
and connections for a CAD/CAM system. In 5th International Symposium on Robotics in
Construction. Tokyo, Japan.
12 S.K. Manna et al.

CAD/CAM based robot programming for milling & trimming by using robots in case study,
Robotmaster. http://www.robotmaster.com/assets/data/pdf/success/armatecSurvivabilityOtto
bockHealthcare.pdf.
Cheng, C. C., Lee, W. C., Liu, T. K., Tseng, Y. T., & Zhao, Y. J. (2002). Flexible process control
for injection molding machines using java technology. In American Control Conference.
Anchorage, AK.
Frank, T., Heuser, B. V., Legat, C., & Schütz, D. (2014). Model-driven engineering of
manufacturing automation software projects—A SysML-based approach. Mechatronics, 24,
883–897.
Hadzistevic, M., Hodolic, J., Matin, I., Tadic, B., & Vukelic, D. (2010). Development of
CAD/CAE system for mold design. Journal of Production Engineering, 13(1).
Komathi, C., Saranya, M., Saranya, R., & Sreenidhi, R. (2014). Flexray rooted distributed
intelligent governing of injection press. In 5th IRF International Conference, Chennai, India.
Another random document with
no related content on Scribd:
class of the Jews of Warsaw. While the masses of the nation, cut-off
from all but commercial intercourse with their Christian neighbours,
live huddled together in separate quarters, fed on the traditions of
the past, and observing, in dress, diet and deportment, the
ordinances of the Talmud in all their ancient strictness, a small
minority of their cultured brethren has overstepped the narrow limits
of orthodox Judaism and identified itself in all things, save creed,
with the Poles, whose national aspirations it shares and with whom it
does not even shrink from intermarrying occasionally. But this
reconciliation is confined to that infinitesimal class which, thanks to
its wealth, is free from persecution, and in temperament, sentiment,
and ideas belongs to the most advanced section of Occidental Jews
rather than to the Jewry of Eastern Europe. Besides, it is a
reconciliation strenuously opposed by the Russian authorities which,
while inciting the Poles against the Jews, encourage the Jews to
cling to their exclusiveness and to resist all Polish national
aspirations as alien to them.
Yet, in spite of all disabilities, and as though in quiet mockery of
them, the Russian Jews contrive not only to exist, but, in some
degree, to prosper. Their skill, their sobriety, their industry, their
indomitable patience, their reciprocity, and their cunning—all
fostered by the persecution of centuries—enable them to hold their
own in the struggle, and to evade many of the regulations which are
intended to bring about their extinction. They often obtain a tacit
permission to live in various trading places beyond the “pale,” and in
many villages in which they have no legal right of residence.
Vocations forbidden by law are pursued by the connivance of corrupt
officials, and the despised outcasts frequently succeed in amassing
large fortunes as merchants or contractors, by the practice of
medicine, or at the Bar, or in earning a respectable livelihood as
professors and authors, and even as Government servants!
Even culture is not allowed to die out. National enthusiasm,
fomented by persecution, and denied political self-expression, finds
an outlet in literature. In spite of the State, the Church, and the
Synagogue, the darkness of the Russian ghetto is illumined by gifted
writers in prose and verse, like Perez, Abramovitch, Spektor,
Goldfaden, and others, who have invested the debased Yiddish
jargon of the Russian Jew with the dignity of their own genius, and
have produced a literature popular in form as well as in sentiment—a
literature which reflects with wonderful vividness and fidelity the
humour and the sadness of Russian life, and under a different guise
carries on Mendelssohn’s educational mission. In addition to these
original works, there is a vast activity in every department of foreign
literature and science, including translations from many European
languages, and a vigorous periodical press which disseminates the
products of Western thought among the masses of the ghetto. So
that the Russian Jew has access, through his own Yiddish, not only
to works of native creation, but also to the most popular of foreign
books, great and otherwise: from Goethe’s Faust and Shakespeare’s
Hamlet to Sir A. Conan Doyle’s Adventures of Sherlock Holmes.
Side by side with these efforts to foster the Yiddish element
proceeds a movement on behalf of the Hebrew element, while the
upper classes of Polish Jews are actively promoting Polish culture
among their poorer Yiddish-speaking brethren. All these movements,
whether conducted on parallel or on mutually antagonistic lines,
supply sure evidence of one thing—the vitality of the Russian Jewry.
This success, however, while affording consolation to the
sufferers, fans the aversion of the persecutors and spurs the
Government to a periodical renewal of the measures of coercion. It is
acknowledged that, under fair conditions, the Russian Jew, owing to
his superior intelligence, versatility, perseverance, and temperance,
would in a few years beat the Russian Christian in every field of
activity. Hence it is the Russian Christian’s interest and resolve to
crush him. This resolve is cynically avowed by Russians of the
highest rank. The late M. De Plehve, Minister of the Interior, in an
audience granted to a deputation of Jews in April, 1904, confessed
with amazing candour that the barbarous treatment of their race was
dictated by no other reason than its superiority over the Russian.
