Relevant bibliographies by topics / Design of a single-purpose manipulator

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Design of a single-purpose manipulator'

Author: Grafiati
Published: 28 June 2021
Last updated: 14 February 2022

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Journal articles on the topic "Design of a single-purpose manipulator"

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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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Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (December 1, 1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.
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Wang, Yuezong, Liuqian Wang, and Jiqiang Chen. "Design and Experimental Investigations of Shape and Attitude Carding System for the Wires of Micro Coreless Motor Winding." Micromachines 12, no. 10 (September 23, 2021): 1140. http://dx.doi.org/10.3390/mi12101140.

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The shape and attitude (S&A) of the electrode wire are important characteristics of micro coreless motor winding. The purpose of this paper is to present the design of a robotic micro-manipulation system for micro wire carding with arbitrary S&A, which can be used as the pretreatment system for wire micro-gripper systems. The system is based on the principle of flexible carding, and uses nylon, bristle, nanometer-silk and wool as materials for the brushing micro-manipulator. The trajectory of the brushing micro-manipulator is designed, and the S&A of the electrode wires are straightened through the combined motion mode of horizontal and vertical brushing micro-manipulators. The experimental results show that the material of the brushing micro-manipulator has a great impact on the carding quality. Nanometer-silk material is more suitable for horizontal brushing micro-manipulators, and wool material is more suitable for vertical brushing micro-manipulators. The geometric dimension of the brushing micro-manipulator also affects the carding quality. When the diameter is in the range of 1 mm, the carding effect of the horizontal brushing micro-manipulator with a length of 4.9–8 mm is better. The system can realize the automatic carding of flexible electrode wires with arbitrary S&A, and it will not damage the structure of wires in the process.
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Suthar, Bhivraj. "Design of energy efficient four finger robotic hand." IAES International Journal of Robotics and Automation (IJRA) 5, no. 1 (January 21, 2016): 1. http://dx.doi.org/10.11591/ijra.v5i1.pp1-5.

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<span>Future would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plenty</span>
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Wang, Yaxi, and Qingsong Xu. "Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator." Actuators 8, no. 1 (January 4, 2019): 5. http://dx.doi.org/10.3390/act8010005.

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This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks.
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Xidias, Elias K., Philip N. Azariadis, and Nikos A. Aspragathos. "Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications." International Journal of Robotics Applications and Technologies 4, no. 1 (January 2016): 1–18. http://dx.doi.org/10.4018/ijrat.2016010101.

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The purpose of this paper is to present a mission design approach for a service mobile manipulator which is moving and manipulating objects in partly known indoor environments. The mobile manipulator is requested to pick up and place objects on predefined places (stations). The proposed approach is based on the Bump-Surface concept to represent robot's environment through a single mathematical entity. The solution of the mission design problem is searched on a higher dimension Bump-Surface in such a way that its inverse image into the actual robot environment satisfies the given objectives and constraints. The problem's objectives consist of determining the best feasible paths for both the mobile platform and for the manipulator's end-effector so that all the stations are served at the lowest possible cost. Simulation examples are presented to show the effectiveness of the presented approach.
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Liu, De Shi, and Gang Li. "Dynamic Behavior of the Forging Manipulator under the Press Motions." Key Engineering Materials 419-420 (October 2009): 417–20. http://dx.doi.org/10.4028/www.scientific.net/kem.419-420.417.

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When designing forging manipulators, the bending moments transmitted to the manipulator through the workpiece due to the press motions should be reduced to avoid damage to the manipulator and the workpiece. A resilient system is designed to this purpose. This paper investigates the dynamic behavior of the forging manipulator due to press motions, which focuses on the bending moment transmitted to the manipulator. The Forging manipulator parameters assume primary importance in design, such as the clamp mass, resilient stiffness, resilient damping. A parametric study is committed to provide some helpful solutions for forging manipulator design.
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Chen, Jau-Liang, and J. Duffy. "An Analysis for Rectilinear Parallel Operation of a Pair of Spatial Manipulators." Journal of Mechanical Design 112, no. 1 (March 1, 1990): 23–29. http://dx.doi.org/10.1115/1.2912574.

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The use of two manipulators is more effective than a single manipulator for manipulatory tasks such as assembly of an object from large parts. This paper presents an analysis of the kinematic and geometric properties for rectilinear parallel operation of two spatial manipulators. Two basis types of manipulators, a TRS robot and a PUMA robot, working in cooperation are considered. The analysis is based on a study of the motion and workspace boundaries of the manipulators.
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Chang, Liang-Wey, and K. P. Gannon. "A Dynamic Model on a Single-Link Flexible Manipulator." Journal of Vibration and Acoustics 112, no. 1 (January 1, 1990): 138–43. http://dx.doi.org/10.1115/1.2930089.

