Academic literature on the topic 'AUTOMATED WORKSPACE'
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Journal articles on the topic "AUTOMATED WORKSPACE"
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Posypkin, Mikhail. "Automated Robot’s Workspace Approximation." Journal of Physics: Conference Series 1163 (February 2019): 012050. http://dx.doi.org/10.1088/1742-6596/1163/1/012050.
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Sundar, Syam, Vijay S. Rathore, Manoj K. Sahi, V. Upendran, and Anjan Kumar Dash. "Workspace Analysis and Going through Singularities of 5-Bar Symmetric Planar Parallel Manipulator by Automated Selective Actuation Mechanism." Advanced Materials Research 588-589 (November 2012): 1664–68. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1664.
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In this article‚ a new approach is presented to determine the various shapes of workspaces of 5 bar symmetric planar parallel manipulators. Here the shape of the workspace is determined by the number of ways the workspaces of the two serial manipulators intersect with each other. Geometric conditions are established in each case and area of each shape of workspace is determined in closed form. Singularity is another important consideration in the design of parallel manipulators. In this paper, an approach is presented to go through the singularity points using an automatic selective actuation mechanism. A prototype 5-bar planar manipulator is fabricated along with an automatic selective actuation mechanism demonstrating the manipulator going through the singularity points.
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Huang, Chunxi, Woojoo Kim, Yanxin Zhang, and Shuping Xiong. "Development and Validation of a Wearable Inertial Sensors-Based Automated System for Assessing Work-Related Musculoskeletal Disorders in the Workspace." International Journal of Environmental Research and Public Health 17, no. 17 (August 20, 2020): 6050. http://dx.doi.org/10.3390/ijerph17176050.
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The industrial societies face difficulty applying traditional work-related musculoskeletal disorder (WMSD) risk assessment methods in practical applications due to in-situ task dynamics, complex data processing, and the need of ergonomics professionals. This study aims to develop and validate a wearable inertial sensors-based automated system for assessing WMSD risks in the workspace conveniently, in order to enhance workspace safety and improve workers’ health. Both postural ergonomic analysis (RULA/REBA) and two-dimensional static biomechanical analysis were automatized as two toolboxes in the proposed system to provide comprehensive WMSD risk assessment based on the kinematic data acquired from wearable inertial sensors. The effectiveness of the developed system was validated through a follow-up experiment among 20 young subjects when performing representative tasks in the heavy industry. The RULA/REBA scores derived from our system achieved high consistency with experts’ ratings (intraclass correlation coefficient ≥0.83, classification accuracy >88%), and good agreement was also found between low-back compression force from the developed system and the reference system (mean intersystem coefficient of multiple correlation >0.89 and relative error <9.5%). These findings suggested that the wearable inertial sensors-based automated system could be effectively used for WMSD risk assessment of workers when performing tasks in the workspace.
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Sawodny, Oliver, Harald Aschemann, and Stephan Lahres. "An automated gantry crane as a large workspace robot." Control Engineering Practice 10, no. 12 (December 2002): 1323–38. http://dx.doi.org/10.1016/s0967-0661(02)00097-7.
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Upendran, V., and Anjan Kumar Dash. "Kinematic Analysis of a 2-DOF Planar Parallel Manipulator with Automated Selective Activation Mechanism to Avoid Singularities." Applied Mechanics and Materials 229-231 (November 2012): 761–65. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.761.
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Parallel Manipulator has lot of applications in areas like flight/automobile simulators, earthquake simulators, milling machine, etc. Main disadvantage of parallel manipulator is the presence of singularities within the workspace. Due to this, entire workspace of a parallel manipulator cannot be used effectively. To overcome this disadvantage, an automated selective activation mechanism is proposed, designed and fabricated using solenoids, gear train and belt drive arrangement. By using this mechanism interior singularity are crossed and this enables the user to utilize the entire workspace. Selective activation mechanism with automation ability is designed in such a way that, depending on activation of solenoid, active joint of manipulator changes from one position to another, which subsequently changes the singularity curves. By changing active joint positions, 4 ways of operating manipulator are identified. For all type of operations, singularity curves are plotted using MATLAB.
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Smoczek, Jaroslaw, Janusz Szpytko, and Pawel Hyla. "Non-Collision Path Planning of a Payload in Crane Operating Space." Solid State Phenomena 198 (March 2013): 559–64. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.559.
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The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the automation of the operating workspace identification, non-collision and time-optimal path planning, and real-time following a payload along the determined path by crane motion mechanisms with expected precision. The paper describes the stereo vision based system used for identification of workspace of the laboratory scaled overhead travelling crane. The time-optimal trajectory of a payload is determined by using the A-star graph searching algorithm, and next real-time trucking by PLC-based crane control system.
