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1、. 畢業(yè)設計外文文獻翻譯 畢業(yè)設計題目 基于PLC的物料分揀系統(tǒng)設計 翻譯題目 The Design of Material Choose System Based on PLC 專 業(yè) 機械設計制造及其自動化 姓 名 朱安樂 班 級 A0916 學 號 10913030604 指導教師 張曉 機械與材料工程學院 二O一二年十二月 譯文一： 關于可編程控制器技術與未來發(fā)展 隨著時代的發(fā)展,當今的技術也日趨完善、競爭愈演愈烈;單靠人工的操作已不能滿足于目前的制造業(yè)前景,也無法保證更高質量的要

2、求和高新技術企業(yè)的形象。 人們在生產(chǎn)實踐中看到,自動化給人們帶來了極大的便利和產(chǎn)品質量上的保證,同時也減輕了人員的勞動強度,減少了人員上的編制.在許多復雜的生產(chǎn)過程中難以實現(xiàn)的目標控制、整體優(yōu)化、最佳決策等,熟練的操作工、技術人員或專家、管理者卻能夠容易判斷和操作,可以獲得滿意的效果.人工智能的研究目標正是利用計算機來實現(xiàn)、模擬這些智能行為,通過人腦與計算機協(xié)調工作,以人機結合的模式,為解決十分復雜的問題尋找最佳的途徑。 我們在各種場合看到了繼電器連接的控制，那已經(jīng)是時代的過去，如今的繼電器只能作為低端的基層控制模塊或者簡單的設備中使用到；而PLC的出現(xiàn)也成為了劃時代的主題，通過極其穩(wěn)定的

3、硬件穿插靈活的軟件控制，使得自動化走向了新的高潮。 一個系統(tǒng)化的設計 PLC程序的方法可以克服傳統(tǒng)程序生產(chǎn)控制系統(tǒng)的缺點，并且在一些工業(yè)應用總有很大的不同。自動控制系統(tǒng)是狀態(tài)模型用公式語言或等價的語言描述的。公式描述對被控制的系統(tǒng)的行為提供一個精確的描述。可以通過分析估計看狀態(tài)模型是否達到想要的目標。第二，為狀態(tài)模型的描述提供結構描述，這個結構描述可以說明邏輯要求和如細節(jié)安全規(guī)則的限制。第三，好的控制系統(tǒng)設計是對自動控制代碼生成有益的——一種能夠產(chǎn)生可執(zhí)行的控制軟件的能力，不同的邏輯控制器可以減少程序掃描時間和執(zhí)行那個時間。特別的，這個主題與隨后的部分的是有關的。 在現(xiàn)代制造業(yè)中，系統(tǒng)是用

4、過程和結果的革新來描述的，并且因此不得不改變系統(tǒng)性能以快速做出反應。因此，一個大的挑戰(zhàn)是提供技術以限制自動控制系統(tǒng)對變化需要和新機會的反應，所以，設計和操作知識可以實時的被再次利用，在工業(yè)實踐中提供了一個重要的競爭面。 PLC的最大特點在于：電氣工程師已不再電氣的硬件上花費太多的心計，只要將按鈕開關或感應器的輸入點連接到PLC的輸入點上就能解決問題，通過輸出點連接接觸器或繼電器來控制大功率的啟動設備，而小功率的輸出設備直接連接就可以。 在很多場合，單靠單機的控制是無法保證設備的順暢運行，而通過設備與設備的信息交流達到我們想要的效果。比如在前包裝和后工序的檢測，我們就要將包裝的信息反饋到檢測

5、處，而檢測處的信息也要反饋到包裝來。這樣通過信息共享來使得兩者之間鏈接起來，形成一個共體，從而使的兩者間的配合更加的緊密，在彼此間達到映影相揮的效果。 PLC的數(shù)據(jù)傳送只是將內部的數(shù)據(jù)傳送到對方的一塊連續(xù)的地址中，我們把它稱為一個表，對方的PLC通過讀取表中的數(shù)據(jù)來進行操作。如果表中的數(shù)據(jù)是一個一般設置的數(shù)據(jù)的話，那只是一般的數(shù)據(jù)傳送，比如今天的油價上升了，我要把油價的價格傳送到所有的輸油機上，那就是數(shù)據(jù)的共享；而當表中的數(shù)據(jù)是一段控制PLC的指令程序，那就很有難度了，比如你要控制一臺機器人來按你想象的動作工作，你會給它編制一段程序并以數(shù)據(jù)的形式發(fā)送過去。 當你在看書的時候，你聽到有人敲門