“You are a superior race,” said the Minister. “Therefore, if free
entrance to the High Schools were to be accorded to you, you would
attain, although through worthy and honest means, too much power.
It is not just that the minority should overrule the majority.” He then
proceeded to inform his hearers that he held the Jews responsible
for the revolutionary agitation in the Empire and for the murders of
Imperial functionaries, concluding with a warning and a threat, and
dismissing them with the assurance, “You need not count on
178
obtaining equal rights with the Christian population.”
The eternal feud found another tragic and characteristic
expression on a large scale in the spring of 1903. It was Easter Day.
The good Christian folk of Kishineff, the capital city of Bessarabia,
had been to church where they had heard the glad tidings of their
Lord’s resurrection, had joined in the hymn of triumph, and then had
greeted one another with the kiss of brotherly love and the
salutation, “Christ is risen!” “He is risen, indeed!” Directly after, they
fell upon their fellow-citizens—whose ancestors crucified Christ
nineteen hundred years ago. The Jewish colony was sacked, many
Jews were slaughtered without distinction of sex or age, and their
dwellings, as well as their shops, were looted. Soldiers were seen
helping the rioters in the work of destruction and carrying off their
share of the spoils.
Like its predecessors, this outrage excited profound indignation
in many parts of the civilised world. Protests were raised in France,
in the United States of America, and in Australia. At Melbourne there
was held a crowded meeting, presided over by the Lord Mayor, and
the Anglican Bishop of the city moved a resolution, which was
unanimously carried, expressing “the meeting’s abhorrence of the
merciless outrages committed upon the Kishineff Jews, including
helpless women and children,” and the hope “that the Russian
Government would take effectual measures to prevent the repetition
of crimes which were a stain on humanity at large.” The Catholic
Archbishop of Melbourne moved that the resolution be transmitted to
the Lord Mayor of London. Similar resolutions were adopted at
179
meetings held in Sydney. In London mass meetings were held at
Mile-end and Hyde Park, where thousands of Jews with their women
and children assembled to record their horror at the massacre of
their Russian brethren, in their various tongues—Russian, German,
Yiddish, French, Italian, and English. All the speakers agreed in
tracing the outrages to the instigation or the encouragement of the
Russian Government. The second meeting embodied its sentiments
in the following terms:
“The meeting expresses: (1) Its deep sympathy with all the
sufferers from the riots at Kishineff, and its condolence with the
relatives of the victims. (2) Its admiration for all those who, without
distinction of nationality or creed, risked their lives in defending the
helpless Jewish population. (3) Its indignation at, and abhorrence of,
the conduct of the Russian Government, which, in order to intimidate
the revolutionary forces of the people, failed to take steps to prevent
the cowardly massacre of innocent men, women, and children. (4) Its
belief that only the development of a powerful working-class
movement in Russia can prevent the repetition of similar atrocities.
This meeting also sends fraternal encouragement to all who are
working for the overthrow of the present régime and the advent of
180
Socialism in Russia.”
The conviction that the massacre was due to the direct
inspiration of the Russian Government was shared by others than
the Jews. Dr. Barth, the German Radical Leader, published in Die
Nation, a Berlin weekly journal, an unsigned paper, stated to be from
the pen of a Russian occupying a high position, in which the writer
says:
“M. Plehve, Minister of the Interior, is directly responsible for the
Kishineff massacre. He is a patron of M. Kruschevan, the editor of
the anti-Semite paper Bessarabets, and has even granted him a
subsidy of 25,000 roubles to conduct a second anti-Semite organ at
St. Petersburg called the Znamya. M. Plehve desired to increase the
subsidy, but M. Witte, the Minister of Finances, intervened. M.
Kruschevan then, thanks to M. Plehve’s patronage, was enabled to
draw money from the National Bank without security.”
After asserting that General von Raaben, the Governor of
Bessarabia, did nothing to avert or stop the rioting, while M.
Ostragoff, the Vice-Governor, was actually at the same time a
contributor to the Bessarabets, and also the censor, the writer
proceeds: “M. Plehve desires to divert Christians from their own
grievances, so he conducts a campaign of Jew-baiting. The Czar
was indignant when he heard of the massacre. He wished to send
an aide-de-camp to report on the matter, but M. Plehve managed to
dissuade his Majesty, and sent instead M. Kopuchin, one of his
creatures, who drew up a mild report, which M. Plehve further
doctored before submitting to the Czar.”
Summing up, the writer says; “The Kishineff massacre has
nothing to do with revolutionary tendencies. It is simply the result of
systematic Jew-baiting, organised by M. Plehve, whose position is
still unshaken, and who holds the Czar under his thumb by working
upon his feelings and persuading him that the country is
honeycombed with revolution and anarchy. No change is possible
until M. Plehve has ceased to have the ear of the Czar. Further anti-
181
Semitic disturbances are probable.”
