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1
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.
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Peng, Tao, Arvind Balijepalli, Satyandra K. Gupta, and Tom LeBrun. "Algorithms for On-Line Monitoring of Micro Spheres in an Optical Tweezers-Based Assembly Cell." Journal of Computing and Information Science in Engineering 7, no. 4 (August 9, 2007): 330–38. http://dx.doi.org/10.1115/1.2795306.
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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 three-dimensional positions of microspheres in the 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 locate the positions of individual micro spheres in the XY plane. Finally, signature curves are computed and utilized to obtain the Z locations of spheres. We have tested these algorithms with glass microspheres of two different sizes under different illumination conditions. Our experiments indicate that the algorithms described in this paper provide sufficient computational speed and accuracy to support the operation of optical tweezers.
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Friedrichs, Marcel. "BioDWH2: an automated graph-based data warehouse and mapping tool." Journal of Integrative Bioinformatics 18, no. 2 (February 22, 2021): 167–76. http://dx.doi.org/10.1515/jib-2020-0033.
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Abstract Data integration plays a vital role in scientific research. In biomedical research, the OMICS fields have shown the need for larger datasets, like proteomics, pharmacogenomics, and newer fields like foodomics. As research projects require multiple data sources, mapping between these sources becomes necessary. Utilized workflow systems and integration tools therefore need to process large amounts of heterogeneous data formats, check for data source updates, and find suitable mapping methods to cross-reference entities from different databases. This article presents BioDWH2, an open-source, graph-based data warehouse and mapping tool, capable of helping researchers with these issues. A workspace centered approach allows project-specific data source selections and Neo4j or GraphQL server tools enable quick access to the database for analysis. The BioDWH2 tools are available to the scientific community at https://github.com/BioDWH2.
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Bartkowiak, Tomasz, Marcin Kaczmarek, Adam Myszkowski, and Marcin Pelic. "A design of an automated compact positioning system for workpiece positioning in machine tool workspace." Procedia CIRP 81 (2019): 186–91. http://dx.doi.org/10.1016/j.procir.2019.03.033.
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Ding, Jienan, and Nabil Simaan. "Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots." Robotica 33, no. 08 (June 4, 2014): 1775–93. http://dx.doi.org/10.1017/s026357471400109x.
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SUMMARYLaparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves. In an effort to reduce tele-manipulation burden, new paradigms for semi-automating surgical tasks are needed. This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots. The automated choice of handedness supports surgeons during tele-manipulation of complex robotic slaves where dexterity and workspace constraints are difficult to learn. This criterion is also used to support automated dual-arm rendezvous for quicker suture exchange during dual-arm suturing. The minimal constraint algorithm presented in this paper allows surgeons to operate within a shared-control tele-manipulation framework whereby the surgeon controls the needle insertion speed and the robot controls the needle orientation while respecting a minimalistic set of tissue constraints. This framework is evaluated on a novel insertable robotic end-effectors platform for SPAS. A simulation study demonstrates the effectiveness of the automated choice of handedness criterion through a study of dexterity limitations of each arm. Additional simulations show the proposed algorithm for automated rendezvous and suture exchange.
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Bizubac, Dan, Bernd Otto Hörmann, and Marcel Sabin Popa. "Innovative Solutions of the Automated Guided Vehicles in Industrial Manufacturing." MATEC Web of Conferences 299 (2019): 02010. http://dx.doi.org/10.1051/matecconf/201929902010.
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The Automated Guided Vehicle (AGV) is a mobile device that is used in the manufacturing plants lately for transporting materials from one space to another. AGVs are connected to a central navigation system which continuously directs the device to its source or destination. Their main features are their flexibility and adaptability to the environment once the AGVs are configured. The main focus of this article is to present the AGV technology based on vision navigation system reinforced by programming code and navigation graphs with the scope of adhering to the latest innovative concepts in terms of efficiency and optimized manufacturing. The topic of vision-based systems being recent to the engineeringevolution, several academicians have discussed probabilities for improvement: some introduce the concept of an independent robot which can learn through artificial intelligence about the dynamic environment or others state, that a neural network can be used in the future as the basis for movement of the AGV in the workspace.
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Wu, Sun, Zou, Xiao, and Zhai. "Intelligent Path Recognition against Image Noises for Vision Guidance of Automated Guided Vehicles in a Complex Workspace." Applied Sciences 9, no. 19 (October 1, 2019): 4108. http://dx.doi.org/10.3390/app9194108.
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Applying computer vision to mobile robot navigation has been studied more than twodecades. The most challenging problems for a vision-based AGV running in a complex workspaceinvolve the non-uniform illumination, sight-line occlusion or stripe damage, which inevitably resultin incomplete or deformed path images as well as many fake artifacts. Neither the fixed thresholdmethods nor the iterative optimal threshold methods can obtain a suitable threshold for the pathimages acquired on all conditions. It is still an open question to estimate the model parameters ofguide paths accurately by distinguishing the actual path pixels from the under- or oversegmentationerror points. Hence, an intelligent path recognition approach based on KPCA–BPNNand IPSO–BTGWP is proposed here, in order to resist the interferences from the complexworkspace. Firstly, curvilinear paths were recognized from their straight counterparts by means of apath classifier based on KPCA–BPNN. Secondly, an approximation method based on BTGWP wasdeveloped for replacing the curve with a series of piecewise lines (a polyline path). Thirdly, a robustpath estimation method based on IPSO was proposed to figure out the path parameters from a set ofpath pixels surrounded by noise points. Experimental results showed that our approach caneffectively improve the accuracy and reliability of a low-cost vision-guidance system for AGVs in acomplex workspace.
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Cakici, Serdar, Selcuk Sumengen, Ugur Sezerman, and Selim Balcisoy. "DockPro: A VR-Based Tool for Protein-Protein Docking Problem." International Journal of Virtual Reality 8, no. 2 (January 1, 2009): 19–23. http://dx.doi.org/10.20870/ijvr.2009.8.2.2720.
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Proteins are large molecules that are vital for all living organisms and they are essential components of many industrial products. The process of binding a protein to another is called protein-protein docking. Many automated algorithms have been proposed to find docking configurations that might yield promising protein-protein complexes. However, these automated methods are likely to come up with false positives and have high computational costs. Consequently, Virtual Reality has been used to take advantage of user's experience on the problem; and proposed applications can be further improved. Haptic devices have been used for molecular docking problems; but they are inappropriate for protein-protein docking due to their workspace limitations. Instead of haptic rendering of forces, we provide a novel visual feedback for simulating physicochemical forces of proteins. We propose an interactive 3D application, DockPro, which enables domain experts to come up with dockings of protein-protein couples by using magnetic trackers and gloves in front of a large display.
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Vyshnavi, P. "Employee Attendance Management System using Face Recognition." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (June 30, 2021): 5303–8. http://dx.doi.org/10.22214/ijraset.2021.36207.
