Academic literature on the topic 'Activité manipulatoire'
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Journal articles on the topic "Activité manipulatoire":
1
Herman, P. "Evaluation of the reduction of dynamical coupling for robot manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 3 (March 1, 2008): 339–47. http://dx.doi.org/10.1243/09544062jmes876.
Abstract:
The problem of evaluation of the reduction of dynamical coupling in rigid serial manipulators is presented in the current paper. The proposed strategy is based on first-order equations of motion expressed in terms of normalized generalized velocity components, which result from decomposition of the manipulator mass matrix. The principal activity of the study relies on an algorithm in which some evaluation criteria as well as some indexes are used. The presented approach is important, mainly for manipulators with a direct drive arm at their design stage. Simulation results on a three-degree-of-freedom (3-DOF) spatial manipulator are given in order to illustrate the offered method.
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Konet, Andrii. "Modern Tools of Political Manipulation." Mediaforum : Analytics, Forecasts, Information Management, no. 7 (December 23, 2019): 235–49. http://dx.doi.org/10.31861/mediaforum.2019.7.235-249.
Abstract:
The article proves that political manipulation is one of the conditions for the stable existence of political regimes and allows to control people and their consciousness. Tools and means of political manipulation are being continuously developed and improved, because they help political regimes function stably. Political manipulation is usually planned and organized, and can carry potential risks for the development of society as a whole. Political manipulators actively attract the media, which effectively distribute needed information and have the fullest impact on social consciousness. Peculiarities of political manipulation as a specific form of political influence, involve creating additional psychological levers of effective action in the process of the struggle for power. Political manipulators, with the help of various technologies of political manipulation, latently correct mass consciousness; include artificial stimulus (motivations) for action; redirect public moods and social activity in the direction they need. The author studies the current manifestations of political manipulation in the society: influence on public opinion; state authorities discredit; political advertising. To achieve success in the political struggle, the manipulator needs the support of society, which is guaranteed by the actions of mechanisms to influence public opinion. The author identifies and analyzes the following mechanisms of the means of political manipulation: language suggestion (speech influence), neuro-linguistic programming, and negative campaigning.
3
Indri, Marina, Martina Bellissimo, Stefano Pesce, and Valerio Perna. "A Robust H∞ Application for Motor-Link Control Systems of Industrial Manipulators." Applied Sciences 12, no. 17 (September 5, 2022): 8890. http://dx.doi.org/10.3390/app12178890.
Abstract:
H∞ control approaches are widely investigated in various application fields and in the robotics area, too, for their robustness properties. However, they are still rarely adopted in the industrial context for the control of robot manipulators, mainly due to the lack of predefined procedures to build weighting functions able to automatically guarantee the fulfillment of the control objectives. This paper reports the first results of an academic–industrial research activity aimed at investigating the adoption of an H∞ approach in the control software architecture of industrial manipulators, equipped with standard sensors on the motor side only. The design of the control system for a single-axis of an industrial manipulator is developed, showing that the construction of the weighting functions according to standard procedures can provide a satisfying behavior only on the motor side, leaving unacceptable oscillations of the link. A different procedure is then developed for the definition of the weighting functions with the specific aim of eliminating the possible vibrations of the mechanical structure. The proposed new form of such functions, including the main dynamic characteristics of the plant, ensures a robust, satisfying behavior on both the motor and the link side, as proven by simulation and experimental results.
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Miura, Satoshi, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo, and Masakatsu G. Fujie. "Evaluation of Hand-Eye Coordination Based on Brain Activity." Journal of Advanced Computational Intelligence and Intelligent Informatics 19, no. 1 (January 20, 2015): 143–51. http://dx.doi.org/10.20965/jaciii.2015.p0143.
Abstract:
Surgical robots have improved considerably in recent years, but their intuitive operability, and thus their user interoperability, has yet to be quantitatively evaluated. Thus, we propose a method for measuring a user’s brain activity while operating such a robot, to better enable the design of a robot with intuitive operability. The objective of this study was to determine the angle and radius between an endoscope and manipulator that best allows the user to perceive the manipulator as being part of their own body. In the experiments, a subject operated a hand controller to position the tip of a virtual slave manipulator onto a target in a surgical simulator while his/her brain activity was measured using a brain imaging device. The experiment was carried out several times with the virtual slave manipulator configured in a variety of ways. The results show that the amount of brain activity is significantly greater with a particular slave manipulator configuration. We concluded that the hand-eye coordination between the body image and the robot should be closely matched in the design of a robot having intuitive operability.