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Snyman, J. A., L. J. du Plessis, and Joseph Duffy. "An Optimization Approach to the Determination of the Boundaries of Manipulator Workspaces." Journal of Mechanical Design 122, no. 4 (July 1, 1998): 447–56. http://dx.doi.org/10.1115/1.1289388.
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An optimization approach to computing the boundaries of the workspaces of planar manipulators is presented. This numerical method consists of finding a suitable radiating point in the output coordinate space and then determining the points of intersection of a representative pencil of rays, emanating from the radiating point, with the boundary of the accessible set. This is done by application of a novel constrained optimization approach that has the considerable advantage that it may easily be automated. The method is illustrated by its application to two planar mechanisms, namely a planar Stewart platform and a planar redundantly controlled serial manipulator. In addition to the exterior boundaries of the workspace, interior curves that represent configurations at which controllability and mobility may be limited, are also mapped. The optimization methodology, implemented here for the planar case, may readily be extended to spatial Stewart platforms. [S1050-0472(00)00304-4]
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Sebenova, Silvia, Michala Šimúnová, and Karol Velíšek. "The Hardware Devices in the Workspace of Intelligent Assembly Cell." Applied Mechanics and Materials 365-366 (August 2013): 684–87. http://dx.doi.org/10.4028/www.scientific.net/amm.365-366.684.
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The aim of this article is not only to get new knowledge but create the structure of grippers in an automated flexible assembly system. Intelligent manner of this system as a control system will repose in sensing of important and necessary parameters of the system in the real time. There will be presented sensory equipments, which are used in intelligent assembly cell in the Institute of Production Systems and Applied Mechanics, in this contribution. In the next case are solved a handling and an assembling grippers which are shouldered by the sensors. One of the most important subsystem of intelligent assembly cell is assembly area thus we have to design good sensor equipment and good location of it.
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Tantisevi, Kevin, and Burcu Akinci. "Automated generation of workspace requirements of mobile crane operations to support conflict detection." Automation in Construction 16, no. 3 (May 2007): 262–76. http://dx.doi.org/10.1016/j.autcon.2006.05.007.
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Scholz, Michael, Xu Zhang, and Jörg Franke. "Implementation of an Intralogistics Routing-Service Basing on Decentralized Workspace Digitization." Applied Mechanics and Materials 882 (July 2018): 90–95. http://dx.doi.org/10.4028/www.scientific.net/amm.882.90.
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The paper presents an intralogistics routing-service for autonomous and versatile transport vehicles. An infrastructural sensor digitize the workspace of the vehicle and is the basis for the vehicle-specific routing plan. Nowadays, a central computing unit allocates transportation task to a known number of automated guided vehicles, which are usually of the same type. Furthermore, this device generates a routing appropriate to the dimensions and the kinematic gauge of the vehicle fleet. The pathing for each specific vehicle is calculated and the result is send to the different entities. The approach of this paper bases on the digitization of the workspace with a ceiling camera, which divides the scenery into moving obstacles and an adaptive background picture. A central computing unit receives the background picture of several cameras and stitch them together to an overview of the entire workspace, e.g. a production hall. Furthermore, the approach includes the development of automated guided vehicles to versatile autonomous vehicles, were each entity is able to calculate the pathing on a given routing plan. A fleet of versatile autonomous vehicles consists of vehicles with task-specific dimensions and kinematic gauges. Therefore, each vehicle needs its own routing-plan. The solution is that each vehicles uses a vehicle parameter-server and register itself with these parameters at the routing unit. This unit is calculating a routing-plan for each specific vehicle dimension and gauge and providing it. When getting a new task, the vehicles uses this routing-plan to do the pathing. The routing-algorithm is implemented inside the service-layer of the versatile autonomous vehicle system. This approach lowers the amount of data, which is send between the service layer and the transportation entities by reducing the information of the workspace to the possible routes of each specific vehicle. Furthermore, the calculation time for routing and pathing is lowered, because each vehicle is calculating its task-specific path, but the route-map is calculated once for each vehicle-type by the routing-service.
Dissertations / Theses on the topic "AUTOMATED WORKSPACE"
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Zhang, Sijie. "Integrating safety and BIM: automated construction hazard identification and prevention." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/52235.