An American diplomatist endorses the statement that M. De
182
Plehve was really responsible for the massacre, while a Russian
Prince affirms that the instigators of the massacre, such as the
Moldavian Kruschevan, editor of the Bessarabets, “were under the
183
personal protection of the Minister.”
Despite the efforts of the Russian Government to represent the
brutal outrage as due solely to a spontaneous explosion of popular
184
fury arising from “national, religious, and economic hatred,”
certain facts which came to light during the mock trial, held towards
the end of that year in the very scene of the massacre, seem to
prove that, though such hatred did exist, the spark which set the
mine on fire was not of popular origin. The passions of the people
had been carefully inflamed by a pamphlet entitled Who is to blame?
—the work of an anti-Semitic agitator of the name of Pronin, who
was in relations with the proprietor of the Novoe Vremya, the
eloquent exponent of Panslavism. But that was not all. Though
special envoys of the Ministry of Justice and the Ministry of the
Interior kept a watchful eye on the course of the proceedings; though
the Court exerted itself to prevent the production of undesirable
evidence; and though, in true mediaeval fashion, an attempt was
made to lay the blame for the crime on the shoulders of the victims—
by stories of a Jew’s assault on a Christian woman, of the
desecration of churches and the murder of priests—yet the evidence
given, even under such conditions, without absolving the populace,
tends to establish the deliberate connivance, not to say the
complicity, of the Government.
A Christian ex-mayor of the city and another respectable citizen
of Kishineff both declared that, in their opinion, the contemptuous
and intolerant attitude of the Christian population towards the Jews is
due to the special legislation to which the latter are subjected. The
ex-mayor further stated that throughout the riots the police and
military authorities refused to intervene on behalf of the victims. The
administrator of the properties of the monasteries in Bessarabia and
two other witnesses deposed that they had repeatedly appealed to
the police to protect the Jews, but in vain. A Jew, whose son had
been butchered before his eyes, testified that he had fallen at the
feet of a police officer and, leading him to the spot where the bodies
of his son and another man were lying in pools of blood, had
besought him, with tears in his eyes, to shield the survivors. The
officer did not raise a finger in their defence. Several policemen also
confessed that, on asking for orders from their superiors, the answer
they had received was, “Let the Jews help themselves; we cannot
help them.” General Beckmann deposed that at the commencement
of the riots he had at his disposal a force amply sufficient to quell the
disturbance, but he received no orders to act. “It was only,” he said,
“when the Governor grew alarmed for the safety of the Christian
185
population that he took measures to allay the fury of the mob.”
The myth of Jewish provocation was also disposed of by a police
officer, who stated that, when the outbreak occurred, there was not a
single Jew in the square in which the outrage was alleged to have
taken place. To conclude, “evidence was given by physicians and
others as to the mutilation of the bodies of murdered Jews, and two
priests of the Orthodox Church testified that the report that the Jews
had desecrated a church and murdered a priest was absolutely
186
without foundation.”
 And the punishment for this wholesale assassination of a
harmless and defenceless population?
Two men, convicted of murder, were sentenced to seven and
five years’ penal servitude respectively.
Twenty-two others to periods of imprisonment, ranging from one
to two years, and one to six months.
Forty-eight civil actions for damages that were brought against
187
the accused were all dismissed.
Even Richard the Crusader did better in 1189.
One luminous spot in the gloomy picture is the action of the
Eastern Church. Not only did the priests and monks of Bessarabia
exculpate the Jews from all provocation of the massacre, but even
Father John of Kronstadt publicly condemned the dastardly crime of
his co-religionists.
The only genuine result of the trial and of the revelations made in
its course was to intensify the wrath of the fanatical Russian and
Moldavian populace, both of the town and of the open country, who
threatened reprisals for the punishment of a few of their brother-
butchers. The fear of such reprisals forced many thousands of the
poorer Jews of Bessarabia to migrate into the districts of Russian
and Austrian Poland, which were already congested to a terrible
degree, while those who possessed the necessary means
determined to emigrate from the Czar’s dominions and seek a home
in the West. While the trial was still proceeding, a deputation of
Bessarabian Jews arrived in the city. Their object was to confer with
the heads of the Jewish community, on behalf of their co-religionists
in various rural districts of Bessarabia, with a view to leaving the
country which had declared in so sanguinary a manner its
unwillingness to harbour them. It was proposed that a number of
Jewish families should emigrate to the Argentine Republic and join
their brethren, already settled in that and other parts of America by
Baron Hirsch at different times, especially after the exodus of 1892.
Four thousand souls, the delegates affirmed, were anxious to wind
188
up their affairs and quit the inhospitable country.
 Flight, under the apprehension of slaughter, is avowed to be one
of the objects which induced the Russian authorities to connive at
the massacre and to profess their inability to prevent its repetition:
“Russian policy at the present hour,” proudly declares an eminent
Russian anti-Semite, “seems to have one object in view—that of
starting a free emigration of the Jews from Russia. But the total
number of Jewish emigrants during the last twenty years was only
189
about a million.” Obviously, occasional slaughter alone is sadly
insufficient.