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Automatic Facial Recognition Attendance System is a type of automated identification system that can recognize any person whose facial features have been saved in the database. This technology could be used by all corporations in the coming years, offices to keep track of who comes and goes. The attendance method is based on facial recognition technology. A real-time, contactless attendance tracking system that is extremely useful in today's world circumstances of a pandemic. After COVID, the work environment will not be the same. Despite the fact that the virus is still spreading, firms are attempting to restore on-premise operations in order to assure business continuity. Employees' health and safety are of utmost importance in such situations. Organizations are looking for methods to provide employees with a COVID-free workspace, and a touchless check-in is the first step. The attendance system uses a set of techniques like Haarcascade classifier and Local Binary Pattern Histogram(LBPH) Face Recognizer in deep learning to detect people in front of the camera and then changes their attendance in the attendance sheet automatically.
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Müller, Rainer, Matthias Vette, and Matthias Scholer. "Inspector Robot – A new collaborative testing system designed for the automotive final assembly line." Assembly Automation 34, no. 4 (September 9, 2014): 370–78. http://dx.doi.org/10.1108/aa-06-2014-050.
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Purpose – The paper aims to deliver an approach of how lightweight robot systems can be used to automate manual processes for higher efficiency, increased process capability and enhanced ergonomics. To show how these systems can be utilized in practice, a new collaborative testing system for an automated water leak test was designed using an image processing system utilized by the robot. Design/methodology/approach – The “water leak test” in an automotive final assembly line is often a significant cost factor due to its labour-intensive nature. This is particularly the case for premium car manufacturers as each vehicle is watered and manually inspected for leakage. This paper delivers an approach that optimizes the efficiency and capability of the test process by using a new automated in-line inspection system whereby thermographic images are taken by a lightweight robot system and then processed to locate the leak. Such optimization allows the collaboration of robots and manual labour which, in turn, enhances the capability of the process station. Findings – This paper examines the development of novel applications for lightweight robotic systems and provides a suitable process whereby the systems are optimized in technical, ergonomic and safety-related aspects. Research limitations/implications – A new automated testing process in combination with a processing algorithm was developed. Practical implications – To optimize and validate the system, it was set up in a true to reality model factory and brought to a prototypical status. Several original equipment manufacturers showed great interest in implementing the system in their assembly line. Social implications – The direct human–robot collaboration allows humans and robots to share the same workspace without strict separation measures which is a great advantage compared with traditional industrial robots. The workers benefit from a more ergonomic workflow and are relieved from unpleasant, repetitive and burdensome tasks. Originality/value – A lightweight robotic system was implemented in a continuous assembly line as a new area of application for these systems. The automated water leak test gives a practical example of how to enrich the assembly and commissioning lines, which are currently dominated by manual labour, with new technologies. This is necessary to reach a higher efficiency and process capability while maintaining a higher flexibility potential than fully automated systems.
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Scholer, Matthias, Matthias Vette, and Mueller Rainer. "A lightweight robot system designed for the optimisation of an automotive end-off line process station." Industrial Robot: An International Journal 42, no. 4 (June 15, 2015): 296–305. http://dx.doi.org/10.1108/ir-11-2014-0427.
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Purpose – This study aims to deliver an approach of how lightweight robot systems can be used to automate manual processes for higher efficiency, increased process capability and enhanced ergonomics. As a use case, a new collaborative testing system for an automated water leak test was designed using an image processing system utilized by the robot. Design/methodology/approach – The “water leak test” in an automotive final assembly line is often a significant cost factor due to its labour-intensive nature. This is particularly the case for premium car manufacturers as each vehicle is watered and manually inspected for leakage. This paper delivers an approach that optimizes the efficiency and capability of the test process by using a new automated in-line inspection system whereby thermographic images are taken by a lightweight robot system and then processed to locate the leak. Such optimization allows the collaboration of robots and manual labour, which in turn enhances the capability of the process station. Findings – This paper examines the development of a new application for lightweight robotic systems and provides a suitable process whereby the system was optimized regarding technical, ergonomic and safety-related aspects. Research limitations/implications – A new automated testing process in combination with a processing algorithm was developed. A modular system suitable for the integration of human–robot collaboration into the assembly line is presented as well. Practical implications – To optimize and validate the system, it was set up in a true to reality model factory and brought to a prototypical status. Several original equipment manufacturers showed great interest in the system. Feasibility studies for a practical implementation are running at the moment. Social implications – The direct human–robot collaboration allows humans and robots to share the same workspace without strict separation measures, which is a great advantage compared with traditional industrial robots. The workers benefit from a more ergonomic workflow and are relieved from unpleasant, repetitive and burdensome tasks. Originality/value – A lightweight robotic system was implemented in a continuous assembly line as a new area of application for these systems. The automated water leak test gives a practical example of how to enrich the assembly and commissioning lines, which are currently dominated by manual labour, with new technologies. This is necessary to reach a higher efficiency and process capability while maintaining a higher flexibility potential than fully automated systems.
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Haag, S., D. Zontar, J. Schleupen, T. Müller, and C. Brecher. "Chain of refined perception in self-optimizing assembly of micro-optical systems." Journal of Sensors and Sensor Systems 3, no. 1 (April 14, 2014): 87–95. http://dx.doi.org/10.5194/jsss-3-87-2014.
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Abstract. Today, the assembly of laser systems requires a large share of manual operations due to its complexity regarding the optimal alignment of optics. Although the feasibility of automated alignment of laser optics has been shown in research labs, the development effort for the automation of assembly does not meet economic requirements – especially for low-volume laser production. This paper presents a model-based and sensor-integrated assembly execution approach for flexible assembly cells consisting of a macro-positioner covering a large workspace and a compact micromanipulator with camera attached to the positioner. In order to make full use of available models from computer-aided design (CAD) and optical simulation, sensor systems at different levels of accuracy are used for matching perceived information with model data. This approach is named "chain of refined perception", and it allows for automated planning of complex assembly tasks along all major phases of assembly such as collision-free path planning, part feeding, and active and passive alignment. The focus of the paper is put on the in-process image-based metrology and information extraction used for identifying and calibrating local coordinate systems as well as the exploitation of that information for a part feeding process for micro-optics. Results will be presented regarding the processes of automated calibration of the robot camera as well as the local coordinate systems of part feeding area and robot base.
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Šimúnová, Michala, Nina Vetríková, and Karol Velíšek. "The Methodology for the Selection of the Appropriate Sensory Equipment for the Grasping End Effectors in the Assembly Workspace." Applied Mechanics and Materials 693 (December 2014): 56–61. http://dx.doi.org/10.4028/www.scientific.net/amm.693.56.