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An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control.
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Tarvirdizadeh, Bahram, Khalil Alipour, and Alireza Hadi. "An algorithm for dynamic object manipulation by a flexible link robot." Engineering Computations 33, no. 5 (July 4, 2016): 1508–29. http://dx.doi.org/10.1108/ec-06-2015-0145.

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Purpose – The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach – Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings – The obtained simulation results reveal the effectiveness of both proposed innovative numerical solution technique and control structure for online object manipulation purposes using flexible manipulators. Originality/value – The object manipulation problem has previously been studied, however, for the first time its accomplishment by flexible link manipulators was addressed just in offline form considering an open-loop control structure (Tarvirdizadeh and Yousefi-Koma, 2012). As an extension of Tarvirdizadeh and Yousefi-Koma (2012), the current research, consequently, focusses on a numerical solution and a CL approach for performing DOM by a flexible link manipulator.
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Dissertations / Theses on the topic "Design of a single-purpose manipulator"

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Yoon, Jun Young Ph D. Massachusetts Institute of Technology. "Design and testing of a high accuracy robotic single-cell manipulator." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/68574.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 137-139).
We have designed, built and tested a high accuracy robotic single-cell manipulator to be able to pick individual cells from array of microwells, each 30 Pm or 50 pm cubed. Design efforts have been made for higher accuracy, higher throughput, and compactness. The proposed system is designed to have a T-drive mechanism with two linear stages for XY-plane positioning to have higher stiffness and less structurally inherent error. Precision is especially required in Z-axis movement for successful cell-retrieval procedure and so a rotational mechanism with a voice coil actuator, among many options, is selected for the Z-axis motion because this results in relatively smaller reaction on the system and has advantages of direct drive. The prototype of the robotic single-cell picker integrates the Z-axis and XY stage motion, realtime microscopy imaging, and cell manipulation with a NI PXI-controller centered as a main real-time controller. This prototype is built to test performances of the proposed system in terms of single-cell retrieval and this thesis also discusses the experiments for the cell-retrieval process with microbeads of the equivalent size and the results as well. This proposed system will be used to help select and isolate an individual hybridoma from polyclonal mixture of cells producing various types of antibodies. It is important to be able to do this cell-retrieval task since a single isolated hybridoma cell produces monoclonal antibody that only recognizes specific antigens, and this monoclonal antibody can be used to develop cures and treatments for many diseases. Our research's development of accurate and dedicated mechatronics solution will contribute to more rapid and reliable investigation of cell properties. Such analysis techniques will act as catalyst for quicker discovery of treatments and vaccines on a wide range of diseases including HIV infection, tuberculosis, hepatitis C, and malaria with potential impact on the society.
by Jun Young Yoon.
S.M.
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Bláha, Pavel. "Návrh konstrukce jednoúčelového manipulátoru pro automatickou výměnu nástrojů s třívačkovým generátorem pracovního cyklu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442800.

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This thesis deals with the design of a single-purpose manipulator for automatic tool changing with a three-cams generator of the working cycle. At the beginning of the paper, general background information about tool trays and manipulators for the change of tools is briefly described. The scheme of the kinematic manipulator is proposed in this work as well. The thesis also includes the calculation of the shapes of the grooves in the cams. The result of this work is the design of the manipulator, including an animation of tool changing.
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Gore, Kiron Pralhad. "Design, fabrication and testing of a special purpose end effector for the task of bin-picking." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/16954.

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Warren, Frances V. "The design of purpose built, public sector housing provision for young single people." Thesis, Oxford Brookes University, 1988. https://radar.brookes.ac.uk/radar/items/7e73da64-b554-499f-b1ee-919c48be7fb2/1/.

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A preliminary examination of the range of housing provision for young single people in both the public and private sectors of the housing market in England and Wales indicated that a large proportion of young single people have no viable alternative to renting from the public sector, yet little consideration is given to their housing need. From this main problem area, that is the relationship between the housing requirements of young single people who are dependent on rented accommodation and the housing provision made for this group through the public sector, three main research propositions were formulated. These were tested through detailed examination and analysis of data which was collected, using a variety of methods, from the architects, designers, housing managers and tenants of three young single person housing schemes used as case studies. The research found that specifically designed public sector housing provision available for young single people to rent is designed according to recommendations and standards contained in the design guidance. These, it is argued, are based on inaccurate perceptions of the characteristics and housing requirements of young single people. The research identified a number of mismatches between the perception of young single people, both stated and implicit, in the design guidance, and the actual characteristics of the tenants of the three schemes surveyed, who were taken as representative of young single people. In particular the research found that young single people were no more mobile than older single people and spent more time in the home than the design guidance had anticipated, due to different patterns of both employment and social activity. This finding is crucial because the assumption of a high level of mobility with little time spent in the home forms the basis for the design guidance recommendation for two distinct categories of accommodation, smaller bedsits or shared flats for younger single people and larger onebedroom flats for older single people. The research considered whether the specifically designed public sector housing provided for young single people matched their housing requirements. A number of mismatches were identified, in particular between the provision and requirement for space and some services in the flats and for tenants'social requirements, including control over their environment. There was a higher incidence of mismatch in the design of the individual dwelling units than in the general design features of the scheme. From this investigation conclusions were drawn and new recommendations made for the future provision of more appropriate accommodation for young single people.
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Zukas, Paulius. "Raising Awareness of Computer Vision : How can a single purpose focused CV solution be improved?" Thesis, Linnéuniversitetet, Institutionen för datavetenskap och medieteknik (DM), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-76625.