As in 1881 and 1891, so in 1903 the Czar’s ministers hastened
to supplement massacre by measures of administrative coercion.
They decided to forbid Jews, until the revision of the laws concerning
them has been accomplished by means of fresh legislation, to
acquire land or real estate, or to enjoy the usufruct thereof, either
within or without the Governments situated within the residential
“pale.” This decision of the Committee of Ministers was submitted to
the Czar and received his approval. Permission, however, was
granted to the Jews to settle and acquire real estate at places within
the “pale,” which in consequence of their industrial development
190
partake of the character of towns. A few months later, at the
moment when the Kishineff trial was drawing to a close, the
Governor-General at Warsaw issued peremptory instructions to all
the Assistant Governors in the Vistula Province, directing them to put
in rigorous force the Law of 1891, which prohibits Jews from
191
purchasing or leasing immoveable property in the rural districts.
This outburst of Jew-hatred was not confined to Bessarabia.
Soon after the Kishineff massacre reports reached this country of
further outrages being apprehended owing to the symptoms of anti-
Semitism manifested by the inhabitants of the western provinces of
the Empire. Nor were these forebodings falsified by events. In the
middle of September, 1903, Jew-baiting was once more indulged in
at Gomel, a town of Mohileff within the Jewish “pale.” A petty
squabble between a Jew and a Christian in the bazaar afforded an
excuse to the co-religionists of the latter to wreck the Jewish quarter.
Several persons were killed on both sides; but the only details
available are official, which in Russia is not a synonym for
192
authentic.
The charge most frequently brought against the Jews by the
Russian people is, as has been shown, their aversion from
productive labour, and their exclusive attachment to traffic in goods
and money. The Russian Government some years ago attempted to
remove the grievance by affording to the Jews facilities for the
pursuit of agriculture. In seven out of the fifteen provinces open to
the Jews, efforts were made to form Jewish agricultural settlements.
But they do not seem to have been attended by conspicuous
success. Towards the end of 1903 an inquiry instituted into the
matter elicited conflicting answers. Three of the seven reports, drawn
up by provincial Governors, are altogether discouraging. It is pointed
out that the Jewish peasant shirks the hard work of tilling the soil and
only helps to reap the produce. In one province, the official
document asserts, sixty per cent. of the Jews have already
abandoned the settlement and turned to the more congenial pursuits
of commerce and industry. Another report draws an unfavourable
comparison between the Jewish and the Christian farmer, and
repeats the opinion that the former takes little interest in the culture
of the soil, preferring less laborious occupations. All three reports
agree in showing that the experiment of making a husbandman of
the Hebrew is a complete failure. On the other hand, we find a fourth
Governor maintaining that in his province the only difference
between a Christian and a Jewish agriculturist consists in their
respective religions. A fifth, while admitting the Jew’s practical ill-
success, attributes it to the smallness of his farm, which forces him
to give up agriculture as profitless, and he adds that under
favourable conditions the results have been not disappointing. The
Governor of Kherson states that, though at first the Jews evinced
little inclination to turn to the land, upon the revision and
improvement of the original conditions, the settlements became
more popular; so that in 1898 seventy-three per cent. of the Jewish
population were exclusively devoted to agriculture, nineteen per
cent. varied the monotony of farming by the combination of trade,
while only eight per cent. were engaged entirely in commerce or
industry. This authority expresses the conviction that, as time goes
on, the Jew will develop into a successful agriculturist, provided he is
193
allowed to compete on fair terms with the Christian farmers.
An impartial examination of these contradictory opinions seems
to lead to the conclusion that the Jew, by nature and the education of
two thousand years, is too good a tradesman to make a good
husbandman. He is too keen-witted, too enterprising, too ambitious
to find adequate satisfaction in the slow and solitary culture of the
soil. In this respect the modern Jew is like the modern Greek. The
drudgery of field work repels him. The tedium of country life
depresses him. “No profit goes where no pleasure is ta’en.” It is in
the bustle of the market-place, where man meets man, where wit is
pitted against wit, and the intellect is sharpened on the whetstone of
competition, that his restless soul finds its highest gratification and
most congenial employment. He is a born townsman and a born
traveller. He has none of the stolid endurance of the earth-born.
Although he can excel in most pursuits, there is apparently one thing
beyond the reach of his versatility. He cannot dig.
