Dissertations / Theses on the topic 'Industrial gripper'

The human hand is a great generic gripper as it can grasp objects of unknown shapes, weights and surfaces. Most robotic grippers in today's industry have to be custom made and tuned for each application by engineers, thus many man hours are required to get the desired behavior and repeatability. To be able to adapt some of the capabilities of the human hand into robust industrial robotic grippers would enhance their usability and ease the tuning by engineers once installed. This thesis discusses the development of a robust intelligent gripper for industrial use, based on piezo sensors which have the ability to both sense slippage and detect objects. First, an experimental sensor prototype was developed successfully using an amplification circuit and algorithms implemented in LabView. Secondly, a final prototype containing a signal board, an FPGA board, a simple gripper with linear units and more robust sensor modules where developed. The thesis further discusses which parts of the intelligent gripper that have been successfully implemented within the project time frame and which parts that needs to be further implemented, tested and improved.
Den mänskliga handen är en fantastisk universiell gripklo då den kan greppa objekt av okänd form, vikt och yta. De flesta gripklor i dagens industri måste vara specialgjorda och anpassas för varje applikation av ingenjörer och därmed behövs otaliga mantimmar för att få önskat beteende och repeterbarhet. Att kunna anpassa vissa av den mänskliga handens egenskaper till en robust industriell robotgripklo skulle utöka dess användarområde och lätta upp anpassningen för ingenjörer när den väl är installerad. Detta examensarbete diskuterar hur en robust intelligent gripklo har blivit utvecklat for industriellt bruk baserad på piezo sensorer som har förmågan att känna av glidning och initiell kontakt av objekt. Först, en experimentiell fungerande sensorprototyp utvecklades med hjälp av en förstärkningskrets och algoritmer implementerade i LabView. Därefter utvecklades en slutlig prototyp innehållandes ett signalkort, ett FPGA-kort, en enkel gripklo med linjärenheter och mer robusta sensorer. Examensarbetet tar vidare upp vilka delar som framgångsrikt blivit implementerade och vilka delar som behöver utvecklas ytterligare, testas och förbättras.

A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor.
Master of Engineering

Intelligent gripping may be achieved through gripper design, automated part recognition, intelligent algorithm for control of the gripper, and on-line decision-making based on sensory data. A generic framework which integrates sensory data, part recognition, decision-making and gripper control to achieve intelligent gripping based on ABB industrial robot is constructed. The three-fingered gripper actuated by a linear servo actuator designed and developed in this project for precise speed and position control is capable of handling a large variety of objects. Generic algorithms for intelligent part recognition are developed. Edge vector representation is discussed. Object geometric features are extracted. Fuzzy logic is successfully utilized to enhance the intelligence of the system. The generic fuzzy logic algorithm, which may also find application in other fields, is presented. Model-based gripping planning algorithm which is capable of extracting object grasp features from its geometric features and reasoning out grasp model for objects with different geometry is proposed. Manipulator trajectory planning solves the problem of generating robot programs automatically. Object-oriented programming technique based on Visual C++ MFC is used to constitute the system software so as to ensure the compatibility, expandability and modular programming design. Hierarchical architecture for intelligent gripping is discussed, which partitions the robot’s functionalities into high-level (modeling, recognizing, planning and perception) layers, and low-level (sensing, interfacing and execute) layers. Individual system modules are integrated seamlessly to constitute the intelligent gripping system.

Automation of the industrial transformer core assembly process is highly desirable. A survey undertaken by the author however, revealed that due to the high cost of existing fully automated systems, Australian manufacturers producing low to medium transformer volumes continue to maintain a manual construction approach. The conceptual design of a cost-effective automation system for core assembly from pre-cut lamination stacks was consequently undertaken. The major hurdle for automating the existing manual process was identified as the difficulty in reliably handling and accurately positioning the constituent core laminations, which number in their thousands, during transformer core construction. Technical evaluation of the proposed pick-and-place core assembly system, incorporating two mobile robots bearing a common gripper, is presented herein to address these requirements. A unique robotic gripper, having the capability to selectively pick a given number of steel laminations (typically two or three) concurrently from a stack, has the potential to significantly increase productivity. The only available avenue for picking multiple laminations was deemed to be a gripper based on magnetism. Closed form analytical and finite element models for an electromagnet-stack system were contrived and their force distributions obtained. The theoretical findings were validated by experiment using a specially constructed prototype. Critical parameters for reliably lifting the required number of laminations were identified and a full scale electromagnet, that overcame inherent suction forces present in the stack during picking, was subsequently developed. A mechanical docking arrangement is envisaged that will ensure precise lamination placement. Owing to the grippers unwieldy length however, conventional robots cannot be used for assembling larger cores. Two wheeled mobile robots (WMRs) compliantly coupled to either end of the gripper could be considered although a review of the current literature revealed the absence of a suitable controller. Dynamic modelling for a single WMR was therefore undertaken and later expanded upon for the dual WMR system conceived. Nonlinear adaptive controllers for both WMR systems were developed and subsequently investigated via simulation. Neglecting the systems dynamics resulted in analogous, simplified kinematic control schemes, that were verified experimentally using prototypes. Additional cooperative control laws ensuring the synchronisation of the two robots were also implemented on the prototype system.