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The concept of Computer Vision is not new or fresh. On contrary ideas have been shared and worked on for almost 60 years. Many use cases have been found throughout the years and various systems developed, but there is always a place for improvement. An observation was made, that methods used today are generally focused on a single purpose and implement expensive technology, which could be improved. In this report, we are going to go through an extensive research to find out if a professionally sold, expensive software, can be replaced by an off the shelf, low-cost solution entirely designed and developed in-house. To do that we are going to look at the history of Computer Vision, examples of applications, algorithms, and find general scenarios or computer vision problems which can be solved. We are then going take a step further and define solid use cases for each of the scenarios found. Finally, a prototype solution is going to be designed and presented. After analysing the results gathered we are going to reach out to the reader convincing him/her that such application can be developed and work efficiently in various areas saving investments to businesses.
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Janoušek, Roman. "Návrh software jednoúčelového stroje pro výrobní testy." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232098.

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This diploma thesis deals with design and implementation of software for control of manufacturing tests of pneumatic proportional valve Festo MPYE. The single-purpose testing device consists of a DAQ device, a pressure sensor and of electrically operated pneumatic valves. In the introduction of this thesis are outlined aims of thesis followed by introduction to single-purpose assemblies commonly used in practice. The main part of this thesis deals with analysis and with solving the issues of assigned product testing. The designed and implemented modular software for control of manufacturing tests of assigned product is presented as an outcome and this software is easily adjustable for tests of a different product. In the conclusion are assessed achieved aims.
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Vlasák, František. "Konstrukce koncového testovacího zařízení elektromagnetu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-254347.

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Master thesis describes a single-purpose machine design, that is used for testing a basic features of proportional solenoid. The design is created in cooperation with company NUVIA a.s. and contains mechanical solution that is processed in respect with ergonomic requirements, safety and overall costs. Machine concept is affected by customer requirements, whose name, as well as real parameters of the product will not be published, because of non-disclosure agreement.
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Picchiottino, Mathieu. "Effets des manipulations articulaires sur les marqueurs de l'activité du système nerveux autonome The acute effects of joint manipulative techniques on markers of autonomic nervous system activity: a systematic review and meta-analysis of randomized sham-controlled trials The effect of a single spinal manipulation on cardiovascular autonomic activity and the relationship to pressure pain threshold: a randomized, cross-over, sham-controlled trial What is the effect of spinal manipulation on the pressure pain threshold in young asymptomatic subjects? A randomized placebo-controlled trial, with a cross-over design." Thesis, université Paris-Saclay, 2020. http://www.theses.fr/2020UPASS103.