The Russian peasant under normal conditions is the reverse of
all this: indolent, intemperate, improvident, unintelligent, and
unambitious, he lives entirely in the present, unhaunted by regrets of
the past, unharassed by plans for the future, and blissfully unaware
of the existence of any world beyond the world which his eye can
see—a very type of the earth-born, such as England knew him in the
glorious days of Chivalry and Wat Tyler. To such a race even less
formidable and foreign a competitor than the unbelieving Jew would
appear a monster of iniquity. And yet, there is abundant evidence to
prove that it is not the Russian peasant’s instinctive antipathy which
is primarily responsible for the sufferings of the Jew. The Russian
Jew, owing to his difference from the Russian Christian in race,
religion, temperament and mode of living, is by the latter regarded
with contempt and prejudice. These feelings, however, are not the
only causes of persecution. Formerly, as we have seen, the Jews
were reproached with excessive addiction to trade in liquor, whereby,
it was alleged, they ruined the peasantry in health, purse and morals.
This charge, whatever its value may have once been, can no longer
be brought against the Jews; for the Russian Government, since it
established a monopoly of spirits, has become the exclusive public-
house keeper in the Empire. The charge of usury still remains. But it
can easily be proved that in many districts the usurer is the powerful
Russian landlord and not the Jew. As a distinguished Russian
Liberal has appositely remarked, “the usurer must needs be a
wealthy person—a poor devil like the Jewish colonist settled amidst
the ‘Little Russian’ peasantry may possibly long for credit; he
194
certainly is not in a position to give it.”
According to the same authority, in “Little Russia” most of the
Jewish villagers are either shop-keepers and retail dealers, or
cobblers, tailors, smiths and the like. They form the commercial and
industrial element in the rural population, and their expulsion means
economic distress to the Russian husbandman, who, therefore, if left
to himself, is not unwilling to forgive the Jew the Old Crime, and to
forget his own prejudice against the foreigner and the follower of an
abhorred creed. But he is not left to himself. The peasant’s latent
antipathy is stirred to violence by the Nationalist agitators and
Government officials, who collaborate in endeavouring to stifle the
alien and revolutionary Jew through the brutality of the lower
classes; assisted by the artisans and mechanics who by the
persecution of the foreigner and the infidel seek the extinction of a
successful competitor. All the outbreaks of anti-Jewish hatred, from
1881 to this day, were organised by the police authorities in
accordance with a well-matured plan known as pogrom. The
procedure consists in deliberately inciting by word of mouth and
printed proclamations the dregs of society against the classes or
sects of the community obnoxious to the Government, and then,
when the work is done, suppressing the riot by the barbarous
methods which are so typical of Russian administration. The same
process is applied for the mutual extermination of others than the
Jews. It is a process based on the maxim divide et impera—the last
195
resource of an incompetent ruler.
1904–05 The disasters which befell the Russian arms in the
Far East, the discontent which they created at home,
and the danger of a revolutionary upheaval of all the oppressed
elements of the Empire induced the Czar’s Government to
reconsider its attitude towards the suffering subjects of the Czar. The
Austrian journal Pester Lloyd ventured to give some good advice to
that effect: “During the Napoleonic Wars the rulers captivated their
subjects by promising them liberty and constitutions. Whoever
wishes well to Russia must advise her to imitate the example.” In
accordance with that policy of tardy conciliation which circumstances
dictated, some Russian Liberals who had been banished for their
championship of the interests of the people were permitted to return
from exile, new Governors-General were appointed to Finland and
Poland, with instructions to pursue a more lenient policy than their
predecessors, a decree was issued ordering the Finnish Parliament
to assemble, its property was restored to the Armenian Church, and
other steps were taken showing that there was at least a desire to
diminish the sources of general discontent by conceding to necessity
what had hitherto been denied to justice.
The Jews, naturally enough, could not be forgotten. Besides the
danger which, in common with the other distressed and disaffected
subjects, they constitute to the Russian State, there were less
negative reasons for their propitiation. The Russian Government was
anxious to replenish the Treasury, emptied by the unfortunate war.
The Jewish financiers of the West constitute a great power, and that
power is known to entertain a deep and abiding hostility towards
Russia. Jewish capitalists the world over are actuated by a strong
desire to avenge the wrongs of their co-religionists, and they have
the means of gratifying that desire. Once more the Jew’s wealth has
proved potent enough to blunt the edge of prejudice. The Czar’s
Ministers endeavoured to pacify the Jewish financiers by making a
few trivial concessions to their persecuted brethren. M. De Plehve in
May 1904, acting in direct contradiction to the views expressed in
April, submitted to the Council of the Empire a Bill for repealing the
law under which Jews were forbidden to reside within fifty versts of
the Western frontier. It is true that the imputation that the Bill was
dictated by a Jewish banker as an indispensable condition for a loan
was strongly resented and repudiated in official circles. The
Russians, in proof of the spontaneous nature of the proposal,
declared that the Minister had, long before the necessity for loans
arose, been striving towards a relaxation of Jewish disabilities. This
statement has been partially corroborated by a distinguished Jewish
gentleman, who also affirms from personal knowledge that M. De
Plehve had for some time past endeavoured to alleviate the lot of the
Russian Jews by granting to them every liberty—save
196
emancipation. It was added that the process had naturally been
gradual, owing to Russian social conditions, that as early as May
1903 the Council of the Empire had passed a Bill of M. De Plehve’s
permitting the Jews to reside in 103 new places, and that 65 more
had been added in the autumn. At the same time a Commission had
been appointed to examine the laws relating to the Jews, especially
those engaged in productive labour. These statements may, of
course, be literally correct. But, until M. De Plehve’s utterances of
the previous April be proved to be a forgery, it is permissible to doubt
their accuracy in so far as the Minister’s good-will towards the Jews
is concerned.