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Safety of workers in the construction environment remains one of the greatest challenges faced by the construction industry today. Activity-based hazard identification and prevention is limited because construction safety information and knowledge tends to be scattered and fragmented throughout safety regulations, accident records, and experience. With the advancement of information technology in the building and construction industry, a missing link between effective activity-level construction planning and Building Information Modeling (BIM) becomes more evident. The objectives of this study are 1) to formalize the safety management knowledge and to integrate safety aspects into BIM, and 2) to facilitate activity-based hazard identification and prevention in construction planning. To start with, a Construction Safety Ontology is created to organize, store, and re-use construction safety knowledge. Secondly, activity-based workspace visualization and congestion identification methods are investigated to study the hazards caused by the interaction between activities. Computational algorithms are created to process and retrieve activity-based workspace parameters through location tracking data of workers collected by remote sensing technology. Lastly, by introducing workspace parameters into ontology and connecting the ontology with BIM, automated workspace analysis along with job hazard analysis are explored. Results indicate that potential safety hazards can be identified, recorded, analyzed, and prevented in BIM. This study integrates aspects of construction safety into current BIM workflow, which enables performing hazard identification and prevention early in the project planning phase.
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Mukhopadhyay, Trisha. "A Flexible, Natural Deduction, Automated Reasoner for Quick Deployment of Non-Classical Logic." Scholar Commons, 2019. https://scholarcommons.usf.edu/etd/7862.
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Automated Theorem Provers (ATP) are software programs which carry out inferences over logico-mathematical systems, often with the goal of finding proofs to some given theorem. ATP systems are enormously powerful computer programs, capable of solving immensely difficult problems. Currently, many automated theorem provers exist like E, vampire, SPASS, ACL2, Coq etc. However, all the available theorem provers have some common problems: (1) Current ATP systems tend not to try to find proofs entirely on their own. They need help from human experts to supply lemmas, guide the proof, etc. (2) There is not a single proof system available which provides fully automated platforms for both First Order Logic (FOL) and other Higher Order Logic (HOL). (3) Finally, current proof systems do not have an easy way to quickly deploy and reason over new logical systems, which a logic researcher may want to test.
In response to these problems, I introduce the MATR framework. MATR is a platform-independent, codelet-based (independently operating processes) proof system with an easy-to-use Graphical User Interface (GUI), where multiple codelets can be selected based on the formal system desired. MATR provides a platform for different proof strategies like deduction and backward reasoning, along with different formal systems such as non-classical logics. It enables users to design their own proof system by selecting from the list of codelets without needing to write an ATP from scratch.
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Jalasutram, Srikanth. "Design of an intelligent posture guidance system for workspace seating." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41117.
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Seating is an integral part of work environment. When people are at work, they often sit in chairs for long periods of time without changing postures. This results in reduced blood circulation in the body, especially in the buttock-thigh area causing muscle fatigue, pain and discomfort. Ergonomically designed task chairs adopt a passive approach to guiding people into better postures by providing adjustability inside the chair. However most people do not adjust their chairs because they fail to sense the need for changing posture. They are left to sensing the need to change posture through guesswork or extreme discomfort. This thesis proposes a new system to address this problem by sensing static posture in a seated person with the use of electronic sensors embedded in the seat, and by providing interactive feedback to static posture via sound, light and tactile channels. The new technology is an sensing-feedback mechanism embedded in a chair, that allows people to receive postural information and make body adjustments periodically to avoid pain and discomfort caused by prolonged seating.The feedback mechanism was tested with four subjects to determine its efficacy in generating posture change through pressure relief and user feedback was gathered in order to design the final prototype.
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Перетыкина, К. Р., and K. R. Peretykina. "Разработка web-приложения АРМ «Технический отчет доменного цеха» : магистерская диссертация." Master's thesis, б. и, 2021. http://hdl.handle.net/10995/99889.
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Магистерская диссертация посвящена разработке программного обеспечения автоматизированного рабочего места (АРМа) технолога доменного цеха, которое позволяет сформировать технический отчет о работе доменного цеха за отчетный период (месяц/год) с использованием web-приложения. В ходе работы рассмотрены основные этапы реализации программного модуля: анализ предметной области, проектирование и программная реализация web-приложения. В ходе разработки программного обеспечения АРМа спроектированы и реализованы серверная часть системы и web-приложение на платформе ASP.NET Core. Серверная часть включает базу данных, которая является не только местом хранения данных, но и частично реализует функции бизнес логики. Приложение позволяет технологу доменного цеха с помощью пользовательских форм сопровождать базу данных отчетных показателей работы доменного цеха и формировать технический отчет за определенный месяц и сохранять в различных форматах.
Научная новизна полученных в работе результатов заключается в разработке методов эффективной организации, ведения процесса разработки и сопровождения специализированного информационного, алгоритмического и программного обеспечения АИС АППС ДЦ, включая базу данных доменного цеха и средства создания технического отчета доменного цеха: использование гибкой методологии разработки (Agile, SCRUM) и таск-трекера Atlassian JIRA для ведения проекта, взаимодействия с заказчиком во время разработки, отслеживания ошибок, визуального отображения задач и мониторинга процесса их выполнения; функциональное моделирование процессов и подсистем для реализации web-приложения подготовки технического отчета доменного цеха на основе методологии IDEF0 и средства реализации Ramus Educational; использование методики коллективного владения программным кодом на основе сервиса (удаленного репозитория) GitHub.