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Nowadays, there is a huge emphasis on the development of devices, technologies and process in the industry. Automation helps with it in the considerable degree, because it tries to solve the development of technique, what is characteristic sign of production, assembly, control and another process realization, what eliminates the human intervention and error rates. Automated assembly process consists of the assembly and handling operations of component connecting to the different units and final products, what is equipped with appropriate devices to eliminate the human intervention. One of the most productive solutions seems to be the deployment and the use of robots and manipulators, which realize the technological, handling and also transporting process. This contribution deals with the systematic steps for the selection of the appropriate sensory equipment used in the gripping robotic end effectors, which are characteristic for the assembly system, placed in our department laboratories.
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Zhang, Xu, Michael Scholz, Paryanto, and Jörg Franke. "Adaptive Optimal Multiple Object Tracking Based on Global Cameras for a Decentralized Autonomous Transport System." Applied Mechanics and Materials 840 (June 2016): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.840.1.
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In order to adapt to the mass customization, a new concept of material flow systems that can handle product varieties is needed. Firstly, this paper analyzes the current problems and future requirements of the structure of a new production system. Then, in response to current limitations, the corresponding concept of a decentralized transport system for low payloads with high flexibility is introduced. For this purpose, automated guided vehicles (AGVs) as an effective means of transport are used. The key issues of the autonomous transport system are then researched, and an improvement of the multiple object tracking algorithm is proposed. We demonstrate the performance of our proposed system with a designed workspace. Based on the demonstration and experiment, results show that the proposed concept and the tracking algorithm are appropriate and robust to be implemented in real-time applications.
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Wang, Shih-Ming, and Kornel F. Ehmann. "Error Model and Accuracy Analysis of a Six-DOF Stewart Platform." Journal of Manufacturing Science and Engineering 124, no. 2 (April 29, 2002): 286–95. http://dx.doi.org/10.1115/1.1445148.
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Precision machining operations necessitate highly accurate, rigid, and stable machine-tool structures. In response to this need, parallel architecture machines, based on the concepts of the Stewart Platform, are emerging. In this paper, considering major inaccuracy factors related to the manufacture, geometry, and kinematics, of such machines, first and second order error models are presented, and followed by a comparative assessment of these models in conjunction with illustrative examples. Furthermore, in order to understand the character and propagation of errors of 6-DOF Stewart Platform based machine tools, sensitivity analysis is adopted to describe the contribution of each error component to the total position and orientation error of the mechanism. An automated error analysis system that computes and graphically depicts the error distributions throughout the workspace along with the results of sensitivity analysis is developed and demonstrated.
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Bennett, D. A., X. Feng, and S. A. Velinsky. "Robotic Machine for Highway Crack Sealing." Transportation Research Record: Journal of the Transportation Research Board 1827, no. 1 (January 2003): 18–26. http://dx.doi.org/10.3141/1827-03.
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An operator-controlled crack-sealing machine was developed and tested at the Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center at the University of California, Davis. The machine, integrated onto a single truck, provides ease of operation and a simple, automated method of sealing random pavement cracks. The operator provides the machine its tasks and is the decision maker; the machine automatically performs the repetitive and dangerous tasks of mapping pavement cracks, creating seal paths for the robot, and sealing the cracks. The operator communicates with the machine through a simple user interface adjacent to the driver. This operator control approach drastically reduces the machine’s control complexity relative to fully automated crack-sealing machines. To be able to seal cracks within a full lane without intruding into adjacent lanes, a telescoping long-reach robotic arm was developed that can position the sealing head mounted to its end in a large 3.7- x 4-m (12- x 13-ft) workspace, within 0.4 mm (1/64 in.) at a traverse speed up to 1 m/s (3 ft/s). A special sealant applicator that deploys a pressurized reservoir was developed to allow high-speed and automated sealing operations. A 100-Mbps fast Ethernet and 10-Mbps wireless control network allows for distributed real-time motion control, input/output control, and machine vision. A fully object-oriented, multithreaded Internet-based software architecture allows reliable and efficient system integration and provides an interactive and responsive user interface for feature-rich and easy imaging, path planning, and system control.
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Elkheshen, Gamal ElDin. "Digital Revolution and Ideologies of Thought and Creativity in Graphic Arts." Journal of Art & Architecture Research Studies - JAARS 1, no. 1 (June 21, 2020): 157–71. http://dx.doi.org/10.47436/jaarsfa.v1i1.27.
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What the scientific tide and digital revolution presented of methods and ideas for the structural and aesthetic construction of the workspace is what we will notice in this research by standing on one of the contemporary arts, which I borrowed from the digitization, which is the digital art that means the set of means that a person uses to reach a dramatic result using the computer Automated, The researcher has developed an equation to elicit the aesthetic concept of graphic artwork through the digital media used (digital art x digital environment) =the resulting digital product=new visual values, digitization has become as a technique in graphic arts based on digital materials, as the French philosopher "Pierre Levy" explains, and the researcher here represents "Art project”, ”Augmented reality” interactive application, shown at Venice biennale 56th, Egyptian pavilion as a practical Methods of the research in those digital experiments.
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Е, Вин Тун, Vin Tun E, Л. Маркин, and Leonid Markin. "Ensuring the Requirements of Ergonomics in the Automated the Layout of Equipment." Geometry & Graphics 7, no. 3 (December 2, 2019): 70–85. http://dx.doi.org/10.12737/article_5dce6e5ed88c68.81465629.
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The article discusses the solution to the problem of automating the design of layouts of various equipment, taking into account ergonomics, by which is meant the provision of service areas. The article describes the development of methods and algorithms that provide access to installation tools and workspace during installation and maintenance of already placed equipment. The solution method is geometric modeling of both the placed objects and the installation equipment necessary for its maintenance, as well as the trajectory of its movement to the service area. Thus, both the installation equipment and the movement paths are treated as composable objects, the intersection of which with other objects is unacceptable. As a modeling method, receptor-based geometric models that discretize the allocation space were used. The choice of receptor models is due to the fact that the solid-state model of all the instantaneous positions of the installation tool in the process of its delivery and operation is extremely complex from a geometrical point of view. The possibility of relatively easy to determine the fact of the intersection of all objects of the scene, described by receptor models, and is the rationale for the choice in our study of the receptor method of geometric modeling. Based on the receptor design model, a procedure has been developed for determining the trajectory of a mounting tool at a given operating point, as well as the formation of the space required for operation, or establishing the fact that it is impossible to service a particular object, which indicates an unsatisfactory (non-ergonomic) given design solution. In this study a feature of using receptor models is the use of 6-digit codes in the receptor matrices, which, with some complication of the modeling method, allows to obtain additional information about problem areas in the layout under study (impossibility of carrying a tool, impossibility of performing assembly operations, etc.). Algorithms for solving this problem, as well as a graphical shell that visualizes the results of computer-aided design, are implemented as C# programs.