M. De Plehve was in the State what M. Pobiedonostseff was in
the Church. The Minister of the Interior, like the Imperial Procurator
of the Holy Synod, represented and led for the last two decades or
more the party of reaction. By their Panslavist followers these two
men were described as the two pillars of the patriotic edifice of
Russian national life, which is raised on the ruins of the other
nationalities. By their opponents they were denounced as the two
ministering demons of Despotism and Dogmatism under their most
repulsive aspects. It was, therefore, with no surprise that the civilised
world heard on July 28, 1904, that M. De Plehve’s name had been
entered on the roll of Russian victims to that ruthless spirit of
revenge, whose cult their own ruthlessness helps to promote. He
died unlamented, as he had lived unloved; for a tyrant has no
friends. But that he was, as an individual, the incarnate fiend that his
enemies depicted, is a theory improbable in itself, and disproved by
those who came into contact with him. At the very worst he may
have been an ambitious man who, by pursuing the course which he
did, “sought to win the favour of the reactionary faction which at
present controls the Czar, and thus to fight his way towards the
 197
highest power.” But a less severe estimate would, perhaps, be
nearer the true one. M. De Plehve was the champion of an ideal. He
honestly believed that in autocracy lay Russia’s salvation. Though
surrounded by dangers, and warned by the fate of his former master
Alexander II., of his predecessor Sipyaghin, of his instrument in the
oppression of Finland Bobrikoff, and of many of his colleagues and
subordinates, he unflinchingly persevered in the path which he had
marked out for himself. A man who imperils his own life in the pursuit
of a certain object is not the man to treat with tenderness those who
strive to thwart him. M. De Plehve’s object was to silence opposition
to the principles of autocracy. He pursued that object with the
unswerving firmness of a strong man, and crushed the obstacles
with the relentless conscientiousness of one who is absolutely
convinced of the righteousness of his cause. To such a man political
virtue means thoroughness combined with an utter lack of scruple
and a total disregard of all moral restraint in the service of the State
and the pursuit of its welfare. He was engaged in a game the stakes
of which were greatness or death. He lost it.
But though the dispassionate student can have nothing but pity
for a brave man perishing in the performance of what he deemed to
be his duty, he can also sympathise with those who hailed their arch-
enemy’s death with savage delight. They saw in M. De Plehve, not a
tragic character drawing upon himself the vengeance of an
inexorable Atê, but only the merciless Minister, the oppressor of
those who differed from him in their political ideals, the executioner
of men whose sole crime was their loyalty to the faith of their fathers
and the traditions of their race. As the lawyer Korobchevsky said
before the Court, in defence of the assassin: “The bomb which killed
the late Minister of the Interior was filled, not with dynamite, but with
the burning tears of the mothers, sisters, wives, and daughters of the
men whom he sent to the gallows, or to die slowly in prison or in
Siberia.”
Among the sufferers from M. De Plehve’s policy none had
greater reasons to hate him than the Jews. He regarded them, not
without cause, as the most energetic opponents to his autocratic
schemes, and his antipathy towards them on that account was
enhanced by his just appreciation of their abilities. Hence the
exceptional rigour in his treatment of them. M. De Plehve used to
refer to the revolutionary activity of the Jewish youth as a justification
for his own measures of coercion. That the Jews should be ready to
join, or even lead, in every attempt to overthrow the social and
political system under which they suffer so grievously is only natural.
Equally natural it is that the man to whom that system was
everything should have tried to suppress them. The Kishineff
massacre, as we have seen, was universally attributed to M. De
Plehve, and when the news of his assassination went forth few
surpassed the Jews in their exultation. The Jewish daily paper
Forward, of New York, immediately organised a meeting under the
auspices of the United Russian Revolutionists. The demonstrators
filled one of the largest halls in New York to overflowing, and at every
mention of M. De Plehve’s assassin, Sazonoff, burst into delirious
applause. He was praised as the worthy son of a noble cause; his
victim was described as the captured Port Arthur of Russian
despotism, and the interference of the police alone checked the
198
enthusiasm.