Практическая значимость результатов заключается в том, что разработанное программное обеспечение позволит: производить автоматизированный сбор и подготовку необходимых отчетных данных о работе доменного цеха за нормативный период (месяц); специалистам инженерно-технологической группы доменного цеха сократить время на формирование отчетных документов, сократить время поиска необходимой фактической отчетной информации за счет реализации эргономичного web-интерфейса; специалистам отдела сопровождения информационных систем снизить трудозатраты на сопровождение, совершенствование и развитие системы с учетом пожеланий пользователей.
Результаты работы могут быть использованы также в учебном процессе для обучения бакалавров и магистрантов по направлению «Информационные системы и технологии».
Результаты работы представлены и обсуждены на международных и всероссийских конференциях: VII, VIII и IX Всероссийской научно-практической конференции студентов, аспирантов и молодых учёных (Екатеринбург, УрФУ, 2018, 2019, 2021); XII Всероссийской научно-практической конференции (Новокузнецк, СибГИУ, 2019); 77-й международной научно-технической конференции «Актуальные проблемы современной науки, техники и образования» (Магнитогорск, МГТУ, 2019).The master's thesis is devoted to the development of software for an automated workstation (AWP) of a blast furnace shop technologist, which allows you to generate a technical report on the operation of a blast furnace shop for a reporting period (month / year) using a web application. In the course of the work, the main stages of the implementation of the software module were considered: analysis of the subject area, design and software implementation of a web application. During the development of the AWP software, the server part of the system and the web application on the ASP.NET Core platform were designed and implemented. The server part includes a database, which is not only a place for storing data, but also partially implements the functions of business logic. The application allows the technologist of the blast furnace shop, using user-defined forms, to accompany the database of reporting indicators of the blast furnace shop operation and generate a technical report for a specific month and save it in various formats. The scientific novelty of the results obtained in the work lies in the development of methods for effective organization, maintenance of the development process and maintenance of specialized information, algorithmic and software AIS APPS DC, including the blast furnace shop database and tools for creating a technical report of the blast furnace shop: - use of flexible development methodology (Agile, SCRUM) and the Atlassian JIRA task tracker for project management, interaction with the customer during development, tracking errors, visual display of tasks and monitoring the process of their implementation; - functional modeling of processes and subsystems for the implementation of a web application for preparing a technical report for a blast furnace shop based on the IDEF0 methodology and Ramus Educational implementation tools; - using the method of collective ownership of the program code based on the service (remote repository) GitHub. The practical significance of the results lies in the fact that the developed software will allow: - to carry out automated collection and preparation of the necessary reporting data on the operation of the blast furnace shop for the regulatory period (month); - for specialists of the blast-furnace shop engineering and technological group to reduce the time for the formation of reporting documents, to reduce the search time for the necessary actual reporting information due to the implementation of an ergonomic web interface; - specialists of the information systems support department to reduce labor costs for maintenance, improvement and development of the system, taking into account the wishes of users. The results of the work can also be used in the educational process for training bachelors and undergraduates in the direction of "Information systems and technologies". The results of the work are presented and discussed at international and all-Russian conferences: VII, VIII and IX All-Russian scientific-practical conference of students, graduate students and young scientists (Yekaterinburg, UrFU, 2018, 2019, 2021); XII All-Russian Scientific and Practical Conference (Novokuznetsk, SibGIU, 2019); 77th international scientific and technical conference "Actual problems of modern science, technology and education" (Magnitogorsk, MSTU, 2019).
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Kucuk, Ali. "The Multi - Objective Path Placement Optimization Of Parallel Kinematic Machines." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615533/index.pdf.
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The aim of this study is to obtain optimal position and orientation of a trajectory frame with respect to the fixed frame of the manipulator. The work path which is given in the trajectory frame is also constrained in the workspace of the 3 &ndashPRS parallel kinematic machine. In the analysis, forward and inverse kinematics solutions are derived as well as the inverse dynamics model using Lagrange&rsquo
s Method. Several algorithms governing the motion of the manipulator are developed. Moreover, optimization goals are defined and evaluated with the genetic algorithm.
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Hentz, Gauthier. "Outils numériques pour la conception de mécanismes." Thesis, Strasbourg, 2017. http://www.theses.fr/2017STRAD021/document.