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L’utilisation des manipulations articulaires dans la prise en charge de certains troubles musculosquelettiques est ancienne, répandue et soutenue par la littérature scientifique. Cependant, les mécanismes d’action des différentes techniques de manipulation sont mal compris. Le potentiel effet des manipulations articulaires sur l’activité autonome est une composante fondamentale de théories relatives à leurs mécanismes d’action. Une de ces théories propose l’activation, par les manipulations articulaires, du système inhibiteur descendant de la douleur via la stimulation de la substance grise périaqueducale, une structure qui participe à la coordination de la modulation de la douleur et de l’activité autonome. Cette théorie a toutefois été peu explorée dans la littérature. Le premier objectif de cette thèse était d’évaluer les effets spécifiques des différentes techniques de manipulation articulaire sur les marqueurs de l’activité autonome en réalisant une revue systématique de la littérature. Le second objectif était d’évaluer (i) l’effet spécifique d’une manipulation vertébrale avec impulsion sur l’activité autonome cardiovasculaire et sur le seuil de douleur à la pression, ainsi que (ii) la relation entre ces deux variables. Notre évaluation de la littérature suggère que certaines techniques de mobilisation articulaire, les mobilisations avec oscillations, produisent probablement, par rapport au placébo, une augmentation statistiquement significative de l’activité sympathique cutanée. Les manipulations vertébrales avec impulsion ainsi qu’une autre technique de mobilisation vertébrale pourraient, quant à elles, ne pas avoir d’effet spécifique sur l’activité autonome. Les résultats de notre essai expérimental suggèrent que l’application d’une manipulation vertébrale avec impulsion n’a pas d’effet spécifique sur l’activité autonome cardiovasculaire ni sur le seuil de douleur à la pression. De plus, nous n’avons pas mis en évidence de relation entre la modulation de la douleur et la modulation de l’activité autonome après l’intervention. Ainsi, ces données expérimentales ne sont pas en faveur de l’activation du système inhibiteur descendant de la douleur par ce type de manipulation. Pour conclure, nous suggérons de nouveaux travaux expérimentaux et cliniques dans ce domaine de recherche. Plusieurs recommandations sont formulées dans ce sens
The use of joint manipulative techniques in the management of some musculoskeletal disorders is ancient, common and supported by scientific literature. However, the mechanisms of action of these techniques are poorly understood. The potential effect of joint manipulative techniques on autonomic activity is a fundamental component of theories relating to their mechanisms of action. One of these theories proposes that joint manipulative techniques may activate the descending pain inhibitory system projecting from the periaqueductal gray matter, a structure that participates in the coordination of pain modulation and autonomic activity. However, this theory has been little explored in the literature. The first objective of this thesis was to evaluate the specific effects of joint manipulative techniques on markers of autonomic activity by conducting a systematic review of the literature. The second objective was to evaluate (i) the specific effect of a single spinal manipulation (thrust technique) on both cardiovascular autonomic activity and pressure pain threshold, and (ii) the relationship between these two variables. Our evaluation of the literature suggests that oscillatory mobilizations, compared to a sham, probably produce a statistically significant increase in skin sympathetic nerve activity. Spinal manipulation and another type of spinal mobilization technique may have no specific effect on autonomic activity. The results of our experimental trial suggest that the application of a single spinal manipulation has no specific effect on cardiovascular autonomic activity and also not on pressure pain threshold. In addition, we found no relationship between pain modulation and cardiovascular autonomic activity after the intervention. Thus, these experimental results do not support the activation of the descending pain inhibitory system by this type of manipulation. To conclude, we suggest further experimental and clinical research in this area. Several recommendations are made in this regard
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Tulis, Jiří. "Návrh jednoúčelového stroje pro vrtání a obrážení plastového výlisku a následné lisování vnitřního mechanismu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-316910.

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The aim is to design a single purpose machine for drilling and slotting plastic molding and then pressing the internal mechanics. First is described the current product technology, according to which the defined parameters of the basic units of the machine. Then described two possible design concepts devices whose suitability is then evaluated multi-criteria method.
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Dvořák, Radim. "Zvýšení efektivity montážního pracoviště." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318827.

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This diploma thesis deals with increasing the efficiency of the assembly workplace (production line). Thesis gradually discusses with lean production, their basic methods and the EURO VI emission standard, which is closely related to the produced product. In the main part, an analysis of the current state is performed with the help of the above-mentioned methods and a proposal of solutions to ensure efficiency. On the base of these findings, the automation of the test station is proposed, including a 3D model, drawing documentation, phases of implementation and real cost calculations with a final assessment of efficiency, return of investments and risk analysis. The second elaborated complementary variant deals with the ergonomics of the production line and includes a 3D model of newly designed tables, real calculations and final economic evaluation.
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Books on the topic "Design of a single-purpose manipulator"

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Ovtov, Vladimir. Machine parts. Course design. ru: INFRA-M Academic Publishing LLC., 2021. http://dx.doi.org/10.12737/1171976.

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The textbook discusses the methodology of course design of general-purpose drives with a single-stage gearbox (cylindrical, conical and worm) and a V-belt or chain transmission. The procedure for calculating gears and constructing assembly drawings of gearboxes is shown, the development of specifications using the COMPASS-3D computer-aided design system is described. Examples of the design of drawings of the general type of the drive, assembly drawings of gearboxes and working drawings of parts of various types of gearboxes are given. Meets the requirements of the federal state educational standards of higher education of the latest generation. It is intended for independent work of students of engineering specialties studying in the bachelor's degree and specialty.
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Hibbert, D. Brynn. Quality Assurance in the Analytical Chemistry Laboratory. Oxford University Press, 2007. http://dx.doi.org/10.1093/oso/9780195162127.001.0001.