But, even granting the spontaneity and the disinterestedness of
the concessions which the Russian Government declared itself
prepared to make to the Jews, they would have only affected a
limited number of them. M. De Plehve’s plan at best was to bring
about the conciliation of the race by the absorption of the better class
of them and by the half-hearted application of some palliatives to the
grievances of the poorer, such as the enlargement of the area within
199
which they are confined, and permission to emigrate. The
experiment in assimilation, of which the Baltic provinces, Poland and
Finland, supplied a sample, was not one that commended itself to
the Jews. But, even if it succeeded, the vast majority of the race
would continue in their normal state of slavery. The same remark
applies to a remedial scheme drafted and adopted a few weeks later
by a departmental conference presided over by M. De Witte. The
Financial Minister’s association with the step lent colour to the
suspicion that this newly-awakened benevolence towards the Jew
was not foreign to Russia’s anxiety to procure fresh supplies of
money by the assistance of Jewish bankers abroad. However that
may be, the measures taken do not seem to have produced any
marked effect on the condition of the Russian Jews. That relief which
the wretched people could not gain from the Czar’s compassion,
they failed to obtain even from his fears.
On Aug. 4, 1904, anti-Semitic disturbances broke out at
Ostrowez, in the Government of Radom, where, according to private
statements, twenty Jews were killed; according to the Russian
authorities, one was seriously wounded, and died the following day,
while twenty-two persons were slightly injured. The same official
account ascribes the disturbances to the fact that a Jewish boy
struck a Christian—the blow, it is said, was exaggerated to murder,
and the mob set out to revenge themselves on the Jews. At
Partscheff also, in the Government of Siedlce, on the following day, it
was said that hundreds of Jews perished. The official version of the
occurrence stated that “the police dispersed, without using force, a
crowd of Jews who had assembled to hide a baptized Jew. In a
200
scuffle that ensued twenty persons were wounded.” On
September 4 and 5 anti-Semitic riots occurred at Smela, in the
Province of Kieff. This is the official account: “A Jewish shopkeeper
struck a peasant woman whom he suspected of having stolen some
cloth. Immediately a crowd collected, and plundered and sacked one
hundred houses and one hundred and fifty shops belonging to Jews.
That evening a party of sixty Jews attacked and beat the Christian
inhabitants. When the Jews began to fire on the latter the police
were summoned, who made use of their revolvers, wounding two
persons. The next evening several hundred railway employés, in
spite of the prohibition of the officials, went by train to Smela from
the adjacent station of Bobrinskaia. The rioting was renewed, and
the troops were summoned. The soldiers made use of their
weapons, and five persons were seriously wounded, while a large
201
number were slightly injured. Many arrests were made.” In
reading these official statements one must constantly bear in mind
the Russian Government’s desire to minimise a misfortune or a
misdeed which they dare not deny. A few days later, on September
11, on the occasion of the Jewish New Year, another anti-Jewish
disturbance occurred at Sosnowice, a town on the Siberian frontier.
A number of boys threw stones at some Jews who were engaged in
their annual ceremony, slightly injuring a child. This gave rise to a
rumour that the Jews had killed a child. Numbers of workmen
marched through the streets in the evening, smashing the window-
panes of Jewish dwelling-houses and of the synagogue. Several
Jews were injured by stones or knives. Doctors were afraid to render
202
assistance to the injured, owing to the attitude of the mob.
Hardly a month had passed since the last-mentioned event,
when a new outrage occurred in Mohileff. The following is a
condensed description of the occurrence by a well-qualified observer
who supports his statements by references to numerous witnesses:
A political demonstration in the town of Mohileff took place exactly
one week before the anti-Jewish riots. In Russia it is a crime for even
four men to come together in a private room without the knowledge
and permission of the police, and it is, therefore, a heinous atrocity
for a crowd to gather in the streets for a political purpose. Yet that is
what happened on October 15 in Mohileff. The Jewish workmen of
the place assembled by way of protesting against the cruelty of the
police, who, without a word of warning, had shot down harmless and
unarmed Hebrew working women and men; and against the unjust
condemnation to twelve years’ penal servitude of their comrades in
Yakootsk; and they recorded their wish that the war should stop. A
few policemen advanced against the workmen and tried to disperse
them, but were themselves scattered by the crowd. Then an
overwhelming police force marched against the malcontents, but to
their disgust found nobody. At this the Prefect of the Police of
Mohileff determined that, during the mobilisation which was to take
place in a few days, from Tsukermann’s synagogue to the railway
station the Jews should be thrashed until not a stone remained on
the pavement.
On October 22 the mobilisation of the Reserves was
promulgated. According to law, the vodka-shops should have been
shut on this occasion, and the Jewish population had earnestly
petitioned the authorities to insist on that precaution against
disorders being observed. But the shops were opened. To the
Jewish Reserve soldiers, who had assembled by order of the military
authorities, the Police Prefect addressed the following remarkable
words in the presence of a great crowd: “You contemptible Jews!
You are all foreign democrats! You ought to kiss the hands and feet
of the Christians! You have been beaten too little as yet! You must be
thrashed again!”
“We may pitch into the Jews and loot their shops,” the fellows
said; “there will be no punishment. The police allow it; hurrah!” The
subsequent attitude of the police amply bore out this expectation. At
three p.m. a band of petty local traders, not reserves, who had been
steadily gathering since morning, and were now led by striplings,
swept across the city, crying, “Pitch into the Jews!” and belabouring
all passing Jews with cudgels and stones. That day, however, the
matter did not go beyond the assaulting of individuals and the
breaking of windows. But none the less several persons were
grievously wounded and disfigured in the presence of the police,
who looked on approving.