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Pavliv, Olha. "LINGUOPRAGMATIC ASPECTS OF MANIPULATIVE STRATEGIES IN THE SPEECH OF THE CHARACTERS OF A. MANZONI “BETROTHED”." PROBLEMS OF SEMANTICS, PRAGMATICS AND COGNITIVE LINGUISTICS, no. 43 (2023): 65–80. http://dx.doi.org/10.17721/2663-6530.2023.43.06.
Abstract:
In the modern world, manipulation is a completely universal phenomenon. It can be found in all socially significant spheres of human activity. When studying manipulative strategies, it is impossible not to pay attention to the variety of their types and the goals through which manipulators resort to these actions. A set of manipulative techniques organized in a certain way, used for the purpose of exerting hidden influence, aimed at achieving a desired effect or preventing an undesirable result, is presented on examples taken from the historical novel by A. Manzoni "The Betrothed", in particular on the examples of the characters Gertrude, Don Abbondio, Lucia and Renzo. Manipulative strategies are widely used at the level of interpersonal communication. The variety of interpersonal manipulations is analyzed. Regularities between manipulative strategy and stylistic features have been established. In particular, to express the strategy of gaslighting, which is based on contradiction, the author uses affective words, asyndeton, tactics of exaggeration, repetition, and the imperative; to express projection, which consists in transferring one's responsibility to another person – metaphorical comparisons, antitheses; for the strategy of meaningless conversations, based on monologues that lead to confusion – incomplete sentences, repetitions, asyndeton; for generalization and denigration characterized by vague and abstract statements – incomplete sentences and affective words; to express the strategy of constant disappointment, which is based on the constant disappointment of the manipulator with his victim – asyndeton, exclamations, syntactic parallelism and repetitions. The perlocutionary effect, which is similar in each strategy, was studied. With his non-verbal behavior, the victim tries to convey discomfort and fear: trembling, lowered gaze, and therefore fear to look his manipulator in the eyes, silent submission. At the verbal level, this is manifested by repetitions, incomplete sentences, exclamations, exaggerations and affective words.
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Rofiq, M. N., W. Negara, S. Martono, R. A. Gopar, and M. Boga. "Potential effect of some essential oils on rumen methane reduction and digestibility by In Vitro incubation technique." IOP Conference Series: Earth and Environmental Science 905, no. 1 (November 1, 2021): 012138. http://dx.doi.org/10.1088/1755-1315/905/1/012138.
Abstract:
Abstract Since excessive use of in-feed antibiotics and chemical feed supplements can potentially affect health risks and environmental problems, organic feed supplement became alternative save material. Organic material such as essential oils (EO) is potential for feed additive in the livestock industry because of their main activity as rumen manipulator. Their potential as rumen manipulators has not enough for type and doses of essential oils experiment. Therefore, the objective of this study was to evaluate 6 essential oils/EO’s (garlic/, thyme, clove, orange peel, mint, and cinnamon) with different doses (100, 200 and 300 ppm) on in vitro rumen methane reduction and in vitro digestibility using in vitro gas production technique. The experiment resulted highest level in in-vitro methane reduction potential (MRP, %) 72.83% at orange peel oils 300 ppm after 6 h incubation, while using clove oils 300 ppm had highest in vitro true digestibility of dry matter (IVTDDM) 81.41% after 30-hour incubation. Using Cinnamon oils had high value both of MRP level and IVTDDM (48.91 and 79.12 %). In Conclusion, all essential oils reduced in vitro rumen methane production at 6 h incubation compared to control at 300 ppm and there was no negative effect on In Vitro Digestibility.
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Sakamoto, Hironori, and Wataru Mitsuhashi. "Potential use of reproductive manipulators to control invasive alien ants." Terrestrial Arthropod Reviews 5, no. 3-4 (2012): 269–88. http://dx.doi.org/10.1163/18749836-05031053.