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Siuhin, Alexandr, Maxim Nikolukin, and Dmitriy Nikitin. "The control system of universal platform for agriculture based on machine vision technology." E3S Web of Conferences 126 (2019): 00017. http://dx.doi.org/10.1051/e3sconf/201912600017.
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The development of the agricultural industry is impossible without automation of the processes of field preparation and harvesting. One of the ways to solve this problem is the implementation of machine vision technologies supplemented with neural networks in the implementation of automated control systems for agricultural equipment. The implementation of machine vision algorithms will allow the recognition of objects in the workspace, the adjustment of the route of movement of technology, the realization of its various operating scenarios. Neural networks will allow you to analyze the surrounding objects and choose the best route to move. In this article, we consider an algorithm for determining objects based on machine vision technologies and the selection of a working area on a frame. The analysis of the intersection of the working area with recognized objects allows you to create controls that regulate the trajectory of traffic. The obtained results are experimentally verified on a laboratory prototype of a universal platform for agricultural machinery. Various approaches to the selection of object boundaries are considered and tested.
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Pugacheva, S. S., and A. F. Strakhov. "AUTOMATION OF INFORMATIONAL SUPPORT OF OPERATIONAL AND SERVICE PERSONNEL IN CASE OF MAINTENANCE AND ORGANISATIONAL REPAIR OF AIR DEFENCE WEAPONS AND MILITARY EQUIPMENT." Issues of radio electronics, no. 6 (June 20, 2018): 35–38. http://dx.doi.org/10.21778/2218-5453-2018-6-35-38.
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Methods of informational support of works related to maintenance and organizational repair of air defence (AD) weapons and military equipment (WME) component parts (CPs) performed by operational and service personnel at proper locations of the CPs are considered. A conventional approach to the informational support of the works related to maintenance and organizational repair is based on the use of operational and repair documentation represented in a paper format. This approach turns to be inefficient for a number of reasons, in particular, due to complicated prompt data search related to arising situations when using a vast amount of paper documentation in conditions of a limited workspace (at proper locations of the CPs incorporated in the AD WME pieces). In order to ensure effective informational support of the works related to maintenance and organizational repair at the proper locations of the AD WME component parts, an innovative method and instruments of informational support automation, including creation and application of interactive electronic organizational repair documentation and a portable automated control and diagnostic system, are developed.
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Komarov, M. V., V. L. Krivolapov, and A. F. Strakhov. "AUTOMATION OF CONTROL AND DIAGNOSTICS OF ELECTRICAL CIRCUITS FAILURES WHEN PERFORMING ORGANISATIONAL REPAIR OF AD WME COMPONENT PARTS." Issues of radio electronics, no. 6 (June 20, 2018): 44–48. http://dx.doi.org/10.21778/2218-5453-2018-6-44-48.
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Restoration of the AD WME operability at their deployment sites in case of REE failures is performed by an aggregate method,i. e. by replacing faulty structural REE RCs with serviceable ones from the operational spare tools and accessories kits of the AD WME system. Detection and localization of the faulty RCs is performed by means of built-in test equipment of the AD WME component part (CP). However, there are some situations when replacement of possibly faulty RCs with serviceable ones does not result in restoration of operability of the repaired CP. In this cases, reasons for the CP failure are defects of electrical connections being a part of the CP. In order to detect and localize the CP electrical wiring defects, it is necessary to control and diagnose a state of the electrical circuits with regard to assessment of electrical connections integrity according to the CP electrical scheme and lack of faults between these connections. Works related to detection of the CP electrical wiring defects at their proper locations shall be carried out within limited workspace of the CP cabins of the AD WME pieces. This fact excludes feasibility of applying bulky standard industrial plants of electrical wiring control [1-3]. Given these limitations, an innovative method and a compact portable automated control system of electrical circuits were developed under the patents of JSC Principle Production and Technical Company Granit. The article contains specificity of implementation control of the REE CP electrical circuits at their proper locations applying the said method and the required automated system.
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Lahmann, H. W., S. Schmalzried, G. Ketterer, D. Weber, F. Welzel, and D. Jeyaraj. "A FLEXIBLE AND ROBUST 3D COORDINATE MEASUREMENT SYSTEM BASED ON WHITE LIGHT INTERFEROMETRY FOR DEVIATION MEASUREMENTS ON SWISS-TYPE TURNING MACHINES." MM Science Journal 2021, no. 3 (June 30, 2021): 4591–96. http://dx.doi.org/10.17973/mmsj.2021_7_2021064.
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The calibration of machine tools or industrial robots needs high precision 3-dimensional coordinate measurements. Common available systems still have the need of ambitious and time extensive processes to fulfill the requested requirements. Therefore there is a strong request for fully automated systems that allow an autonomous and easy to handle procedure for 3D volumetric deviation measurements. This exactly is the intension of the here presented 3D Coordinate Measurement System. The so called µ-GPS System is based on reliable white light interferometer and robust technology. The 3D coordinates are determined via trilateration from three measured distances like it is known from the global GPS. Mainly two parts, the sensor unit (transceiver unit) including the emitter and the reference base (three cat’s-eyes) which includes the three reflectors are mounted in the workspace of the machine. A model to evaluate the signals was developed which allows in combination with a 3-dimensional failure correction a 3D accuracy of more than 5 microns. This application will be the base for an exemplary and fully automated calibration process of Swiss-type turning machines. As these machines are used in high volume manufacturing for precision parts, they need to be assembled and calibrated very accurately. For the long term stability the µ-GPS System can be easily assembled in the Swiss-type turning machine so that thermal deviations and abrasion can be measured and compensated in the control. The robust and easy handling of the µ-GPS System later allows an expansion of the showcase to robots and other machine tools.
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Lolli, Nicola, Alessandro Nocente, and Steinar Grynning. "Perceived Control in an Office Test Cell, a Case Study." Buildings 10, no. 5 (April 27, 2020): 82. http://dx.doi.org/10.3390/buildings10050082.
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The influence of different control strategies on the user’s satisfaction in cell offices was studied in a full-scale facility in Trondheim, Norway. Eleven participants used two test cells as a workspace and answered a computer-based questionnaire for reporting their perceived thermal and visual comfort, and any desired changes in the cell environment. Concurrently, the indoor operative temperature and illuminance were registered. Two different strategies for controlling the indoor environment were used in the case study. In Cell A, the ceiling-mounted lights, the window blind, and a water-based radiator were controlled by the main acquisition and control system, whereas in Cell B, these were manually controlled by the users. In both cells, the window opening was user-controlled, except for a small motorised window, which was automated in Cell A, and user-controlled in Cell B. The results show that the occupants of Cell B first tended to open the window, then to adjust their clothing level, and finally to lower the blind when the operative temperature increased. The recorded Thermal Sensation Votes (TSVs) and Illuminance Ratings (IRs) show that the limitation of control opportunities in Cell A increases the level of thermal and visual dissatisfaction.