The next morning, Sunday, October 23, the panic-stricken Jews
sent a deputation to the Police Prefect to petition for help and to
have the dram-shops closed. The Prefect consulted the Governor,
and then told the petitioners that he had been authorised to use his
own judgment. This answer was construed as a promise that the
taverns would not be opened. But shortly before noon notices were
posted up in the streets, signed by the Police Prefect himself,
informing the public that the reports to the effect that on the day
before there had been disorders in the town, in the course of which
several persons had been grievously wounded, were misleading.
What had really happened was “an ordinary, insignificant street
brawl.” This meant that the deeds of violence already done were but
the flowers, and that the fruits were yet to come.
And they came a few minutes later. On the stroke of twelve all
the brandy shops were opened, and already at one o’clock the
sanguinary battle began. Everything had been organised
beforehand. In all there were about one hundred houses and twenty-
five shops plundered and gutted. A crowd of about 150 men did the
business: sacked the jewellers’ shops, looted the wares, broke the
windows and doors of private houses which were tenanted by Jews,
and maltreated the people. They chose the poorest quarters of the
city for the scene of their depredations, but they advanced to the
centre of the town as well. The unfortunate Jews implored the police
to intervene and save them, but these were the replies they
received: “Be off to your democrats! Let them help you.” “That will
teach you to beat the police.” “You have not been thrashed enough
yet; when your throats are being cut we shall see.”
The few Jews who dared to defend themselves were arrested
and beaten by the police, who refused to lay a finger upon the
hooligans. One witness says: “None of the rioters were arrested; but
the police said to them, ‘Lads, that’s enough. Now you can go to
another place.’”
Why, it may be asked, did the police behave so cruelly and, one
may add, so treacherously towards the Jews? The motives are well
known, for the Police Prefect himself avowed them. Among the
witnesses whom the writer produces in proof of that statement there
is one whose words are well worth noting:
“The Police Prefect sent for me on October 24, and said: ‘You
Jews are being beaten on three grounds. In the first place, you
sneak off to America, and our Russians have to spill their blood
instead of you. Secondly, you are not devoted to the autocracy, and
you cry, “Down with the autocracy!” And in the third place, you have
no liking for the police, and you beat the members of the force.’”
During the height and heat of the riots a deputation from the
Jewish community called upon the Governor, Klingenberg, and
respectfully petitioned him to shield the Jews from the rioters. And
the Czar’s highest representative made answer: “That sort of thing
happens everywhere. I cannot set a soldier to guard every Jew.” And
as for the police, the Governor publicly praised their exemplary
conduct, and a money gratification was given them! Yet the police
were morally bound to save the Jews. Doubly bound, indeed, for,
besides their duty to the Czar, they were bribed by the Jews to
protect them. Bribed to do their duty!
 The accusations made against the Jews, and made especially
for foreign consumption, are chiefly these: They sell vodka to the
reserve soldiers at exorbitant prices and thus incense these men,
who naturally avenge themselves by pillaging Jewish shops and
houses. They evade military service, and then Orthodox Russians
have to serve in lieu of the Jewish deserters. That, of course,
embitters the Christian recruits and explains their conduct. These
accusations are serious and would, of course, explain everything
except the conduct of the police—if they were true. But they are
false, and not false only, but impossible, as every Russian knows.
In the first place, it was not reserves who attacked the Jews, but
local loafers and hooligans. In the second place, the Jews could not
raise the price of alcohol, nor sell it at all, because it is the Imperial
Government which alone sells vodka, having a monopoly of it. In the
third place, the Christians have not to serve in the army in lieu of
Jews. The latter are bound to provide a certain number of reserves,
and for all of them who desert the Jewish community must find
members of the same faith. In like manner, Russians must take the
place of fugitive Russians, not of Jews.
Lastly, there remains the charge of desertion. Is it true? Yes,
quite true; but then it is true of Christians and Jews alike, for the war
was very unpopular. The interesting part of the story is that the
Christians shirked their duty far more extensively and successfully
than the Jews. That can be proved by figures, and the following data
are not likely to be challenged by anyone. Before the reserves were
called out at all the total of Jews in the Manchurian army was roughly
thirty thousand men. In all probability it exceeded that number, the
bulk of them serving in Siberian regiments. It is as well, however, to
state the case moderately. Now, since the mobilisation of the
reserves (in the districts where the Jewish element is largely
represented, such as Vilna, Odessa, Warsaw, Kieff), the active
Russian army had no less than fifty thousand soldiers of the Jewish
faith. And that is an enormous percentage. Indeed, so abnormally
great is that percentage of Jews that, if the other nationalities who
acknowledge the sway of the Czar, contributed a proportionate