Abstract:
Introduction of alien species is a worldwide problem that accompanies human activity. Invasive alien ants (Hymenoptera: Formicidae) are among those predatory invertebrates that cause the greatest damage to native ecosystems and biodiversity, and their management is difficult. Therefore, novel environmental load–reducing (i.e., highly invasive alien ant–specific) management methods are required. In this review, we present novel potential methods of invasive alien ant management that would use microorganisms to manipulate reproduction in the host arthropod. In general, reproductive manipulators force costs against their hosts during reproduction. However, most of the manipulators themselves incur no, or little, cost during the usual life of the host. Therefore, reproductive manipulators can be especially effective against social insects. For example, reproductive manipulators can decrease mating chance for males by killing or feminizing males. In addition, manipulators that induce parthenogenesis or cytoplasmic incompatibility (herein abbreviated CI) may be useful in new techniques for generating sterile males for release. Transinfection with reproductive manipulators by using microinjection techniques has recently become available. This strategy should be of great help in developing and applying this novel management method.
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Rivera, Robert Guamán, Rodrigo García Alvarado, Alejandro Martínez-Rocamora, and Fernando Auat Cheein. "A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry." Sustainability 12, no. 11 (May 27, 2020): 4378. http://dx.doi.org/10.3390/su12114378.
Abstract:
The construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing machinery in construction sites, with emphasis on the three main different existing mobile platforms: the car-like, the unicycle and the omnidirectional (mecanum wheeled), with an UR5 manipulator on them. To evaluate its performance, we propose the printing of the following building elements: helical, square, circular and mesh, with different sizes. As metrics, we consider the total control effort observed in the robots and the total tracking error associated with the energy consumed in the activity to get a more sustainable process. In addition, to further test our work, we constrained the robot workspace thus resembling real life construction sites. In general, the statistical results show that the omnidirectional platform presents the best results –lowest tracking error and lowest control effort– for circular, helicoidal and mesh building elements; and car-like platform shows the best results for square-like building element. Then, an innovative performance analysis is achieved for the printing of building elements, with a contribution to the reduction of energy consumption.
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Borisov, Vadim V., Andrey M. Sokolov, Anton P. Zharkov, and Oleg P. Kultygin. "Solving the inverse kinematics problem for sequential robot manipulators based on fuzzy numerical methods." Journal Of Applied Informatics 17, no. 4 (August 31, 2022): 113–26. http://dx.doi.org/10.37791/2687-0649-2022-17-4-113-126.
Abstract:
Nowadays the introduction of robotic systems is one of the most common forms of the technological operations automation in various spheres of human activity. Among the robotic systems a special place is occupied by sequential multi-link robotic manipulators (SRM). SRM have become widespread due to relatively small dimensions and high maneuverability, which makes their use indispensable to solve various tasks. In practice, the effectiveness of the functioning of the SRM can be influenced by various types of external environment fuzzy factors. Among the external factors there is a group affecting the ability to determine the exact target position. Such factors often affect technical vision systems. This problem is especially relevant for special purpose mobile robots operating in aggressive environmental conditions. A situation similar to the described one also occurs when a medical robot manipulator is used for minimally invasive surgery, when the role of the control and monitoring system is assumed by an operator. In this regard, the organization of effective control taking into account influence of the external fuzzy factors, that prevent the correct recognition of the target position of the SRM instrument, is an urgent problem. The authors consider the solution of the inverse kinematics problem for SRM based on the use of fuzzy numerical methods, taking into account the possible occurrence of singular configurations in the process of solving.
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Miura, Satoshi, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, and Masakatsu G. Fujie. "Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality." Journal of Robotics and Mechatronics 25, no. 1 (February 20, 2013): 162–71. http://dx.doi.org/10.20965/jrm.2013.p0162.
Abstract:
Surgical robots have undergone considerable improvement in recent years. But intuitive operability, which represents user interoperability, has not been quantitatively evaluated. With the aim of designing a robot with intuitive operability, we thus propose a method for measuring brain activity to determine intuitive operability. The purpose of this paper is to clarify the master configuration against the position of the monitor that best allows user to perceive the manipulator as part of his own body. We assume that the master configuration provides immersive reality to user as if he puts own arm into the monitor. In our experiments, subjects controlled the hand controller to position the tip of the virtual slave manipulator on a target in the surgical simulator and we measured brain activity using brain imaging devices. We carried out experiments a number of times with themastermanipulator configured in a variety of ways and the position of the monitor fixed. We found that the brain was significantly activated in all subjects when the master manipulator was located behind the monitor. We concluded that the master configuration produces immersive reality through body images related to visual and somatic sensory feedback.