6、、你停下手上的事情、去打開門、并同敲門者對話、這個時候電話響了、你示意接個電話、在接完電話后、回過頭來同敲門者繼續(xù)對話、對話完畢后、你再繼續(xù)看你的書，這種情況我們把它稱為中斷，它具有權威性，也具有優(yōu)先性，PLC具備了這樣的功能。它的特點在于我們在設備的操作過程中可能會遇到緊急的突發(fā)事件，我們要立刻的停下手上的工作，去處理更重要的事情，這種情況是我們經(jīng)常所遇到的，PLC在去執(zhí)行緊急的任務時，總會先保存目前的狀態(tài)，比如程序的地址，CPU的累加器數(shù)據(jù)等，就像我們去開門時要記下我們看的書在第幾頁了或者干脆作個記號，因為我們待會還要繼續(xù)接著看后面的書。CPU總是按照我們的意愿去做應該做的事情，但你錯誤的

7、給它一件事情，它也會同樣的去做，這一點我們必須注意。 通信對于個人自動單元是很重要的。在過去的幾年里，我們聽到許多關于生產(chǎn)自動化協(xié)議的事情，并且許多公司已經(jīng)加入大有成功希望的事業(yè)。然而，當一個完整的生產(chǎn)自動化協(xié)議說明書沒有及時出現(xiàn)時許多公司都很失望。Larry Kotare 說:“現(xiàn)在，生產(chǎn)自動化協(xié)議仍然是生產(chǎn)中一個發(fā)展的對象，一個說明書并不是最終的結果。例如，雖然當新的生產(chǎn)自動化協(xié)議 MAP3.0 版本使用之時以MAP2.1 版本為基礎的產(chǎn)品將會被汰，但是現(xiàn)在人們仍然將產(chǎn)品用于 MAP2.1版?！? 由于這些原因，許多 PLC廠家緊盯著MAP 的最新結果。如歐姆龍公司正在進行一個有關M

8、AP 兼容性的項目。但是歐姆龍生產(chǎn)部門總經(jīng)理 Frank Newborn說由于缺少一個固定的標準，歐姆龍的產(chǎn)品并不涉及到 MAP。 由于工業(yè)PLC無論何時不可能廣泛的涉及到 MAP，生產(chǎn)廠家正在考慮專用網(wǎng)絡。根據(jù)Sal Probanzano 說法，用戶擔心如果他們廣泛的應用生產(chǎn)廠家將會收回MAP，這樣將會留下一個不支持通信的交流框架。 英文原文一： PLC technique discussion and future development Along with the development of the ages, th

9、e technique that is nowadays is also gradually perfect, the competition plays more and more strong; the operation that list depends the artificial has already cant satisfied with the current manufacturing industry foreground, also cant guarantee the request of the higher quantity and high new the im

10、age of the technique business enterprise. The people see in produce practice, automate brought the tremendous convenience and the product quantities for people up of assurance, also eased the personnels labor strength, reduce the establishment on the personnel. The target control of the hard real

11、ization in many complicated production lines, whole and excellent turn, the best decision etc., well-trained operation work, technical personnel or expert, governor but can judge and operate easily, can acquire the satisfied result. The research target of the artificial intelligence makes use of the

12、 calculator exactly to carry out, imitate these intelligences behavior, moderating the work through persons brain and calculators, with the mode that persons machine combine, for resolve the very complicated problem to look for the best path. We come in sight of the control that links after the el

13、ectric appliances in various situation, that is already the that time generationpast, now of after use in the mold a perhaps simple equipments of grass-roots control that the electric appliances can do for the low level only; And the PLC emergence also became the epoch-making topic, adding the vivid

14、 software control through a very and stable hardware, making the automation head for the new high tide. A systematic approach to designing PLC software can overcome deficiencies in the traditional way of programming manufacturing control systems, and can have wide ramifications in several industria

15、l applications. Automation control systems are modeled by formal languages or, equivalently, by state machines. Formal representations provide a high-level description of the behavior of the system to be controlled. State machines can be analytically evaluated as to whether or not they meet the desi