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Analytical chemical results touch everyones lives can we eat the food? do I have a disease? did the defendant leave his DNA at the crime scene? should I invest in that gold mine? When a chemist measures something how do we know that the result is appropriate? What is fit for purpose in the context of analytical chemistry? Many manufacturing and service companies have embraced traditional statistical approaches to quality assurance, and these have been adopted by analytical chemistry laboratories. However the right chemical answer is never known, so there is not a direct parallel with the manufacture of ball bearings which can be measured and assessed. The customer of the analytical services relies on the quality assurance and quality control procedures adopted by the laboratory. It is the totality of the QA effort, perhaps first brought together in this text, that gives the customer confidence in the result. QA in the Analytical Chemistry Laboratory takes the reader through all aspects of QA, from the statistical basics and quality control tools to becoming accredited to international standards. The latest understanding of concepts such as measurement uncertainty and metrological traceability are explained for a working chemist or her client. How to design experiments to optimize an analytical process is included, together with the necessary statistics to analyze the results. All numerical manipulation and examples are given as Microsoft Excel spreadsheets that can be implemented on any personal computer. Different kinds of interlaboratory studies are explained, and how a laboratory is judged in proficiency testing schemes is described. Accreditation to ISO 17025 or OECD GLP is nearly obligatory for laboratories of any pretension to quality. Here the reader will find an introduction to the requirements and philosophy of accreditation. Whether completing a degree course in chemistry or working in a busy analytical laboratory, this book is a single source for an introduction into quality assurance.
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Taberlet, Pierre, Aurélie Bonin, Lucie Zinger, and Eric Coissac. Single-species detection. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198767220.003.0009.

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Chapter 9 “Single-species detection” deals with the practical aspects of detecting a single and predefined taxon with eDNA, with a particular focus on the use of quantitative PCR (qPCR) for this purpose. After presenting how single-species detection has been implemented in a few seminal studies, it details the principles underlying qPCR. More specifically, it describes the typical qPCR amplification curve and the different systems (SYBR green and TaqMan probe assays) available to record amplicon accumulation in real time via fluorescence measurements. Chapter 9 also explains how the initial number of target sequences can be estimated with the Ct method, and addresses the design and test of reliable qPCR barcodes and probes targeting a single species. Finally, several important experimental considerations are highlighted, including the particular concerns of contamination and inhibition in qPCR.
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Touchon, Justin C. Applied Statistics with R. Oxford University Press, 2021. http://dx.doi.org/10.1093/oso/9780198869979.001.0001.

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Whether at the undergraduate, graduate, or post-graduate level, Applied Statistics with R: A Practical Guide for the Life Sciences teaches readers to properly analyze data in an efficient, accessible, plainspoken, frank, and occasionally humorous manner. Readers will come away with the knowledge of which analyses they should use and when they should use them, an important skill in an age when the statistical analyses used in the life-sciences are becoming increasingly advanced. This book uses the statistical language R, which is the choice of ecologists worldwide and is rapidly becoming the ‘go-to’ stats program throughout the life-sciences. Written around a single real-world dataset, Applied Statistics with R which encourages readers to become deeply familiar with an imperfect but realistic set of data, much like they themselves might collect. Early chapters are designed to teach basic data manipulation skills and build good habits in preparation for learning more advanced analyses. This approach also demonstrates the importance of viewing data through different lenses, facilitating an easy and natural progression from linear and generalized linear models through to mixed effects versions of those same analyses. Readers will also learn advanced plotting and data-wrangling techniques, and gain an introduction to writing their own functions. Applied Statistics with R is suitable for senior undergraduate and graduate students, professional researchers, and practitioners throughout the life-sciences, whether in the fields of ecology, evolution, environmental studies, or computational biology.
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Trezek, Beverly J., and Ye Wang. Evaluating Evidence-Based Practices in Reading Interventions for Deaf Students. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780190455651.003.0013.

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The purpose of this chapter is to evaluate evidence-based practices in reading interventions for deaf students using the Council for Exceptional Children (CEC) standards published in 2014. These standards first use eight quality indicators to determine the methodological rigor of group comparison or single-subject design studies. Evidence-based classifications are then applied to groups of studies evaluating designated categories of practice. A review of the literature yielded 30 reading intervention studies between 2000 and 2016, of which 10 employed designs allowing for subsequent analyses. The application of the quality indicators resulted in nine methodologically sound studies in six categories of practice. Although findings revealed that none of the included reading intervention practices was considered evidence-based, three were classified as potentially evidence-based, one as having mixed evidence, and the remaining two as having insufficient evidence. Challenges to meeting the CEC standards are discussed and recommendations for future research explored.
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Book chapters on the topic "Design of a single-purpose manipulator"

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Di Gregorio, Raffaele. "Kinematic Analysis of a Single-Loop Translational Manipulator." In ROMANSY 21 - Robot Design, Dynamics and Control, 73–79. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_9.

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Das, Sayan, and Naiwrita Dey. "PID Controller Design for Reference Tracking of Single Link Manipulator." In Smart Innovation, Systems and Technologies, 25–43. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-1777-5_3.

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Singh, Abhaya Pal, Dipankar Deb, Himanshu Agrawal, and Valentina E. Balas. "Modeling, Stability and Fractional Control of Single Flexible Link Robotic Manipulator." In Fractional Modeling and Controller Design of Robotic Manipulators, 83–98. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58247-0_5.

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Andrade, José Manuel, and Christopher Edwards. "LMI-Based Sliding Mode Controller Design for an Uncertain Single-Link Flexible Robot Manipulator." In Lecture Notes in Electrical Engineering, 696–706. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58653-9_67.