Dissertations / Theses on the topic "Activité manipulatoire":
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Abakar, Seye N'Dèye Yacine Mar. "Contribution à la production d’une ingénierie didactique en biologie en Centrafrique : cas de l’enseignement de la génétique au secondaire en tenant compte des contraintes locales." Electronic Thesis or Diss., Brest, 2023. http://www.theses.fr/2023BRES0081.
Abstract:
Cette thèse porte sur la conception et l’analyse de situations d’enseignement-apprentissage de la génétique en classe au collège et au lycée en République centrafricaine. Elle vise l’amélioration du système éducatif centrafricain par le développement d’activités pratiques tenant compte des contraintes locales. L’analyse de situations ordinaires d’enseignement en classe de troisième a montré l’absence de préconisations de démarches d’investigation dans les curriculums. Nous avons également mis en évidence l’inexistence d’un réel milieu didactique pour l’étude de la duplication des chromatides des chromosomes qui précède la division cellulaire, appelée mitose ou reproduction conforme. Nous avons donc proposé une situation intégrant une activité manipulatoire en génétique mobilisant un matériel didactique de fabrication locale et adapté au contexte centrafricain. Ce matériel composé de barres de bois peintes modélisant des gênes, que les élèves sont invités à manipuler et constitue ainsi un milieu pour l’apprentissage.La recherche montre que l’activité manipulatoire testée en 2021 en classe de troisième a contribué à la compréhension par les élèves des notions de gêne et de mitose. Malgré des avancées notoires dans l’acquisition de connaissances, la mise en oeuvre de la situation modifiée a également posé des difficultés analysées ici. L’analyse des situations d’enseignement-apprentissage est menée à l’aide des concepts issus de la Théorie des situations didactiques (TSD) (Brousseau, 1998) et de la Théorie de l’action conjointe en didactique (TACD) (Sensevy, 2011) qui présentent en même temps des parentés et des spécificitésThis thesis focuses on the design and analysis of teaching/learning situations in genetics classes in secondary schools in Centra African Republic. It aims to improve the Central African education system by developing practical activities that take account of local constraints. Analysis of ordinary teaching situations in the third year of secondary school showed that the curricula didnot recommend any investigative approaches. We also found that there was no real teaching environment for studying the duplication of chromosome chromatids that precedes cell division, known as mitosis or conformal reproduction. We therefore proposed a situation incorporating a manipulative activity in genetics using locally manufactured teaching aids adapted to the Central African context. The epuipment consisted of painted wooden bars modelling genes, which the pupils were invited to manipulate, thus creating a learning environment.The research shows that the manipulative activity tested in 2021 in the third year contributed to the pupils’understanding of the concepts of gene and mitosis. Despite significant progress in thte acquisition of knowledge, the implementation of the modified situation also posed difficulties, which are analysed here. The theaching-learning situations were analysed using concepts from the Theory of didactic situations (TSD) (Brousseau,1998) and the Theory of joint action in didactics (TACD) (Sensevy, 2011) wich at the same time have similarities and specifities
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Sartori, Natal Guilherme. "Control of parallel robots : towards very high accelerations." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20085/document.
Abstract:
L'objectif principal de ce travail est de proposer des approches de commande performantes et robustes aux incertitudes pour les robots parallèles de type Delta, qui sont conçus pour effectuer des tâches industriels importantes et exigeantes comme l'emballage en agroalimentaire, la découpe laser, etc. Les difficultés les plus importantes pour garantir une bonne performance de suivi de trajectoires de ces manipulateurs pour les hautes accélérations avec la meilleure précision possible, tout en conservant de telle performance indépendamment des conditions d'opération (par exemple avec différentes conditions de charge, différentes trajectoires, etc.) sont leur actionnement couplé, l'augmentation de leurs dynamiques non-linéaires et le problème de vibrations mécaniques avec l'augmentation des accélérations envisagées, la présence d'incertitudes sur le modèle/environnement et la redondance d'actionnement si elle existe. Dans cette thèse, différentes approches de commande et observateurs d'état ont été proposés et implémentés expérimentalement sur deux robots de type Delta, à savoir le Par2 (non-redondant) et le R4 (à redondance d'actionnement). Pour le premier, une commande non linéaire/adaptative à mode Dual a été proposée en espace articulaire, synthétisé avec trois différents observateurs d'état pour la estimation des vitesses articulaires: un observateur lead-lag, un observateur Alpha-bêta-gamma et un