16、red goals. Secondly, a state machine description provides a structured representation to convey the logical requirements and constraints such as detailed safety rules. Thirdly, well-defined control systems design outcomes are conducive to automatic code generation- An ability to produce control soft

17、ware executable on commercial distinctlogic controllers can reduce programming lead-time and labor cost. In particular, the thesis is relevant with respect to the following aspects. In modern manufacturing, systems are characterized by product andprocess innovation, become customer-driven and thu

18、s have to respond quickly to changing system requirements. A major challenge is therefore to provide enabling technologies that can economically reconfigure automation control systems in response to changing needs and new opportunities. Design and operational knowledge can be reused in real-time, th

19、erefore, giving a significant competitive edge in industrial practice. The PLC biggest characteristics lie in: The electrical engineering teacher already no longer electric hardware up too many calculations of cost, as long as order the importation that the button switch or the importation of the s

20、ensors order to link the PLC up can solve problem, pass to output to order the conjunction contact machine or control the start equipments of the big power after the electric appliances, but the exportation equipments direct conjunction of the small power can. At a lot of situations, the list

21、 is a smooth movement that cant guarantee the equipments by the control of the single machine, but pass the information exchanges of the equipments and equipments to attain the result that we want. For example fore pack and the examination of theempress work preface, we will arrive wrapping informat

22、ion feedback to examine the place, and examine the information of the place to also want the feedback to packing. Pass the information share thus to make both the chain connect, becoming a total body, the match of your that thus make is more close, at each other attain to reflect the result that mut

23、ually flick. The PLC data transmission is just to be called a form to it in a piece of and continuous address that the data of the inner part delivers the other party, we, the PLC of the other party passes to read data in the watch to carry on the operation. If the data that data in the watch is a

24、to establish generally, that is just the general data transmission, for example today of oil price rise, I want to deliver the price of the oil price to lose the oil ally on board, that is the share of the data; But take data in the watch for an instruction procedure that controls the PLC, that had

25、the difficulty very much, for example you have to control one pedestal robot to press the action work that you imagine, you will draw up for it the form that a procedure combine with the data sends out to pass by. When you are reading the book, you hear someone knock on door, you stop to start up

26、 of affair, open the door and combine to continue with the one who knock on door a dialogue, the telephone of this time rang, you signal hint to connect a telephone, after connecting the telephone through, return overdo come together knock on door to have a conversation, after dialogue complete, you

27、 continue again to see your book, this kind of circumstance we are called the interruption to it, it has the authority, also having sex of have the initiative, the PLC had such function .Its characteristics lie in us and may meet the urgently abrupt affairs in the operation process of the equipments

28、, we want to stop to start immediately up of work, the whereabouts manages the more important affair, this kind of circumstance is we usually meet of, PLC while carry out urgent mission, total will keep the current appearance first, for example the address of the procedure, CPU of tired add the mach

29、ine data etc., be like to stick down which the book that we see is when we open the door the page or simply make a mark, because we treat and would still need to continue immediately after book of see the behind. The CPU always does the affair that should do according to our will, but your mistake o

30、f give it an affair, it also would be same to do, this we must notice. Communications are vital to an individual automation cell and to the automated factory as a whole. Weve heard a lot about MAP in the last few years, and a lot of companies have jumped on the band wagon. Many,however were disappo

31、inted when a fully-defined and completed MAP specification didn’t appear immediately. Says Larry Kumara:” Right now, MAP is still a moving target for the manufacturers specification that is not final. Presently, for example, people are introducing products to meet the MAP 2.1standard.Yet 2.1-based

32、products will be obsolete when the new standard for MAP, 3.0is introduced. ”Because of this, many PLC vendors are holding off on full MAP implementations. Omron, for example, has an ongoing MAP-compatibility program, but Frank Newborn, vice president of Omron’s Industrial Division, reports that b

33、ecause of the lack of a firm definition, Omrons PLCs dont yet talk to MAP. Since it’s unlikely that an individual PLC would talk to broadband MAP anyway, makers are concentrating n proprietary networks. According to Sal Provanzano, users fear that if they do get on board and vendors withdraw from