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Fraser, Anthony R., and Ron W. Daniel. "Control design for the single-link arm." In Perturbation Techniques for Flexible Manipulators, 97–117. Boston, MA: Springer US, 1991. http://dx.doi.org/10.1007/978-1-4615-3974-2_5.

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Bureš, P. "Application of Motion API for Input Production Data in a Single-Purpose Machine Tool with Control System by YASKAWA." In Advances in Mechanisms Design, 489–94. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-5125-5_64.

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Koçak, Mertcan, Fatih Cemal Can, and Erkin Gezgin. "Design of a Graphical User Interface for the Structural Synthesis of Parallel Manipulators with Single Platform." In Lecture Notes in Computer Science, 182–92. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-26118-4_18.

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Xidias, Elias K., Philip N. Azariadis, and Nikos A. Aspragathos. "Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications." In Robotic Systems, 1358–76. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch065.

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The purpose of this paper is to present a mission design approach for a service mobile manipulator which is moving and manipulating objects in partly known indoor environments. The mobile manipulator is requested to pick up and place objects on predefined places (stations). The proposed approach is based on the Bump-Surface concept to represent robot's environment through a single mathematical entity. The solution of the mission design problem is searched on a higher dimension Bump-Surface in such a way that its inverse image into the actual robot environment satisfies the given objectives and constraints. The problem's objectives consist of determining the best feasible paths for both the mobile platform and for the manipulator's end-effector so that all the stations are served at the lowest possible cost. Simulation examples are presented to show the effectiveness of the presented approach.
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Liu, Kai, Hongbo Li, and Zengqi Sun. "Ellipse Detection-Based Bin-Picking Visual Servoing System." In Engineering Creative Design in Robotics and Mechatronics, 114–21. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-4225-6.ch008.

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In this chapter, the authors tackle the task of picking parts from a bin (bin-picking task), employing a 6-DOF manipulator on which a single hand-eye camera is mounted. The parts are some cylinders randomly stacked in the bin. A Quasi-Random Sample Consensus (Quasi-RANSAC) ellipse detection algorithm is developed to recognize the target objects. Then the detected targets’ position and posture are estimated utilizing camera’s pin-hole model in conjunction with target’s geometric model. After that, the target, which is the easiest one to pick for the manipulator, is selected from multi-detected results and tracked while the manipulator approaches it along a collision-free path, which is calculated in work space. At last, the detection accuracy and run-time performance of the Quasi-RANSAC algorithm is presented, and the final position of the end-effecter is measured to describe the accuracy of the proposed bin-picking visual servoing system.
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Roychoudhuri, ChandraSekhar. "Do We Manipulate Photons or Diffractive EM Waves to Generate Structured Light?" In Single Photon Manipulation. IntechOpen, 2020. http://dx.doi.org/10.5772/intechopen.88849.

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In the domain of light emissions, quantum mechanics has been an immensely successful guiding tool for us. In the propagation of light and optical instrument design, Huygens-Fresnel diffraction integral (HFDI) (or its advanced versions) and Maxwell’s wave equation are continuing to be the essential guiding tools for optical scientists and engineers. In fact, most branches of optical science and engineering, like optical instrument design, image processing, Fourier optics, Holography, etc., cannot exist without using the foundational postulates behind the Huygens-Fresnel diffraction integral. Further, the field of structured light is also growing where phases and the state of polarizations are manipulated usually with suitable classical macro-devices to create wave fronts that restructured through light-matter interactions through these devices. Mathematical modeling of generating such complex wave fronts generally follows classical concepts and classical macro tools of physical optics. Some of these complex light beams can impart mechanical angular momentum and spin-like properties to material particles inserted inside these structured beams because of their electromagnetic dipolar properties and/or structural anisotropy. Does that mean these newly structured beams have acquired new quantum properties without being generated through quantum devices and quantum transitions? In this chapter, we bridge the classical and quantum formalism by defining a hybrid photon (HP). HP is a quantum of energy, hν, at the initial moment of emission. It then immediately evolves into a classical time-finite wave packet, still transporting the original energy, hν, with a classical carrier frequency ν (oscillation of the E-vector). This chapter will raise enquiring questions whether all these observed “quantum-like” behaviors are manifestations of the joint properties of interacting material particles with classical EM waves or are causal implications of the existence of propagation of “indivisible light quanta” with exotic properties like spin, angular momentum, etc.
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Conference papers on the topic "Design of a single-purpose manipulator"

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Nataraj, C. "Flexibility Effects in a Single Link Robotic Manipulator." In ASME 1993 Design Technical Conferences. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/detc1993-0150.