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Dans le contexte médico-chirurgical, la robotique peut être d’un grand intérêt pour des procédures plus sûres et plus précises. Les contraintes d’encombrement sont cependant très fortes et des mobilités complexes peuvent être nécessaires. A ce jour, la conception de mécanismes non conventionnels dédiés est alors difficile à réaliser faute d’outils génériques permettant une évaluation rapide de leurs performances. Cette thèse associe la continuation de haut-degré et la différentiation automatique pour répondre à cette problématique en introduisant une méthode de modélisation et un formalisme génériques pour la conception de mécanismes. Nos contributions concernent en particulier le développement d’outils numériques pour l’évaluation de l’espace de travail, et de la localisation et la nature des singularités d’un mécanisme, et une analyse de sensibilité de haut-degré. Ceux-ci sont évalués sur des mécanismes de référenceIn the medical and surgical background, robotics can be of great interest for safer and more accurate procedures. Size constraints are however strong and complex movements may be necessary. To date, the design of dedicated non-conventional mechanisms is then a difficult task because of a lack of generic tools allowing a fast evaluation of their performances. This thesis combines higher-order continuation and automatic differentiation to adress this issue through the introduction of a generic modelling method and a generic formalism for mechanism design. Our contributions especially concern the development of numerical tools for the evaluation of the workspace, of the singularity localization and nature, and for a higher-order sensitivity analysis. These tools are evaluated on reference mechanisms
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Tasserie, Jordy. "Functional Neuro-Imaging Study of Deep Brain Stimulation Mechanisms for the Restoration of Consciousness Using a Non-Human Primate Mode Pypreclin: An Automatic Pipeline for Macaque Functional MRI." Thesis, université Paris-Saclay, 2020. http://www.theses.fr/2020UPASL051.
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Les traumatismes crâniens les plus sévères peuvent altérer les communications entre des régions cérébrales distantes et conduire à des désordres chroniques de la conscience. Il a été rapporté que la Stimulation Cérébrale Profonde (SCP) du Thalamus module l'éveil et améliore le comportement des patients en état de conscience minimale. Cependant, il n'existe aucune démonstration évidente des mécanismes cérébraux pour la restauration spécifique et causale de l˅accès conscient, i.e. la prise de conscience, par la stimulation électrique. Dans cette étude, nous dressons l'hypothèse que la stimulation thalamique spécifique pourrait restaurer à la fois la vigilance et la prise de conscience à travers la restauration de l'activité thalamo-corticale et de la réorganisation des dynamiques corticales subséquentes.Nous avons créé une installation expérimentale qui combine la SCP et l'Imagerie par Résonance Magnétique fonctionnelle 'IRMf' chez le Primate Non-Humain (PNH) et appliqué une anesthésie finement contrôlée pour supprimer la conscience. Nous avons enregistré l'activité cérébrale du cerveau entier et développé un module de pré-traitement des images, Pypreclin, pour résoudre le problème d'artéfact lié à l'électrode. Sous sédation profonde, la stimulation électrique du noyau Centro-Median du Thalamus (CMT) a induit une forte vigilance de façon binaire. Lorsque la SCP du CMT a été déclenchée, le signal IRMf mesuré a augmenté dans les cortex préfrontal, pariétal et cingulaire, pour retourner progressivement à la valeur de référence quelques secondes après que le stimulateur a été éteint. De plus, la SCP du CMT a conduit à une reconfiguration des dynamiques corticales des états de repos en diminuant la similarité entre fonction et structure, précédemment décrite comme signature de la conscience. Enfin, la SCP du CMT a rétabli une vaste réponse hiérarchique à la régularité auditive globale qui était interrompuesous anesthésie générale. Ainsi, la SCP du CMT a restauré les deux dimensions principales de la conscience que sont l˅éveil et le contenu conscient, ouvrant la voie vers une application thérapeutique chez les patients atteint de désordres chroniques de la conscienceSevere brain injuries may lead to the disruption of long-range inter-region brain communications resulting in chronic Disorders of Consciousness (DoC). Electrical Deep Brain Stimulation (DBS) of the Thalamus has been reported to modulate arousal and ameliorate behavior in Minimally Conscious State (MCS) patients. However, there is no clear demonstration of the cerebral mechanisms for the specific and causal restoration of conscious access, i.e. awareness, with DBS. Here we hypothesized that specific thalamic DBS might restore both arousal and awareness through the restoration of thalamo-cortical activity and the subsequent reorganization of cortical dynamics. We first designed an experimental set-up combining DBS and functional Magnetic Resonance Imaging (fMRI) in Non-Human Primate (NHP) and applied finely tuned anesthesia to suppress consciousness. We recorded whole brain activity and developed a preprocessing pipeline, Pypreclin, to tackle the electrode-induced artifact. During deep sedation, Centro-Median Thalamic (CMT) DBS robustly induced arousal in an ON-OFF fashion. When CMT DBS was switched ON, fMRI signal increased in prefrontal, parietal and cingulate cortices, and gradually returned to baseline seconds after the stimulator was turned OFF. Moreover, CMT DBS led to a reconfiguration of Resting State cortical dynamics bydecreasing the function-structure similarity, previously described as a consciousness signature. Finally, CMT DBS restored a broad hierarchical response to global auditory regularities that was disrupted under general anesthesia. Thus, CMT DBS restored the two main dimensions of consciousness, i.e. arousal and awareness, paving the way to its therapeutical translation in patients with chronic DoC
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Tatíček, Vojtěch. "Konstrukce transportního vozíku s robotem nebo nosičem palet." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400969.