34、MAP, they all pulse width modulation control system be the ones left holding a communications structure that’s not supported. 譯文二： 氣動運輸動力及PLC控制 PLC控制系統(tǒng)一般采取易于理解和掌握的梯形圖語言及面向工業(yè)控制的簡單指令,形象直觀，是基于現(xiàn)場總線技術、完全開放，采用先進的軟硬件技術。PLC 控制具有結構簡單靈活、抗干擾能力強、安全可靠、安裝便利、故障率低、維護簡單、大幅度節(jié)約使用成本的特點，能滿足各種中小規(guī)模過程控制、順序邏輯控制和數(shù)據(jù)采集任

35、務需求，已逐漸廣泛用于工業(yè)控制系統(tǒng)中，包括冶金、礦業(yè)、機械、輕工等領域，為工業(yè)自動化提供了有力的工具。 控制工程近期對用于編程過程和機械控制的邏輯設備進行了一項調查，雖然計算機和計算機技術已經(jīng)為各種控制提供了無限的控制可能，但是PLC仍然是其中重要的一部分。在這次調查中，超過半數(shù)的人在未來的12個月中將擴大其PLC的投入。超過40%的人在未來的投入不少于過去的12個月。PLC的應用范圍十分廣泛。在這次300個人參與的調查中，大部分的PLC都用于機械控制，過程控制緊隨其后，然后是運動控制、批量控制和診斷。大多數(shù)直接用于工廠級（54%），用于OEM的為25%，兩者都是的為17%。 在工業(yè)生

36、產(chǎn)流水線中，經(jīng)常要將傳動帶A上的物品搬至傳送帶B上。如果直接人工從事這種重復性的勞動，枯燥、無味且勞動強度大，容易引起操作工人的疲勞，出現(xiàn)錯誤。而采用氣動機械手按規(guī)定的動作和規(guī)律進行搬運，可以做到快速、準確、方便，大大的減輕勞動強度，提高生產(chǎn)的自動化程度。氣動機械手這種有規(guī)律的運動，采用PLC來進行控制，可以方便的實現(xiàn)。 氣動手爪是目前機器手尤其是搬運、裝配類機器手在抓取技術中應用最普遍的方式．它可實現(xiàn)雙向抓取．自行對中，而且重復精度高．抓取力恒定．并可方便地配接各種夾具。氣動手爪是機器手與作業(yè)對象間的直接接口，仔細分析、選擇好氣動手爪直接關系到機器手的工作性能。在實際運行中、手爪的夾持力應

37、保證大于所有靜態(tài)和動態(tài)力的總和。PLC的程序運行方式是循環(huán)掃描方式，而非順序執(zhí)行方式，因此任何一個機械手在其條件滿足后即開始動作。各手之間是并行的。機器手是多自由度的開式串聯(lián)結構．在空間和時間中的動力學參數(shù)隨其位形而不斷變化．系統(tǒng)要求的速度高 控制范圍廣 精度高，傳統(tǒng)的單自由度機構的控制技術遠不能滿足這種控制對象 好在氣動機器手多勾點到點的多段定位控制，追求目標點的定位精度和多軸同時協(xié)凋有序運動控制，但較少要求高的軌跡精度，從而簡化了對控制系統(tǒng)的要求。 物料的搬運方式具有可抓可吸的多用途功能；氣動系統(tǒng)電磁換向閥采用匯流板集裝方式，減少了占用空間；PLC控制具有單步、自動等多種工作方式。由于氣

38、壓傳動具有氣源使用方便、不污染環(huán)境、動作靈活迅速、工作安全可靠、操作維修簡便以及適于在惡劣環(huán)境下工作等特點，因而在沖壓加工、注塑及壓鑄等有毒或高溫環(huán)境下作業(yè)，機床上、下料，儀表及輕工行業(yè)中小零件的輸送和自動裝配等作業(yè)，食品包裝及輸送，電子產(chǎn)品輸送、自動插接，彈藥生產(chǎn)自動化等過程中被廣泛應用。所以。氣壓傳動是一種易于推廣普及的實現(xiàn)工業(yè)自動化的應用技術。氣動系統(tǒng)的應用，引起了世界各國產(chǎn)業(yè)界的普遍重視。 物料搬運系統(tǒng)由左右移動氣缸、復位進退氣缸、升降氣缸、夾手或真空吸盤、物料塊、傳感器、圓柱導軌、支架、底座、微動開關等組成。夾手或真空吸盤可以夾住或吸住物料塊，抓取物料的部分采用夾持式和吸附式兩種形