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Wilson, Aaron C., Ioannis K. Moutsatsos, Gary Yu, Javier J. Pineda, Yan Feng, and Douglas S. Auld. "A Scalable Pipeline for High-Throughput Flow Cytometry." SLAS DISCOVERY: Advancing the Science of Drug Discovery 23, no. 7 (May 16, 2018): 708–18. http://dx.doi.org/10.1177/2472555218774770.
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Flow cytometry (FC) provides high-content data for a variety of applications, including phenotypic analysis of cell surface and intracellular markers, characterization of cell supernatant or lysates, and gene expression analysis. Historically, sample preparation, acquisition, and analysis have presented as a bottleneck for running such types of assays at scale. This article will outline the solutions that have been implemented at Novartis which have allowed high-throughput FC to be successfully conducted and analyzed for a variety of cell-based assays. While these experiments were generally conducted to measure phenotypic responses from a well-characterized and information-rich small molecular probe library known as the Mechanism-of-Action (MoA) Box, they are broadly applicable to any type of test sample. The article focuses on application of automated methods for FC sample preparation in 384-well assay plates. It also highlights a pipeline for analyzing large volumes of FC data, covering a visualization approach that facilitates review of screen-level data by dynamically embedding FlowJo (FJ) workspace images for each sample into a Spotfire file, directly linking them to the metric being observed. Finally, an application of these methods to a screen for MHC-I expression upregulators is discussed.
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Soares, Inês, Marcelo Petry, and António Paulo Moreira. "Programming Robots by Demonstration Using Augmented Reality." Sensors 21, no. 17 (September 6, 2021): 5976. http://dx.doi.org/10.3390/s21175976.
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The world is living the fourth industrial revolution, marked by the increasing intelligence and automation of manufacturing systems. Nevertheless, there are types of tasks that are too complex or too expensive to be fully automated, it would be more efficient if the machines were able to work with the human, not only by sharing the same workspace but also as useful collaborators. A possible solution to that problem is on human–robot interaction systems, understanding the applications where they can be helpful to implement and what are the challenges they face. This work proposes the development of an industrial prototype of a human–machine interaction system through Augmented Reality, in which the objective is to enable an industrial operator without any programming experience to program a robot. The system itself is divided into two different parts: the tracking system, which records the operator’s hand movement, and the translator system, which writes the program to be sent to the robot that will execute the task. To demonstrate the concept, the user drew geometric figures, and the robot was able to replicate the operator’s path recorded.
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Dmitry, Rodionov, Lyukhter Alexander, and Prokoshev Valery. "Development of Mechanisms for Automatic Correction of Industrial Complex Tools in the Preprocessing of Laser Welding for Small-Scale and Piece Production Using Computer Vision." Machines 8, no. 4 (December 17, 2020): 86. http://dx.doi.org/10.3390/machines8040086.
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This paper is devoted to the development and improvement of mechanisms for the functioning of an automated system for correcting the points of the planned trajectory of the tool of a laser robotic welding complex in the pre-process. Correction of the points of the planned trajectory is carried out in two stages: in the first stage, the focal laser radiation is corrected; in the second stage, the position of the tool is corrected. Correction of the focal laser radiation is carried out in conjunction with the automated focusing of the camera by moving the tool of the industrial complex along its own axis. The functioning of position correction mechanisms is based on methods for recognizing the edges of the gap line to be welded from the image obtained from the charge-coupled device (CCD) camera. The edges of the gap to be welded in the image are segmented using threshold selection. The boundaries of the threshold selection segment are the extreme values of the pixel distribution of the entire image in brightness. For unambiguous recognition of the desired edges based on the segmentation result, the features defining them as a pair of continuous, conditionally parallel lines are formalized. Relative to the recognized pair of edges, the correct position of the planned trajectory point relative to the current position of the welding head is determined. To transfer the correct position, we formalized the calculation model and chose an arbitrary point in the flat image in the workspace laser robotic welding complex, considering the orientation of the tool and the position of the camera. The results obtained made it possible to develop a correction system and successfully test it in the industrial complex.
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Quaglia, Giuseppe, Carmen Visconte, Leonardo Sabatino Scimmi, Matteo Melchiorre, Paride Cavallone, and Stefano Pastorelli. "Design of a UGV Powered by Solar Energy for Precision Agriculture." Robotics 9, no. 1 (March 13, 2020): 13. http://dx.doi.org/10.3390/robotics9010013.
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In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains and to perform precision field operations with perception. In particular, the integration of a 7 DOFs (degrees of freedom) manipulator and a mobile frame results in a reconfigurable workspace, which opens to samples collection and inspection in non-structured environments. Moreover, Agri.q mounts an orientable landing platform for drones which is made of solar panels, enabling multi-robot strategies and solar power storage, with a view to sustainable energy. In fact, the device will assume a central role in a more complex automated system for agriculture, that includes the use of UAV (unmanned aerial vehicle) and UGV for coordinated field monitoring and servicing. The electronics of the device is also discussed, since Agri.q should be ready to send-receive data to move autonomously or to be remotely controlled by means of dedicated processing units and transmitter-receiver modules. This paper collects all these elements and shows the advances of the previous works, describing the design process of the mechatronic system and showing the realization phase, whose outcome is the physical prototype.
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Spires, W. L., T. A. Mottes, J. K. Schaffzin, C. Barclay, S. L. Goldstein, and E. S. Kirkendall. "Development and Performance of Electronic Acute Kidney Injury Triggers to Identify Pediatric Patients at Risk for Nephrotoxic Medication-associated Harm." Applied Clinical Informatics 05, no. 02 (2014): 313–33. http://dx.doi.org/10.4338/aci-2013-12-ra-0102.