observateur à grand gain. Pour le robot R4, un commande à feedforward en espace-dual avec a été proposée pour la compensation de sa dynamique (avec laquelle une aaccélération maximale de 100G a été atteinte), puis un contrôleur adaptatif dans l'espace-dual a été proposé afin de garantir une estimation et mise à jours automatique des paramètres du système en temps réel, garantissant ainsi sa bonne performance indépendamment du scénario expérimental. L'analyse de stabilité du robot Par2 bouclé avec la commande adaptative à Mode Dual et du robot R4 commandé avec le contrôleur adaptatif dans l'espace-dual sont fournies, des simulations ont été effectuées et les résultats expérimentaux confirment la bonne performance des approches de commande proposéesThe main objective of this work is to propose control strategies performant and robust towards uncertainties for Delta-like parallel robots, which are designed to perform important and demanding industrial tasks, such as packaging, laser cutting, etc. The most important difficulties to guarantee the good tracking performance of these manipulators for very high accelerations with the best possible precision, while maintaining such performance independently of the operational case (e.g. with different load conditions, different trajectories, etc.) are their coupled actuation, the increase of their high nonlinear dynamics and the problem of mechanical vibrations with the increase of the involved accelerations, the presence of uncertainties in the model/environment and the redundant actuation when applicable. In this thesis, different control schemes and state observers were proposed and experimentally implemented on two Delta-like robots, namely the Par2 (non-redundant) and the R4 (redundantly actuated) parallel manipulators. For the former, a nonlinear/adaptive Dual Mode controller was proposed in the joint space, complied with three different state observers for the estimation of joint velocities: a Lead-lag based observer, an Alpha-beta-gamma observer and the High-gain observer. For the latter, firstly a dual-space feedforward controller was proposed for the compensation of its dynamics (with which a maximum of 100G of acceleration was reached), then a dual-space adaptive controller was proposed in order to automatically estimate the parameters of the system in real-time, thus guaranteeing its good performance independently of the experimental scenario. The stability analysis of Par2 robot under the control of the Dual Mode controller and the R4 robot under the control of the dual-space adaptive controller are provided, simulations were performed and the experimental results confirm the good performance of the proposed control schemes
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Wei, Yan. "Planification et Suivi de Mouvement d’un Système de Manipulateur Mobile non-holonome à deux bras." Thesis, Ecole centrale de Lille, 2018. http://www.theses.fr/2018ECLI0004/document.
Abstract:
Cette thèse se situe dans la planification et le suivi de mouvement d’un humanoïde mobile à deux bras. Premièrement, MDH est utilisé pour la modélisation cinématique. Afin de surmonter les insuffisances de la méthode d’Euler-Lagrange qui nécessitent des calculs d’énergie et ses dérivées partielles, la méthode de Kane est utilisée. En plus, la stabilité physique est analysée et un contrôleur est conçu. Deuxièmement, un algorithme avancée MaxiMin NSGA-II est proposée pour concevoir l’orientation et la position optimales de la plate-forme mobile (PB) et la configuration optimale du manipulateur supérieur (MS) étant donnée uniquement la pose initiale et les positions et orientations souhaitées des EEs. Un algorithme à connexion directe combinant BiRRT et la gradient-descente est conçu pour réaliser la transition de la pose initiale à la pose optimale, et une méthode d'optimisation géométrique est conçue pour optimiser et cohérer le chemin. En outre, les motions en avant sont obtenues en attribuant des orientations pour MB indiquant ainsi l'intention du robot. Afin de résoudre le problème d'échec de l’algorithme hors ligne, un algorithme en ligne est proposé en estimant les motions des obstacles dynamiques. De plus, afin d'optimiser les via-poses, un algorithme basé sur les via-points des EEs et MOGA est proposé en optimisant quatre fonctions objectives. Enfin, le problème de suivi de motion est étudié étant donné les motions des EEs dans l'espace de tâche. Au lieu de contrôler la motion absolue, deux motions relatives sont introduites pour réaliser la coordination et la coopération entre MB et MS. De plus, une technique mWLN est proposée pour éviter les limites des jointsThis thesis focuses on the motion planning and tracking of a dual-arm mobile humanoid. First, MDH is used for kinematic modeling. The co-simulation via Simulink-Adams on prototype is realized to validate the effectiveness of RBFNN controller. In order to overcome the shortcomings of Euler-Lagrange’s formulations that require calculating energy and energy derivatives, Kane’s method is used. In addition, physical stability is analyzed based on Kane’s method and a controller is designed using back-stepping technique. Secondly, an