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Abstract A single link robotic manipulator is modeled as a rotating flexible beam with a rigid mass at the tip and accurate energy expressions are derived. The resulting partial differential equations are solved using an approximate method of weighted residuals. From the solutions, coupling between axial and flexural deformations and the interactions with rigid body motions are rigorously analyzed. The emphasis in the current paper is not on an exhaustive analysis of existing systems but it is rather intended to compare and highlight the various flexibility effects in a relatively simple system. Hence, a nondimensional parametric analysis is performed to determine the effect of several parameters (including the rotating speed) on the errors and the individual interaction effects are discussed. Comparison with previous work in the field shows important phenomena often ignored or buried in large scale numerical analyses. Future work including application to multi-link robots is outlined.
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Mahto, S., and U. S. Dixit. "Optimized Design of Single Link Flexible Manipulator." In ASME 2011 International Mechanical Engineering Congress and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/imece2011-63106.

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In this work, size optimization of a single link flexible robotic manipulator is carried out by considering the link as an Euler-Bernoulli beam. Finite element method is used for obtaining the natural frequencies and time response. Sequential quadratic programming method is used to maximize fundamental frequencies of the manipulator for different designs. A comparative study of the optimized designs is carried out to find out their suitability for real world situation. Based on the numerical experimentation, suggestion for formulating optimization problem for varying tip loads is provided.
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Altuzarra, Oscar, Charles Pinto, Bogdan Sandru, and Enrique Amezua. "Pareto-Optimal Solutions Using Kinematic and Dynamic Functions for a Scho¨nflies Parallel Manipulator." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86723.

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The search of Pareto-optimal solutions for the optimal design of Low-Mobility Parallel Manipulators with Scho¨nflies motion is the subject of this paper. As a working example, a four-degree-of-freedom symmetric parallel manipulator for Scho¨nflies-motion generation is taken. In previous work, analytically found objective functions for the optimal design were used. As a consequence, some limitations were detected and new functions are required. First, a manipulator description is made, and kinematic and dynamic problems are solved. Next, an operational and dexterous workspace along with its volume is found making use of a discretization. Further, the variation of this volume with dimensional parameters is shown for purpose of optimal design. Similarly, the manipulator’s dexterity based on the Frobenius norm is found and weighted with the measure of dispersion. Then, upon a type of testing trajectory over this workspace, kinematic and dynamic results in the actuators are proposed as objective functions in multiobjective optimization.
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Altuzarra, Oscar, Vi´ctor Petuya, Mo´nica Uri´zar, and Alfonso Herna´ndez. "Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86654.

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An important difficulty in the design of parallel manipulators is their reduced practical workspace, due mainly to the existence of a complex singularity locus within the workspace. The workspace is divided into singularity-free regions according to assembly modes and working modes, and the dimensioning of parallel manipulators aims at the maximization of those regions. It is a common practice to restrict the manipulator’s motion to a specific singularity-free region. However, a suitable motion planning can enlarge the operational workspace by means of transitions of working mode and/or assembly mode. In this paper, the authors present an analytical procedure for obtaining the loci of cusp points of a parallel manipulator as algebraic expressions of its dimensional parameters. The purpose is to find an optimal design for non-singular transitions to be possible.
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Meggiolaro, Marco A., Guglielmo Scriffignano, and Steven Dubowsky. "Manipulator Calibration Using a Single Endpoint Contact Constraint." 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-14129.

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Abstract Most manipulator calibration techniques require expensive and/or complicated pose measuring devices, such as theodolites. This paper investigates a calibration method where the manipulator endpoint is constrained to a single contact point and executes self-motions. From the easily measured joint angle readings, and an identification model, the manipulator is calibrated. Adding a wrist force sensor allows for the calibration of elastic effects due to end-point forces and moments. Optimization of the procedure is discussed. Experimental results are presented, showing the effectiveness of the method.
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Feliu, Vicente, Blas M. Vinagre, and Concepcio´n A. Monje. "Fractional Control of a Single-Link Flexible Manipulator." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84819.

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A new method to control single-link lightweight flexible manipulators in the presence of changes in the load is proposed in this paper. The overall control scheme consists of three nested control loops. Once the friction and other nonlinear effects have been compensated, the inner loop is designed to give a fast motor response. The middle loop decouples the dynamics of the system, and reduces its transfer function to a double integrator. A fractional-derivative controller is used to shape the outer loop into the form of a fractional-order integrator. The result is a constant-phase system with, in the time domain, step responses exhibiting constant overshoot, independently of variations in the load. Continuous and discrete approximate implementations of the fractional controller are simulated. Comparison of the responses to a step command of the manipulator controlled with the proposed approximations and with the ideal fractional controller showed that the latter could be accurately approximated by standard continuous and discrete controllers of high order preserving the robustness. An interesting feature of this control scheme is that the overshoot is independent of the tip mass. This allows a constant safety zone to be delimited for any given placement task of the arm, independently of the load being carried, thereby making it easier to plan collision avoidance. Simulations also include comparison with standard PD controller, and verification of the assumption of dominant low-frequency vibration mode.
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Erickson, Jeffrey E., Kathryn J. DeLaurentis, and Mourad Bouzit. "A Novel Single Digit Manipulator for Prosthetic Hand Applications." In 2007 IEEE Systems and Information Engineering Design Symposium. IEEE, 2007. http://dx.doi.org/10.1109/sieds.2007.4373999.