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Summary Background: Nephrotoxic medication-associated acute kidney injury (NTMx-AKI) is a costly clinical phenomenon and more common than previously recognized. Prior efforts to use technology to identify AKI have focused on detection after renal injury has occurred. Objectives: Describe an approach and provide a technical framework for the creation of risk-stratifying AKI triggers and the development of an application to manage the AKI trigger data. Report the performance characteristics of those triggers and the refinement process and on the challenges of implementation. Methods: Initial manual trigger screening guided design of an automated electronic trigger report. A web-based application was designed to alleviate inefficiency and serve as a user interface and central workspace for the project. Performance of the NTMx exposure trigger reports from September 2011 to September 2013 were evaluated using sensitivity (SN), specificity (SP), positive and negative predictive values (PPV, NPV). Results: Automated reports were created to replace manual screening for NTMx-AKI. The initial performance of the NTMx exposure triggers for SN, SP, PPV, and NPV all were 0.78, and increased over the study, with all four measures reaching 0.95 consistently. A web-based application was implemented that simplifies data entry and couriering from the reports, expedites results viewing, and interfaces with an automated data visualization tool. Sociotechnical challenges were logged and reported. Conclusion: We have built a risk-stratifying system based on electronic triggers that detects patients at-risk for NTMx-AKI before injury occurs. The performance of the NTMx-exposed reports has neared 100% through iterative optimization. The complexity of the trigger logic and clinical work-flows surrounding NTMx-AKI led to a challenging implementation, but one that has been successful from technical, clinical, and quality improvement standpoints. This report summarizes the construction of a trigger-based application, the performance of the triggers, and the challenges uncovered during the design, build, and implementation of the system. Citation: Kirkendall ES, Spires WL, Mottes TA, Schaffzin JK, Barclay C, Goldstein SL. Development and performance of electronic acute kidney injury triggers to identify pediatric patients at risk for nephrotoxic medication-associated harm. Appl Clin Inf 2014; 5: 313–333 http://dx.doi.org/10.4338/ACI-2013-12-RA-0102
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Zhu, Weidong, Biao Mei, and Yinglin Ke. "Inverse kinematics solution of a new circumferential drilling machine for aircraft assembly." Robotica 34, no. 1 (May 22, 2014): 98–117. http://dx.doi.org/10.1017/s0263574714001350.
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SUMMARYInverse kinematics solutions are the basis for position and orientation control of automated machines in their Cartesian workspace. This paper presents an efficient and robust inverse kinematics algorithm for a new circumferential drilling machine for aircraft fuselage assembly. After a brief introduction to the circumferential drilling machine and its forward kinematics, the paper discusses the nonlinear optimization method for solving inverse kinematics problems. The objective function is defined as a weighted combination of a position error function and an orientation error function. By representing orientation error as the geodesic distance between two points on a unit sphere, the paper proposes to define the orientation error function by using faithful geodesic distance functions, which are accurate approximations to the geodesic distance when it is small. For increased efficiency, robustness, and easy setting of initial values, the inverse kinematics problem is decomposed into two subproblems. The revolute joint coordinates are obtained by nonlinear optimization, and the prismatic joint coordinates are calculated with closed-form formulas. Numerical experiments show that the objective function defined with faithful geodesic distance functions is effective, and the proposed algorithm is efficient, robust, and accurate. The algorithm has been successfully integrated into the control system of the circumferential drilling machine. Preliminary drilling experiments show that the position accuracy of drilled holes is within ±0.5 mm, which is acceptable for the assembly of large aircrafts.
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Ostler, Daniel, Matthias Seibold, Jonas Fuchtmann, Nicole Samm, Hubertus Feussner, Dirk Wilhelm, and Nassir Navab. "Acoustic signal analysis of instrument–tissue interaction for minimally invasive interventions." International Journal of Computer Assisted Radiology and Surgery 15, no. 5 (April 22, 2020): 771–79. http://dx.doi.org/10.1007/s11548-020-02146-7.
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Abstract Purpose Minimally invasive surgery (MIS) has become the standard for many surgical procedures as it minimizes trauma, reduces infection rates and shortens hospitalization. However, the manipulation of objects in the surgical workspace can be difficult due to the unintuitive handling of instruments and limited range of motion. Apart from the advantages of robot-assisted systems such as augmented view or improved dexterity, both robotic and MIS techniques introduce drawbacks such as limited haptic perception and their major reliance on visual perception. Methods In order to address the above-mentioned limitations, a perception study was conducted to investigate whether the transmission of intra-abdominal acoustic signals can potentially improve the perception during MIS. To investigate whether these acoustic signals can be used as a basis for further automated analysis, a large audio data set capturing the application of electrosurgery on different types of porcine tissue was acquired. A sliding window technique was applied to compute log-mel-spectrograms, which were fed to a pre-trained convolutional neural network for feature extraction. A fully connected layer was trained on the intermediate feature representation to classify instrument–tissue interaction. Results The perception study revealed that acoustic feedback has potential to improve the perception during MIS and to serve as a basis for further automated analysis. The proposed classification pipeline yielded excellent performance for four types of instrument–tissue interaction (muscle, fascia, liver and fatty tissue) and achieved top-1 accuracies of up to 89.9%. Moreover, our model is able to distinguish electrosurgical operation modes with an overall classification accuracy of 86.40%. Conclusion Our proof-of-principle indicates great application potential for guidance systems in MIS, such as controlled tissue resection. Supported by a pilot perception study with surgeons, we believe that utilizing audio signals as an additional information channel has great potential to improve the surgical performance and to partly compensate the loss of haptic feedback.
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Schreier, Diana J., and Jenna K. Lovely. "Optimizing Clinical Monitoring Tools to Enhance Patient Review by Pharmacists." Applied Clinical Informatics 12, no. 03 (May 2021): 621–28. http://dx.doi.org/10.1055/s-0041-1731341.
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Abstract Background The Clinical Monitoring List (CML) is a real-time scoring system and intervention tool used by Mayo Clinic pharmacists caring for hospitalized patients. Objective The study aimed to describe the iterative development and implementation of pharmacist clinical monitoring tools within the electronic health record at a multicampus health system enterprise. Methods Between October 2018 and January 2019, pharmacists across the enterprise were surveyed to determine opportunities and gaps in CML functionality. Responses were received from 39% (n = 162) of actively staffing inpatient pharmacists. Survey responses identified three main gaps in CML functionality: (1) the desire for automated checklists of tasks, (2) additional rule logic closely aligning with clinical practice guidelines, and (3) the ability to dismiss and defer rules. The failure mode and effect analysis were used to assess risk areas within the CML. To address identified gaps, two A/B testing pilots were undertaken. The first pilot analyzed the effect of updated CML rule logic on pharmacist satisfaction in the domains of automated checklists and guideline alignment. The second pilot assessed the utility of a Clinical Monitoring Navigator (CMN) functioning in conjunction with the CML to display rules with selections to dismiss or defer rules until a user-specified date. The CMN is a workspace to guide clinical end user workflows; permitting the review and actions to be completed within one screen using EHR functionality. Results A total of 27 pharmacists across a broad range of practice specialties were selected for two separate two-week pilot tests. Upon pilot completion, participants were surveyed to assess the effect of updates on performance gaps. Conclusion Findings from the enterprise-wide survey and A/B pilot tests were used to inform final build decisions and planned enterprise-wide updated CML and CMN launch. This project serves as an example of the utility of end-user feedback and pilot testing to inform project decisions, optimize usability, and streamline build activities.
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Krieger, Yannick S., Daniel Ostler, Korbinian Rzepka, Alexander Meining, Hubertus Feussner, Dirk Wilhelm, and Tim C. Lueth. "Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery." International Journal of Computer Assisted Radiology and Surgery 15, no. 10 (August 13, 2020): 1693–97. http://dx.doi.org/10.1007/s11548-020-02244-6.