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The aim of this work was to design the construction of transport equipment under industrial robot, pallet holder or other equipment. This manipulation device can be moved in one axis on a rigid guide. The device is designed for use in a linear manufacturing system for handling workpieces and tools. It is capable of operating two rows of machines when it is placed in the middle. The main function of this device is to extend the workspace to the carried devices. This type of construction can be used in combination with an industrial robot for other technological tasks such as welding or light machining. The main parts of this device include statically mounted beds that can be stacked behind each other to form optionally long conveyor paths and a positioning plate that moves along the path formed by these beds. An industrial robot, pallet holder or other device is attached to this positioning plate. In addition to the design itself, the thesis also includes a thorough research of the issue, further possibilities of solution in the form of concepts, verification of the structure by means of calculations and simulations and implementation of the solution into a specific production cell.
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Sen, Dibakar. "Shape-Synthesis Of Workspaces Of Planar Manipulators With Arbitrary Topology." Thesis, 1996. http://etd.iisc.ernet.in/handle/2005/1691.
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Hay, Alexander Morrison. "Methods for the determination of accessible workspaces of planar Stewart platforms of general design." Diss., 1999. http://hdl.handle.net/2263/30453.
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In recent years Stewart platforms have been increasingly studied and developed. These parallel manipulators offer a number of advantages over traditional serial manipulators including high rigidity, good positioning accuracy and high load to weight ratio. The main disadvantage associated with parallel manipulators is that they have relatively limited workspaces. Numerous researchers have thus emphasized the need to develop refined methods for the determination of workspaces of such manipulators. This study is primarily concerned with extensions to a novel optimization approach for the determination of manipulator accessible output sets. The optimization approach provides a general method for the determination of workspaces of both serial and parallel manipulators and has the considerable advantage that it may easily be automated. Furthermore, the approach allows for the easy and systematic implementation of various physical constraints acting on manipulators. Established methods for workspace determination are reviewed and illustrated by application to a simple two degree of freedom example. The original optimization approach is extended and generalize< to enable the determination of non-convex workspaces. Simply stated, the approach consists of finding the points of intersection of the workspace boundary with a number of successive search elements. The points of intersection are determined by means of optimization techniques in which a dynamic constrained optimization algorithm is used. Two new methodologies, the modified ray method and the chord method, are proposed. Differences between these methods are illustrated using a simple example. The optimization approach, embodied in the proposed methodologies, is applied to the determination of workspaces of planar Stewart platforms of varied designs. A formulation for all constraints acting on planar Stewart platforms is introduced and implemented in the optimization approach. A special case of manipulator geometry, where the orientation of the platform is effectively redundant in determining the extreme reach of the manipulat'1r, is identified and studied. A slight modification to the optimization methodologies is introduced to allow for the determination of workspaces of such redundant manipulators. The modified ray and chord methods proposed in this study have proven capable of determining convex and non-convex manipulator workspaces. Of the two new methods, the chord approach is the most reliable in determining non-convex workspaces. Both optimization methodologies have been implemented in practical interactive computer systems, which allow for the easy determination of workspaces of planar Stewart pla1 forms of arbitrary geometry.Dissertation (M Eng (Mechanical Engineering))--University of Pretoria, 2006.
Mechanical and Aeronautical Engineering
unrestricted
Books on the topic "AUTOMATED WORKSPACE"
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Cutkosky, Mark R. Reach, grasp, and manipulate. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0030.
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This chapter seeks to identify principles that we can glean from nature regarding the design and operation of hands, and to show how they influence robotic hands and can improve their performance. The need to grasp and manipulate objects is faced by a wide range of animals, from insects to humans. The corresponding variety of solutions is immense, ranging from pincers to hands. However, a number of strategies appear repeatedly including the use of compliant, articulated appendages to achieve a large workspace and the use of automatic responses to tactile stimuli. Mobile robots face similar challenges and can exploit similar solutions. Numerical simulation is useful for analyzing hands that are required to grasp a range of objects and impart desired forces and motions. However, grasp simulation is inherently complex and the design search space is large. Hence, it is useful to examine natural exemplars to guide the design process.