improved MaxiMin NSGA-II is proposed to design the mobile base’s (MB) optimal position-orientation and the upper manipulator’s (UM) optimal configuration given only the initial pose and end-effectors’ (EEs) desired positions-orientations. A direct connect algorithm combining BiRRT and gradient-descent is designed to plan the transition from initial pose to optimal pose, and a geometric optimization method is designed to optimize and cohere the path. In addition, forward motions are obtained by assigning orientations for MB thus indicating robot’s intention. In order to solve the failure problem of offline algorithm, an online algorithm is proposed while estimating dynamic obstacles’ motions. In addition, in order to optimize via-poses, an algorithm based on EEs’ via-points and MOGA is proposed by optimizing four via-pose-based objective functions. Finally, the motion tracking problem is studied given EEs’ motions in the task space. Instead of controlling the absolute motion, two relative motions are introduced to realize the coordination and cooperation between MB and UM. In addition, an modulated WLN technique is proposed to avoid joints’ limits
Books on the topic "Activité manipulatoire":
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Inc, Sigmatech, and George C. Marshall Space Flight Center., eds. Launch deployment assembly human engineering analysis. Marshall Space Flight Center, Ala: National Aeronautics and Space Administration, George C. Marshall Space Flight Center, 1996.
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Inc, Sigmatech, and George C. Marshall Space Flight Center., eds. Launch deployment assembly human engineering analysis. Marshall Space Flight Center, Ala: National Aeronautics and Space Administration, George C. Marshall Space Flight Center, 1996.
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Evaluation of COSTAR mass handling characteristics in an environment: A simulation of the Hubble Space Telescope service mission. [Washington, DC]: National Aeronautics and Space Administration, 1994.
Book chapters on the topic "Activité manipulatoire":
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Hrebin, N. V. "PSYCHOLOGICAL ASPECTS OF MANIPULATION WITHIN AN INTERPERSONAL INTERACTION: MANIPULATIONS AND MANIPULATORS." In PERSONALITY IN SOCIETY: PSYCHOLOGICAL MECHANISMS OF ACTIVITY, 34–52. Liha-Pres, 2020. http://dx.doi.org/10.36059/978-966-397-209-1/34-52.
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Majdoubi, Rania, and Lhoussaine Masmoudi. "The State of the Art of Robotic Applications in the Agricultural Sector." In Global Perspectives on Robotics and Autonomous Systems, 333–44. IGI Global, 2023. http://dx.doi.org/10.4018/978-1-6684-7791-5.ch015.
Abstract:
The agricultural sector is currently dealing with a difficult paradox: maintaining, or even increasing, its production levels while reducing the impact of its activities on the environment. In addition to this, there are economic constraints on farmers as well as the harshness of a demanding job that exposes farmers to several types of risk: work-related accidents, occupational diseases, and exposure to potentially dangerous products, such as pesticides. In this context, agricultural robots have been invented. This chapter presents a comprehensive and recent state of the art of the application of robots in agriculture. The work approaches this subject from three angles: on the one hand, the specification in terms of mobility type; on the other hand, the specification in terms of manipulator type and finally in terms of crop type. Furthermore, this chapter presents in more detail some practical experiences concerning the application of agricultural robotics in several fields of activity.
Conference papers on the topic "Activité manipulatoire":
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Shomin, Michael, and Jonathan Fiene. "Teaching Manipulator Kinematics by Painting With Light." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47670.
Abstract:
In this paper, we examine the creation and benefits of a new teaching platform to introduce and reinforce the key concepts of robotic manipulators in an introductory-level robotics course. This system combines a vintage PUMA 260 six-degree-of-freedom robotic arm with modern control circuitry and a Matlab API. The API operates as a servo controller for the robot, thereby allowing students to apply their knowledge of inverse kinematics to a real manipulator arm. To further motivate the exploration of manipulators, we have developed an open-ended project where students engage in the art of three-dimensional light painting. To facilitate this activity, a tricolor LED has been affixed to the end-effector of the robot. With a digital SLR camera, we take a long-exposure photograph as the robot is driven through a trajectory, effectively painting a picture with the end effector. We have also developed a method to quickly assemble pseudo-long-exposure photographs and videos using an inexpensive video camera. We believe this novel setup and project are an effective way to engage and motivate students to learn the underlying math and dynamics of robotic manipulators.