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Chowdhury, A. M. Masum Bulbul, Michael J. Cullado, and Tao Shen. "A Wire-Driven Multifunctional Manipulator for Single Incision Laparoscopic Surgery." In 2020 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dmd2020-9015.

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Abstract Minimally Invasive Surgery (MIS) has gained popularity in current abdominal surgical procedures due to its reduced skin incision length, shortened recovery time and decreased postoperative complications. One trend is to enhance these benefits by developing technologies to expand the application of single incision laparoscopic surgery (SILS) which has even less incision and incision-related complication. However, the practical application of SILS has been constrained by many complexities, including fundamental procedure issues (e. g. limited space), as well as the issues related to surgical tools, such as lack of actuation force, weak tool tips, poor visualization and lack of dexterous multitasking tools. Due to this lack of multitasking tools, the surgical tools or robots have to be retracted, exchanged and reset multiple times during the surgery, increasing the surgical time, the risk of injury and the surgeon’s level of fatigue. This paper focuses on developing a multifunctional manipulator with an automatic tool changing capability to boost practical application of SILS. The manipulator uses a wire-driven method that minimizes the potential damage from sterilization since the electronic actuation and sensing components are located remotely from the end-effector which needs heat or chemical sterilization before surgery. The feasibility of the tool tip changing method has been demonstrated by experiments.
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Lorenz, Michael, Burkhard Corves, and Martin Riedel. "Kinetostatic Performance Analysis of a Redundantly Driven Parallel Kinematic Manipulator." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34998.

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In general the mechanical handling of objects in space is performed by manipulators, whose number of actuators is consistent with the number of required degrees of freedom. In addition, manipulators can be equipped with redundant drives, providing the manipulator with more actuators than the mobility actually requires. Thus, an active distribution of drive torques is enabled. Accordingly, this research intends to analyze the effects of torque distribution in over-actuated manipulators relating to load-optimized and energy-efficient handling. By developing torque distribution strategies the maximum torque levels can be reduced and the required drive power thus be decreased. This results in an increased drive utilization, which improves the energy-efficiency of the handling system. On this basis, an innovative handling concept is analyzed, which represents an over-determined system given the number of actuators. Hence, it is shown that the drive utilization of manipulators can be significantly improved by means of actuation redundancy. For this purpose different mathematical optimization approaches are analyzed, which solve the over-actuated system with defined optimization targets. Here, the optimal torque distribution is found using an algorithm, which minimizes the maximum torque for each object position. The results demonstrate the efficiency of active torque distribution in terms of over-actuated manipulators. For a further approach it is planned to develop control methods including optimized torque distribution strategies in order to improve the performance and the energy efficiency of the entire manipulator.
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Chen, Yu-Che, and Kevin A. O’Neil. "Comparison of Damped Velocity and Acceleration Control for Non-Redundant Manipulators." 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-14181.

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Abstract Damped Least Square (DLS) method has been widely used as an on-line algorithm for manipulator path tracking near and at singular configurations. Wampler (1986) formulated the framework of DLS method applied to velocity control and addressed the applicability of DLS method to acceleration control. The purpose of this paper is to demonstrate the differences in the joint paths generated by damped velocity and damped acceleration control algorithms in non-redundant manipulators. We examine these joint paths, find the cause of the differences, and demonstrate the features of damped acceleration control in non-redundant manipulator dynamics. Simulation results on a planar 2R and a spatial 6R manipulator moving through and near singular configurations verify the phenomena analyzed.
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Reports on the topic "Design of a single-purpose manipulator"

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Nelson, Gena. Proportional Reasoning Interventions in Special Education Synthesis Coding Protocol. Boise State University, April 2021. http://dx.doi.org/10.18122/sped136.boisestate.

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The purpose of document is to provide readers with the coding protocol that authors used to code nine group and single case design intervention studies focused on proportional reasoning interventions for students (grades 5-9) with learning disabilities (LD) or mathematics difficulty (MD). The studies yielded intervention effects ranging from g = −0.10 to 1.87 and from Tau-U = 0.88 to 1.00. We coded all of the studies for variables in the following categories: study information, intervention features, dependent measures, participant demographics, LD and MD criteria and definitions, instructional content, study results, and quality indicators for group and single case design. The study quality indicator coding portion of this coding protocol was adapted from Gersten et al. (2005) and Horner et al. (2005). This code book contains variable names, code options, and code definitions. The mean interrater reliability across all codes using this protocol was 91% (range across categories = 82%–96%). The publication associated with this coding protocol is Nelson et al. (2020).
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