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Abstract Purpose In the era of patient-centered medicine, clinical procedures, tools and instruments should be individually adapted to the patient. In this context, the presented 3D-printed Single-Port Overtube Manipulator System follows the aims to provide patient- and task-specific disposable manipulators for minimally invasive surgery. In a first experiment, the robustness of the monolithic flexure hinge structures in use as robotic manipulators will be investigated. Methods Customizable monolithic manipulator structures designed by means of an automated design process and manufactured with selective laser sintering were investigated with regard to long-term stability in an endurance test. Therefore, a bare manipulator arm, an arm equipped with a standard instrument and finally loaded with an additional load of 0.5 N were evaluated by continuously following a trajectory within the workspace of the manipulator arms over a period of 90 min. Results The unloaded manipulator as well as the manipulator arm equipped with a standard instrument showed a sufficient reproducibility (deviation of 1.5 mm and 2.5 mm, respectively, on average) with regard to an application as telemanipulated master–slave surgical robotic system. The 3D-printed manipulators showed no damage and maintained integrity after the experiment. Conclusion It has been shown that 3D-printed manipulators in principle are suitable for use as disposable surgical manipulator systems and offer a long-term stability over at least 90 min. The developed manipulator design shows great potential for the production of patient-, task- and user-specific robot systems. However, the manipulator geometries as well as the control strategies still show room for improvements.
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Fleischer, Jürgen, and Jan Philipp Schmidt-Ewig. "Accuracy Improvement of a Machine Kinematics for the Product Flexible Machining of Curved Extrusion Profiles." Advanced Materials Research 43 (April 2008): 135–44. http://dx.doi.org/10.4028/www.scientific.net/amr.43.135.
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Within traffic engineering, the importance of lightweight space frame structures continuously grows. The space frame design offers many advantages for light weight construction but also brings challenges for the production technology. For example, the important requests concerning product flexibility and reconfiguration can only be achieved with a high technical effort, if current machine technology is used. For this reason, the collaborative research center SFB/TR10 investigates the scientific fundamentals of a process chain for the product flexible and automated production of space frame structures. An important component in space frame structures are curved extrusion profiles. Within the investigated process chain, the extrusions must be machined mechanically in order to apply holes and to prepare the extrusion ends for the following welding operation.The machining is currently done by clamping the profile into a fixture and processing it within a machining center. This procedure has two disadvantages due to the complex geometry and the partially high length of the extrusion profiles: On the one hand, a complex fixture is needed for clamping the work piece [1]. On the other hand, a machining center with a large workspace and five machine axes is required [2]. Due to this, the product flexible machining with current technology is only possible with high technical and economical effort. For this reason, a new machine concept for the product flexible machining of three dimensionally curved extrusion profiles was developed at the University of Karlsruhe. In this paper, the function of the machine is explained and a prototype is presented. In addition, investigation results of the machining accuracy are shown and possibilities for improving the precision are discussed.
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Hyla, Paweł, Agnieszka Kosoń-Schab, Janusz Szpytko, and Jarosław Smoczek. "Integrated Supervision for Supporting Control and Proactive Maintenance of Material Handling System." Journal of KONES 26, no. 1 (March 1, 2019): 65–72. http://dx.doi.org/10.2478/kones-2019-0008.
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Abstract Material handling systems, as an important part of different type of manufacturing processes, face the same challenges as manufacturing industries pushed nowadays forward by innovative ideas and technologies to the next level loudly announced as industry 4.0. Development of the next generation of automated manufacturing systems involves advanced approaches to material handling systems design and their close integration with the higher levels of manufacturing and production control and management, e.g. manufacturing execution systems (MES), enterprise resource planning (ERP). In the presence of increasing demands for manufacturing process optimization, the role of supervisory level of material handling systems is much more advanced today, ensuring not only data acquisition, visualization, monitoring, supervisory control, as well as synchronization with the higher control levels (FEM, ERP), but also providing functionality for supporting maintenance and decision-making processes to reduce downtimes, operations and maintenance costs. The article deals with the integration of control and maintenance functions in the hierarchical control system of a crane. The supervisory system for supporting control and proactive maintenance is prototyped at the laboratory overhead travelling crane. The article presents the control-measurement equipment and intelligent software tools implemented in the supervisory control and data acquisition (SCADA) system to aid decision-making process in proactive maintenance. The overview of the main components of the supervisory control and proactive maintenance subsystems is provided, and their respective role in control, supervision, and proactive maintenance is explained. The crane’s supervisory control includes the stereovision-based subsystem applied to identify the crane’s transportation workspace, determine the safety and time-optimal point-to-point trajectory of a payload. The proactive maintenance module consists of the human machine interface (HMI) supporting decision-making process, intelligent tools for upcoming downtime/failure prediction, and the crane's girder inspection using the metal magnetic memory technique.
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Krishnan, Megha G., Abhilash T. Vijayan, and Ashok Sankar. "Performance enhancement of two-camera robotic system using adaptive gain approach." Industrial Robot: the international journal of robotics research and application 47, no. 1 (November 4, 2019): 45–56. http://dx.doi.org/10.1108/ir-08-2019-0174.
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Purpose This paper aims to improve the performance of a two-camera robotic feedback system designed for automatic pick and place application by modifying its velocity profile during switching of control. Design/methodology/approach Cooperation of global and local vision sensors ensures visibility of the target for a two-camera robotic system. The master camera, monitoring the workspace, guides the robot such that image-based visual servoing (IBVS) by the eye-in-hand camera transcends its inherent shortcomings. A hybrid control law steers the robot until the system switches to IBVS in a region proven for its asymptotic stability and convergence through a qualitative overview of the scheme. Complementary gain factors can ensure a smooth transition in velocity during switching considering the versatility and range of the workspace. Findings The proposed strategy is verified through simulation studies and implemented on a 6-DOF industrial robot ABB IRB 1200 to validate the practicality of adaptive gain approach while switching in a hybrid visual feedback system. This approach can be extended to any control problem with uneven switching surfaces or coarse/fine controllers which are subjected to discrete time events. Practical implications In complex workspace where robots operate in parallel with other robots/humans and share workspaces, the supervisory control scheme ensures convergence. This study proves that hybrid control laws are more effective than conventional approaches in unstructured environments and visibility constraints can be overcome by the integration of multiple vision sensors. Originality/value The supervisory control is designed to combine the visual feedback data from eye-in-hand and eye-to-hand sensors. A gain adaptive approach smoothens the velocity characteristics of the end-effector while switching the control from master camera to the end-effector camera.
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Stapleton, William, Bahram Asiabanpour, Jesus Jimenez, and Dugan Um. "An REU Experience With Micro Assembly Workcell Research." American Journal of Engineering Education (AJEE) 1, no. 1 (December 1, 2010): 35–42. http://dx.doi.org/10.19030/ajee.v1i1.790.