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Brown, Ellenor, Kazuya Aomoto, Atsutoshi Ikeda, Tsukasa Ogasawara, Yasuhide Yoshitake, Minoru Shinohara, and Jun Ueda. "Comparison of Ultrasound Muscle Stiffness Measurement and Electromyography Towards Validation of an Algorithm for Individual Muscle Control." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-4093.
Abstract:
The ability to control individual muscle activity is widely applicable in clinical diagnostics, training, and rehabilitation. Inducing muscle patterns that amplify abnormal muscle coordination can assist with early diagnosis of neuromuscular disorders. Individual muscle control also allows for targeted exercise of muscles weakened by disease, injury, or disuse. The goals of this research are to test a system for individual muscle control and introduce the use of muscle ultrasound as an alternative to electromyography (EMG). The system integrates a computational model of the right upper extremity with a robotic manipulator to predict and control muscle activity. To test the system, subjects gripped the manipulator and isometrically resisted loads applied to the hand. Muscle activity was measured via EMG and ultrasound. The system was able to induce the desired direction of muscle activity change but with limited precision. EMG measurement appeared susceptible to error due to crosstalk in the forearm.
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Baek, Hangyeol, Abdul Manan Khan, Vishwanath Bijalwan, and Youngshik Kim. "Shape Memory Alloy Based Soft Gripper." In ASME 2023 32nd Conference on Information Storage and Processing Systems. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/isps2023-109566.
Abstract:
Abstract This paper presents the design and implementation of a novel soft gripper using Arc-shaped Shape Memory Alloy (SMA) actuators. The manipulator is designed to have compliance, making it suitable for grasping various objects including irregularly shaped or soft objects. The SMAs are activated by heating, causing them to contract and generate force. By controlling the heating of the SMAs, the manipulator can be controlled to move and grasp or hold objects. The design of the manipulator is described, including the selection of SMAs and the control scheme used to activate them. The performance of the manipulator is evaluated through experiments, which demonstrate its ability to perform various manipulation tasks. The results show that the use of SMAs allows for compliant and flexible manipulation can be achieved.
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He, L., and P. A. Mathieu. "Degree-wise control of an humanoid manipulator based on biceps brachii muscle activity." In 2016 IEEE EMBS International Student Conference (ISC). IEEE, 2016. http://dx.doi.org/10.1109/embsisc.2016.7508612.
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Palpacelli, Matteo, Massimo Callegari, Luca Carbonari, and Giacomo Palmieri. "Multibody Analysis and Design of a Reconfigurable Parallel Kinematics Manipulator." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47399.
Abstract:
This paper presents the design of a reconfigurable parallel kinematics machine endowed with three degrees of freedom of pure translation, or alternately of pure rotation. Such reconfigurability results from the use of lockable spherical joints, which realize the connection between each robot leg and the moving platform. Three actuated legs are used to drive the platform motion. The change of configuration occurs only at a specific pose, called home configuration. A control strategy allows to manage the shift phase and activate the two mobilities one at a time. Multibody simulations allowed to analyze the dynamic behavior of the manipulator and to verify the choices made with regard to the robot mechanics and the size of actuation systems. Position and differential kinematics of the manipulator are briefly introduced in order to demonstrate the simplicity of the analytic expressions and the mechanical feasibility of the manipulator.
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Bosetti, Paolo, and Francesco Biral. "On Developing an Open Architecture Four Joints Serial Manipulator." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-37121.
Abstract:
The presented paper describes how, within a course of Mechatronics Engineering, a low cost, four joints serial manipulator has been designed and implemented. The system has been actively developed by two master degree students within a period of about 10 months, and will be used within laboratory activity modules in courses of Applied Mechanics and Manufacturing Automation. The first part of the paper presents the conceptual design of the manipulator, first by stating requirements and specifications, then by describing the design choices that have been done, from the point of views of system architecture, of mechanical systems, and of electronics and control systems. The second part of the paper presents the aspects of dynamic modeling that are involved in optimal joints movement interpolation, and the related algorithms that have been developed. The third part of the paper outlines the choices that have been done about the software environment (languages and development systems) and detailedly describes the software architecture that has been implemented at low level (i.e. programming of microcontroller that provides the motor driver function) and at high level (i.e. programming of the inverse kinematics, motor dynamics, 3-D motion simulator, user interface). The resulting system can operate in two modes: a manual/teaching mode, where the operator can move the manipulator by means of a joystick and pick a list of points to be saved on a file and routinely reached later on, and an automatic mode, where the manipulator autonomously moves through the points defined in a file (either manually written or created during a previous step while in teaching mode). The last part discusses how the described system suits within an advanced mechatronics course, and how an experimental module can be organized by exploiting the open architecture of the manipulator.