39、式，選用不同的形式，可分別完成工件的抓取和吸附，以適應不同種類的物料搬運。夾手采用電磁鐵吸合與斷開方式夾持物料。夾手或吸盤在升降氣缸的作用下可以上下移動；夾手或真空吸盤連同升降氣缸在左右移動氣缸的作用下沿著圓柱導軌可以左右移動；在復位進退氣缸的作用下將物料塊送回原始位置，為下一個工作周期準備，以實現(xiàn)循環(huán)。此系統(tǒng)能夠實現(xiàn)物料在一個平面內的搬運。操作面板安裝在電控箱上，與實驗裝置主體是分離的。PLC可編程序控制器，電磁閥，真空發(fā)生器等均放置在電控箱里。 物料搬運系統(tǒng)具有左右移動、上下移動及對物料的夾緊和放松、推料進退功能，在PLC控制下可實現(xiàn)單步、自動等多種工作方式。另外，物料被夾手搬運完成以后

40、，為滿足連續(xù)動作需要，還必須將此物料運送回原點位置，以供下次搬運需要。系統(tǒng)可完成的各種工作方式如下。單步：可實現(xiàn)上升、下降、左移、右移、夾緊、放松、推料進、推料退等八種點動操作；連續(xù)：按下“啟動”按鈕后，夾手從原點位置開始連續(xù)不斷地執(zhí)行搬運物料。物料搬運系統(tǒng)實現(xiàn)的動作：下降→抓料→上升→右移→再下降→松料→再上升→左移→推料進→推料退。在這個系統(tǒng)中，我們只實現(xiàn)一個物料的循環(huán)動作，故在機械手回原點后，需將物料推回原來位置。在PLC控制下可實現(xiàn)單動、連續(xù)動作工作方式。系統(tǒng)上電后，通過旋轉按扭選擇是單動還是連動，如果是單動則執(zhí)行單動程序，否則執(zhí)行連動程序。單動工作方式：利用按鈕對夾手每一動作單獨進行

41、控制。連續(xù)：按下啟動按鈕，夾手從原點開始，按工序自動循環(huán)工作，直到按下停止按鈕，夾手在完成最后一個周期的工作后，返回原點，自動停機。 基于PLC控制的物料搬運系統(tǒng)能夠實現(xiàn)物料的自動循環(huán)搬運。此系統(tǒng)既可以使用夾手夾持物料，又可以使用真空吸盤吸附物料，具有多種用途功能；氣動系統(tǒng)的電磁換向閥采用匯流板集裝，減少了占用空間；在PLC的控制下可以實現(xiàn)單動和連動兩種執(zhí)行方式，完成物料的搬運。 英文原文二： Air operated moves the carrier vehicle and the PLC control The PLC control system adopts genera

42、lly easy to understand and to grasptrapezoidal chart language and face industry control simple instruction. The image isdirect-viewing is based on the field bus technology opens completely and uses theadvanced software and hardware technology. The PLC control has the structuresimply nimble the anti-

43、jamming ability strong safe reliable installs the conveniencethe failure rate lowly the maintenance is simple large scale saves the use cost thecharacteristic can satisfy each kind of center small scale process control the smoothlogic control and the data acquisition duty demand widely has used in g

44、radually inthe industry control system including domain and so on metallurgy mining industrymachinery light industry has provided the powerful tool for the industrialautomation. The control engineering in the near future to will use in the logical equipmentwhich programmed the process and the mach

45、inery controls carrying on aninvestigation although the computer and computer technology already provided theinfinite control for each kind of control to be possible but PLC still was a importantpart. In this investigation it will surpass half number of people to expand its PLC inthe future 12 mont

46、hs the investment. It will surpass 40 person in the futureinvestment many in the past 12 months. The PLC application scope is extremelywidespread. In this 300 individual participation investigation majority of PLC alluses in the machinery control the process control follows closely after that then i

47、s themovement control the batch control and the diagnosis. The majority uses in directlythe factory level 54 uses in OEM is 25 two all is 17. In the industrial production assembly line must move frequently thetransmission belt A on goods to conveyer belt B on. If direct artificially is engaged int

48、his kind of duplicated work arid tasteless also labor intensity big is easy to causeoperates workers weariness appears the mistake. But uses the air operatedmanipulator carries on the transporting according to the stipulation movement and therule may achieve fast accurate is convenient big reduces t