Book chapters on the topic "AUTOMATED WORKSPACE"
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Bordoli, Lorenza, and Torsten Schwede. "Automated Protein Structure Modeling with SWISS-MODEL Workspace and the Protein Model Portal." In Methods in Molecular Biology, 107–36. Totowa, NJ: Humana Press, 2011. http://dx.doi.org/10.1007/978-1-61779-588-6_5.
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Counsell, John, and Marie-Cecile Puybaraud. "Visible Display of Automated Observation of Collaborative Workspaces." In Lecture Notes in Computer Science, 192–99. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/11863649_24.
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Liebe, Alexander Richard, and Christof Hieger. "Automated Workspace-Visualization for Serial and Parallel Robots." In DAAAM Proceedings, 1275–76. DAAAM International Vienna, 2011. http://dx.doi.org/10.2507/22nd.daaam.proceedings.622.
Full textConference papers on the topic "AUTOMATED WORKSPACE"
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Kehrer, Timo, Udo Kelter, and Dennis Reuling. "Workspace updates of visual models." In ASE '14: ACM/IEEE International Conference on Automated Software Engineering. New York, NY, USA: ACM, 2014. http://dx.doi.org/10.1145/2642937.2648623.
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Venkatesan, Vinoth, and David J. Cappelleri. "Development of an Automated Flexible Micro-Soldering Station." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68107.
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This paper describes a flexible automated soldering system to handle meso and micro-scale soldering operations. The system is guided by a vision system and consists of two micromanipulators, an XY motion stage, and a solder pen with an automatic solder feeder. One micromanipulator is used to hold and position the solder pen and attached solder feeder in the workspace; the second micromanipulator is used to hold and position the wire(s) to be soldered on to a printed circuit board (PCB). After hardware and vision system calibration, the user can select point(s) from a real-time image of the workspace for the desired soldering operations to occur. The soldering process is then carried out automatically two different ways: 1. By servoing the XY motion stage with the PCB to position it under the soldering manipulator followed by the solder operation; or 2. By moving the soldering manipulator to the target soldering sites on the PCB that remain stationary. Experimental results for both scenarios are presented and discussed for soldering single and multiple wires at a time. This system provides a flexible manufacturing solution for operations that demand custom micro-soldering operations in a 2D plane.
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Constantino-Gonzales, Mdl A., and D. D. Suthers. "Automated coaching of collaboration based on workspace analysis: evaluation and implications for future learning environments." In 36th Annual Hawaii International Conference on System Sciences, 2003. Proceedings of the. IEEE, 2003. http://dx.doi.org/10.1109/hicss.2003.1173725.
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Brecht, Sandra V., Johannes S. A. Voegerl, and Tim C. Lueth. "Automated Design and Construction of a Single Incision Laparoscopic System Adapted to the Required Workspace." In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020. http://dx.doi.org/10.1109/iros45743.2020.9341145.
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Hay, A. M., and J. A. Snyman. "The Ray Optimization Method for the Determination of Workspaces of Planar Parallel Manipulators of General Design." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14093.
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Abstract An extension to a novel optimization approach for the determination of workspaces of planar manipulators is presented. This approach provides a general method for the determination of manipulator workspaces and has the advantage that it may easily be automated. The method consists of finding a suitable initial radiating point interior to the accessible output set of the manipulator, and then determining the points of intersection of a representative pencil of rays, emanating from this point, with the boundary of the accessible set. The points of intersection are determined by means of an optimization approach in which a dynamic constrained optimization algorithm is used. If any section of the workspace boundary cannot be determined due to non-convexity, then the missing section is mapped using a suitably chosen new radiating point. The method is illustrated by its application to a generally constrained planar parallel manipulator. The method has been implemented in a practical, interactive computer code that has been used to determine convex and non-convex workspaces of different parallel manipulators of arbitrary geometry.
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Peng, Tao, Arvind Balijepalli, Satyandra K. Gupta, and Thomas W. LeBrun. "Algorithms for On-Line Monitoring of Components in an Optical Tweezers-Based Assembly Cell." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99546.
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Optical tweezers have emerged as a powerful tool for micro and nanomanipulation. Using optical tweezers to perform automated assembly requires on-line monitoring of components in the assembly workspace. This paper presents algorithms for estimating positions and orientations of microscale and nanoscale components in the 3-Dimensional assembly workspace. Algorithms presented in this paper use images obtained by optical section microscopy. The images are first segmented to locate areas of interest and then image gradient information from the areas of interest is used to generate probable locations and orientations of components in the XY-plane. Finally, signature curves are computed and utilized to obtain component locations and orientations in 3-D space. We have tested these algorithms with silica micro-spheres as well as metallic nanowires. We believe that the algorithms described in this paper will provide the foundation for realizing automated assembly operations in optical tweezers-based assembly cells.