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Watanabe, Keisuke, Atsushi Ueta, Yuto Takei, and Toshimichi Tsumaki. "A wearable manipulator for supporting extra-vehicular activity: Concept and a prototype for ground test." In 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2014. http://dx.doi.org/10.1109/aim.2014.6878265.
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Barakat, Nael. "Integrating Real Industrial Experiences Into the Curriculum Through Robotics Applications." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-36035.
Abstract:
Integrating real industrial applications and bringing actual engineering problems into the curriculum is always a win-win activity. The educational benefits of such activity are countless. In addition to industry, professional engineering organizations can be a great resource to support actual engineering projects and mentor engineering students. Partnering with industry, professional engineering organization, and any similar entity, allows the students a unique opportunity to gain exposure and practice real engineering before graduation. The challenge with this concept is to find and run the appropriate project or activity that will simultaneously meet the expectations of all parties and fulfill the educational objectives, while conforming to the time limitations of the course. This paper presents and evaluates such experience through two examples of projects utilizing robotics to achieve engineering educational goals through the design and build of functional industry-grade systems. The first project was performed by an interdisciplinary engineering team of students to solve an actual industrial problem. The project was sponsored by an industrial customer and produced a functional prototype that achieved the required goals and was ready to be duplicated at the customer’s site. The second project was also performed by a team of engineering students to design and build an industrial scale functional robotic manipulator in partnership with a professional engineering organization. The external organization sponsored the project and provided some professional engineers as mentors. The outcome of the project was a mobile 5-axis robotic manipulator that is used for many engineering demo and recruiting events. These projects are examples of ways in which real engineering exercises can be integrated into the curriculum to enhance the educational process and improve collaboration between academia and other engineering entities.
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Frisini, David, Vomcemzp Taumaturgo, Glorgia Giulianini, Marco Romano, Nicola Zonzini, and Glauco Rinaldi. "Evaluation of an Automatic System for Cockpit Integration Testing." In Vertical Flight Society 79th Annual Forum & Technology Display. The Vertical Flight Society, 2023. http://dx.doi.org/10.4050/f-0079-2023-18012.
Abstract:
The purpose of this paper is to report the results of the evaluation conducted on ARTO, an automated system designed to perform integration tests that require interaction with the cockpit. The system has two key elements, the robotic manipulator that acts on the cockpit panels and displays, and the Computer Vision that collects the visual information. The methodology followed during the activity addressed different technical processes of system engineering, starting from the architectural design of the system up to the validation in a representative testing environment. For the validation environment of ARTO, TXT E-Tech, and Leonardo Helicopters have chosen the LHD Next-Gen Civil Tiltrotor-Technology Demonstrator (NGCTR-TD) Avionics Full Scale Integration Rig (FSIR). The results collected during this activity comprehend several KPIs chosen because significant in terms of accuracy and test operation efficiency.
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Allison, James T. "Plant-Limited Co-Design of an Energy-Efficient Counterbalanced Robotic Manipulator." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71108.
Abstract:
Modifying the design of an existing system to meet the needs of a new task is a common activity in mechatronic system development. Often engineers seek to meet requirements for the new task via control design changes alone, but in many cases new requirements are impossible to meet using control design only; physical system design modifications must be considered. Plant-Limited Co-Design (PLCD) is a design methodology for meeting new requirements at minimum cost through limited physical system (plant) design changes in concert with control system redesign. The most influential plant changes are identified to narrow the set of candidate plant changes. PLCD provides quantitative evidence to support strategic plant design modification decisions, including tradeoff analyses of redesign cost and requirement violation. In this article the design of a counterbalanced robotic manipulator is used to illustrate successful PLCD application. A baseline system design is obtained that exploits synergy between manipulator passive dynamics and control to minimize energy consumption for a specific pick-and-place task. The baseline design cannot meet requirements for a second pick-and-place task through control design changes alone. A limited set of plant design changes is identified using sensitivity analysis, and the PLCD result meets the new requirements at a cost significantly less than complete system redesign.