49、he labor intensityenhances the production the automat city. Air operated manipulator this kind oforderly movement uses PLC to carry on the control and may facilitate realization. The air operated hand fingernail is the present machinist transports the assemblyclass machinist in particular in captu

50、res in the technology to apply most universal way.it to be possible to realize bidirectional captures voluntarily to the center moreoverthe redundant precision high. Capture the strength to be constant. and mayconveniently match meets each kind of jig. The air operated hand fingernail is directconne

51、ction between the machinist and of the work object the careful analysischooses the good air operated hand fingernail to relate directly to machinistsoperating performance. In the actual movement the hand fingernail supports on bothsides the strength to be supposed to guarantee is bigger than all sta

52、tic and the dynamicstrength sum total. The PLC procedure movement way is circulates the scanning waybut the non- order carries out the way therefore any manipulator satisfies after itscondition namely starts the movement. Between various is parallel. The machinist isthe multi-degrees of freedom open

53、 the type series structure. But changes the systemrequest speed high control area broad precision unceasingly in spatial and the timedynamics parameter along with its configuration high the traditional single degree offreedom organization control technology is far cannot satisfy this kind of control

54、ledmember to be good because of the air operated machinist cancels much to themultistage localization control the pursue target point pointing accuracy and multiplespindle at the same time cooperates weakly to have the foreword movement controlbut little requests the high path precision thus simplif

55、ied to the control systemrequest. The material mode of transport has the multipurpose function which may graspmay attract The pneumatic system electromagnetism cross valve selects the affluxboard collection attire method reduced has taken the space The PLC control has ison foot automatic and so on

56、 the many kinds of work way. Because the pneumaticactuator has is angry the source easy to operate does not pollute the environment themovement nimbly rapid the job safety reliable the operation service is simple. And issuitable for under the adverse circumstance characteristic and so on work thus i

57、n theramming processing casts and the compression casting and so on virulent or the hightemperature environment is mean industry on the engine bed the yummy treats themeasuring appliance and in the light industry profession small work and so oncomponents transportation and automatic assembly food pa

58、cking and thetransportation the electronic products transportation automatic peg grafting processand so on ammunition in production automation is widely applied. Therefore. Thepneumatic actuator is one kind easy to promote popularly realizes the industrialautomation application technology. The pneum

59、atic system application caused thevarious countries industrial field to take generally. The material transporting system moves the air cylinder the replacement onsetand retreat air cylinder by about rises and falls the air cylinder clamps the hand orthe vacuum cup the material block the sensor the

60、 column guide rail the support thefoundation the microswitch and so on is composed.Clamps the hand either thevacuum cup may grip or hold the material block the capture material part uses theclamp type and the adsorption type two forms selects the different form maycomplete the work piece separately

61、the capture and the adsorption adapts the differenttype material transporting.Clamps the hand to use the electro-magnet to attract gatherswith separates the way clamp material.Clamps the hand or the sucker in rises and fallsthe air cylinder under the function to be possible to reciprocate Clamps the

62、 hand orthe vacuum cup together with rises and falls the air cylinder to move the air cylinderin about under the function to be possible to control along the column guide railmoves In under the replacement onset and retreat air cylinder function the materialblock back initial position for the next a

63、ction cycle preparation realizes thecirculation.This system can realize a material in plane transporting.Operates thekneading board to install in the electrically controlled box is separates with the testinstallation main body.The PLC programmable controller the solenoid valve thevacuum generator an

64、d so on lays aside in the electrically controlled box. About thematerial transporting system has moves reciprocated and to the material clamp andthe relaxation pushes the material onset and retreat function may realize on foot andso on automatically under the PLC control many kinds of working.After

65、moreoverthe material is clamped the hand transporting completes for satisfies continuouslyacts the need but also must ship this material the zero point position will supply thenext time to transport the need.The system may complete each working is asfollows.On foot: May realize the rise the drop the

66、 left shift the right lateral theclamp the relaxation pushes the material to enter to push the material to draw backand so on eight kind of spots to move the operation Continuously: After presses down“the start” the button clamps the hand to start from the zero point positioncontinuously to carry out the transporting material.Material transporting systemrealization movement: The drop -gt stresses the material -gt rise -gt right lateral -gt todrop -gt the loose material -gt to rise again