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Peng, Tao, Arvind Balijepalli, Satyandra K. Gupta, and Thomas W. LeBrun. "Algorithms for Extraction of Nanowires Attributes From Optical Section Microscopy Images." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35456.
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Optical tweezers have emerged as a unique tool for micro and nanomanipulation. In an optical tweezers-based assembly cell, components are usually suspended in a fluidic medium and undergo constant random Brownian motion. Automated assembly using optical tweezers requires online monitoring of components in the assembly workspace. Nanowires are very important building blocks for constructing nanoscale devices. This paper presents algorithms for estimating length, location, and orientation of nanowires in the workspace using images obtained by optical section microscopy. The images are first segmented to locate general areas of interest which are then analyzed to determine discrete nanowire parameters. We use image gradient based techniques as well as feature extraction techniques to identify parameters of nanowire image patterns. These parameters are then used to estimate length, location, and orientation of nanowires.
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McPherson, Finlay N., Jonathan R. Corney, and Raymond C. W. Sung. "Path Planning for Automated Robot Painting." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35301.
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This paper describes the analysis work underlying the path-planning algorithm for a robotic painting system. The system requires no bespoke production tooling and fills an automation gap in rapid prototyping and manufacturing technology that is currently occupied by hand painting. The system creates images by exposing individual pixels of a photographic coating with a robot-mounted laser. The painting process requires no physical contact so potentially images could be developed on any shape regardless of its complexity: As objects can only be “painted” when their surface can be “hit” (i.e. exposed) by the light beam the system requires six degrees of freedom to ensure all overhanging or reentrant areas can be exposed. The accuracy of serial robots degrades with the length of the kinematic chain (in other words six axis robots cannot position themselves with the same accuracy as four axis ones). Consequently to ensure high precision in the location and orientation of the light source, the object being exposed is mounted on a rotary tilt table within the workspace of a four-axis robot. This gives a six-degree of freedom positioning system composed of two separate kinematic chains. Although the resulting system is accurate the problems of constructing a coordinated path that allows the light beam to efficiently sweep (i.e. cover) the surface regardless of its geometry are challenging. This paper describes the difficulties and, after reviewing existing path planning algorithms, a new algorithm is introduced firstly by describing the nature of the system’s configuration space and then further developing this concept as an alternative to a previously described planning algorithm. Having outlined the approach the paper presents a kinematic model for the system and compares the configuration space approach to a purely Cartesian planning approach.
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Carney, Matthew, and Benjamin Jenett. "Relative Robots: Scaling Automated Assembly of Discrete Cellular Lattices." In ASME 2016 11th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/msec2016-8837.
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We propose metrics for evaluating the performance of robotically assembled discrete cellular lattice structures (referred to as digital materials) by defining a set of tools used to evaluate how the assembly system impacts the achievable performance objective of relative stiffness. We show that mass-specific stiffness can be described by the dependencies E*(γ, D(n, f, RA)), where E* is specific modulus, γ is lattice topology, and the allowable acceptance of the joint interface, D, is defined by an error budget analysis that incorporates the scale of the structure, and/or number of discrete components assembled, n, the type of robotic assembler, RA, and the static error contributions due to tolerance stack-up in the specified assembler structural loop, and the dynamic error limitations of the assembler operating at specified assembly rates, f. We refer to three primary physical robotic construction system topologies defined by the relationship between their configuration workspace, and the global configuration space: global robotic assembler (GR), mobile robotic assembler (MR), and relative robotic assemblers (RR), each exhibiting varying sensitivity to static, and dynamic error accumulation. Results of this analysis inform an iterative machine design process where final desired material performance is used to define robotic assembly system design parameters.
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Myszkowski, Adam, Tomasz Bartkowiak, and Andrzej Gessner. "Kinematics of a Novel Type Positioning Table for Cast Alignment on Machine Tool." 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/detc2015-46067.
Full textAbstract:
The paper presents a study into the kinematics of a novel type of a rotary positioning table based on the constrained parallel mechanism. Fixture and leveling a workpiece on a machine tool table is an essential stage in machining or layout process. In this study, a compact low-height rotary table is presented for automated leveling, which can be mounted directly on the machine tool table without a significant decrease of the workspace. The authors propose a modification of parallel mechanism by introducing four extensible leg design with specific geometrical constraint for workpiece positioning and in order to achieve higher rigidness. The table is driven by four hydraulic linear actuators which are integrated in the linkages. The designed model allows to rotate the table about the sphere center about three independent axis. Procedures using meta-heuristic methods were implemented to optimize the geometrical dimensions of the entire mechanism for the required workspace.