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Under an NSF REU center grant REU-0755355 entitled “Micro/Nano Assembly Workcell Via Micro Visual Sensing and Haptic Feedback”, Texas A&M University – Corpus Christi and Texas State University – San Marcos collaboratively hosted two groups of 10 students from different backgrounds for 10 weeks each in Summer 2008 and 2009 respectively. The research effort involved is part of an ongoing research program developing novel methods for making automated micromanipulation systems. The twenty students and two teachers were divided into four teams developing interrelated aspects of the project. The first team developed the micro-scale parts, such as gears, for assembly. This required the team to develop techniques for etch and release of three dimensional parts from a silicon substrate. The second team developed the microscopic vision system used for locating and identifying parts on a silicon wafer. The vision system is used to determine the position on the wafer of the parts, their diameter (one of several standard parts), and, utilizing a novel technique developed by the team, the thickness of the parts. The third team developed a robotic platform able to locate any portion of a wafer for manipulation within a three-dimensional space with 10μm accuracy. This mechanism is used to first bring any desired portion of the wafer to the vision system for analysis and also to bring a manipulator to “pick and place” parts using the vision system for feedback. The fourth group developed the micro-manipulator in the form of a “gripper” powered by electro-active polymer. This gripper was capable of accurately and repeatably gripping, lifting, moving, placing, and releasing parts at any point within the workspace. Collectively, the REU project successfully produced a prototype system advancing the state-of-art for an important are of micro-manufacturing while offering a stimulating experience for undergraduate students. Assessment of the student experience showed an increase in the likelihood for these students to pursue engineering careers and to encourage their peers to consider STEM careers.
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Kwon, Sang-Joo, Youngil Youm, and Wan Kyun Chung. "General Algorithm for Automatic Generation of the Workspace for n-link Planar Redundant Manipulators." Journal of Mechanical Design 116, no. 3 (September 1, 1994): 967–69. http://dx.doi.org/10.1115/1.2919478.
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An efficient algorithm to simulate the workspace for a n-link redundant manipulator with rotating base is developed. The unique feature of the algorithm is its ability to automatically generate the binary angle selection code for the given manipulator. This code system makes it possible to avoid repetitions in calculating positions and plotting arcs for the workspace and thus saves considerable computing and graphic time. Two types of workspace are possible using this algorithm. Numerical examples including the workspace of human arm motion and that of a 20-link system are demonstrated to illustrate the effectiveness of the algorithm.
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STÄMPFLE, M. "CELLULAR AUTOMATA AND OPTIMAL PATH PLANNING." International Journal of Bifurcation and Chaos 06, no. 03 (March 1996): 603–10. http://dx.doi.org/10.1142/s0218127496000291.
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Cellular automata are deterministic dynamical systems in which time, space, and state values are discrete. Although they consist of uniform elements, which interact only locally, cellular automata are capable of showing complex behavior. This property is exploited for solving path planning problems in workspaces with obstacles. A new automaton rule is presented which calculates simultaneously all shortest paths between a starting position and a target cell. Based on wave propagation, the algorithm ensures that the dynamics settles down in an equilibrium state which represents an optimal solution. Rule extensions include calculations with multiple starts and targets. The method allows applications on lattices and regular, weighted graphs of any finite dimension. In comparison with algorithms from graph theory or neural network theory, the cellular automaton approach has several advantages: Convergence towards optimal configurations is guaranteed, and the computing costs depend only linearly on the lattice size. Moreover, no floating-point calculations are involved.
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McMahon, James, and Erion Plaku. "Robot motion planning with task specifications via regular languages." Robotica 35, no. 1 (June 17, 2015): 26–49. http://dx.doi.org/10.1017/s0263574715000417.
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SUMMARYThis paper presents an efficient approach for planning collision-free and dynamically feasible trajectories that enable a mobile robot to carry out tasks specified as regular languages over workspace regions. A sampling-based tree search is conducted over the feasible motions and over an abstraction obtained by combining the automaton representing the regular language with a workspace decomposition. The abstraction is used to partition the motion tree into equivalence classes and estimate the feasibility of reaching accepting automaton states from these equivalence classes. The partition is continually refined to discover new ways to expand the search. Comparisons to related work show significant speedups.
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Tsai, Tzung-Cheng, and Yeh-Liang Hsu. "DEVELOPMENT OF A PARALLEL SURGICAL ROBOT WITH AUTOMATIC BONE DRILLING CARRIAGE FOR STEREOTACTIC NEUROSURGERY." Biomedical Engineering: Applications, Basis and Communications 19, no. 04 (August 2007): 269–77. http://dx.doi.org/10.4015/s1016237207000355.
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Robot-assisted surgery is an active interdisciplinary field. Conventional surgical robots are mostly serial architectures, which have the advantages of large workspace, high dexterity and maneuverability. The disadvantages are low stiffness and poor positioning accuracy compared to the parallel structure robots. This paper presents the development of a parallel surgical robot for precise skull drilling in stereotactic neurosurgical operations. The dimensions of this robot are 35 × 35 × 45 cm 3, and its weight is about 6 kg. This surgical robot has 6° of freedom. The feed carriage of the bone drilling device mounted the parallel surgical robot provides one additional translational degree of freedom. A master-slave microcontroller-based system is designed for pose control. In applications for neurosurgical operation, the workspace is on the surface of a skull located at one side of the robot. This work analyzed asymmetric workspace on the surface of a sphere representing the skull. A special socket joint design that enlarges the asymmetric workspace of the robot for about 30% is also proposed. This parallel surgical robot has been integrated with an automatic bone drilling carriage developed in our previous work to achieve completely automatic bone drilling.
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Turner, Chris, and Ian Gill. "Developing a Data Management Platform for the Ocean Science Community." Marine Technology Society Journal 52, no. 3 (May 1, 2018): 28–32. http://dx.doi.org/10.4031/mtsj.52.3.8.
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AbstractThe management of oceanographic data is particularly challenging given the variety of protocols for the analysis of data collection and model output, the vast range of environmental conditions studied, and the potentially enormous extent and volume of the resulting data sets and model results. Here, we describe the Research Workspace (the Workspace), a web platform designed around data management best practices to meet the challenges of managing oceanographic data throughout the research life cycle. The Workspace features secure user accounts and automatic file versioning to assist with the early stages of project planning and data collection. Jupyter Notebooks have been integrated into the Workspace to support reproducible numerical analysis and data visualization while making use of high-performance computer resources collocated with data assets. An ISO-compliant metadata editor has also been integrated into the Workspace to support data synthesis, publication, and reuse. The Workspace currently supports stakeholders across the ocean science community, from funding agencies to individual investigators, by providing a data management platform to meet the needs of big ocean data.