Робота виконана на кафедрі автоматизації технологічних процесів і виробництв факультету прикладних інформаційних технологій та електроінженерії Тернопільського національного технічного університету імені Івана Пулюя Міністерства освіти і науки України. Захист відбудеться «17» червня 2021 р. о 9.00 год. на засіданні екзаменаційної комісії №21 у Тернопільському національному технічному університеті імені Івана Пулюя
У цій роботі представлено, як створювати, програмувати та моделювати робочі комірки та станції за допомогою RobotStudio, а також контролювати, встановлювати, конфігурувати та програмувати справжній контролер робота та робити збірку в Robotstudio за допомогою двох роботів та поворотного конвеєра. Деталі імпортовані з Solidworks. Oб'єктoм дocлідження є пpoцеc автоматизації складання деталей в робототехнічній комірці. Метa poбoти – є розробка та тестування програми автоматизації складання деталей в робототехнічній комірці.
This paper introduces how to create, program, and model workstations and stations using RobotStudio, as well as control, install, configure, and program a true robot controller and build in Robotstudio using two robots and a rotary conveyor. Parts imported from Solidworks. The object of research is the process of automation of assembly of parts in a robotic cell. The purpose of the work is to develop and test a program for automation of assembly of parts in a robotic cell.
ВCТYП 8 1 AНAЛІТИЧНA ЧACТИНA 9 1.1 Гнучкі робототехнічні системи та їх застосування 9 1.2 Роботизований процес складання 21 2 ПРОЕКТНА ЧACТИНA 25 2.1 Постановка завдання 25 2.2 Опис компонентів 26 2.2.1 Редактор RAPID 26 2.2.2 Редагування точок робота 27 2.2.3 Переглядач вводу / виводу 27 2.2.4 Конструктор системи 27 2.2.5 Менеджер з встановлення 27 2.2.6 Редактор конфігурацій 27 2.2.7 Резервне копіювання і відновлення 28 2.2.8 Розумні компоненти 28 2.2.9 Віртуальний час 28 2.2.10 Моделіст механізму 28 2.2.11 Швидка синхронізація 28 2.2.12 Multimove 29 2.2.13 Відстеження конвеєра 29 2.2.14 Точки та траєкторії 29 2.2.15 Точки 29 2.2.16 Траєкторія 30 2.2.17 Параметри переміщення 30 2.2.18 Інструкції дії 30 2.3 Створення розумного об’єкту в програмному середовищі 30 2.4 Розробка програми складання 43 3 СПЕЦІАЛЬНА ЧACТИНA 50 3.1 Робота в RobotStudio 50 3.1.1 Налагоджування системи 52 4 БЕЗПЕКА ЖИТТЄДІЯЛЬНОСТІ, ОСНОВИ ОХОРОНИ ПРАЦІ 56 4.1 Знaчення oхopoни пpaці в зaбезпеченні здopoвих yмoв пpaці 56 4.2 Oхopoнa пpaці як cиcтемa зaхoдів щoдo гapмoнізaції викopиcтaння кoмп’ютеpних технoлoгій 56 4.3 Aнaліз пoтенційних небезпек тa шкідливocтей виpoбничoгo cеpедoвищa 58 4.4 Електpoмaгнітний імпyльc ядеpнoгo вибyхy і зaхиcт від ньoгo paдіoелектpoнних зacoбів 63 4.5 Зaбезпечення нopмaльних yмoв пpaці 65 4.5.1 Вибіp пpиміщення 65 4.5.2 Зaбезпечення нopмaльних caнітapнo- гігієнічних yмoв нa poбoчoмy міcці 66 ВИCНOВКИ 69 ПЕPЕЛІК ПOCИЛAНЬ 70

This diploma thesis deals with the design of a virtual model of a robotic workplace. Robot and robotic workplaces are researched. Further, the design and safety phases of these workplaces are discussed. A conceptual model of the robotic workplace with robot IRB 4400/60 is designed, which is placed in the machine laboratory C1 of the Institute of Production Machines, Systems and Robotics at the Faculty of Mechanical Engineering of the Brno University of Technology. The virtual model is created in Process Simulate 13.0. It is designed to manipulate the dice, weld and operate the vertical machine tool.

This diploma thesis deals with the design of robot machining of three-dimensional objects. Used method is Part to tool, in which robot holds the part in its gripper and with stacionary clamped mill, machines the part. Overally three parts for machining are designed, everyone of them shows the different style of machining. Every machining operations are described in details. For their creation was used program Mastercam. Furthermore is described transfer of the data for industrial robot using program Robotmaster and recomanded algorithm for creation of similar tasks. The design of simplified workplace for demonstrative show of the milling of all the parts is also solved.

Artificial hands or grippers are essential elements in many robotic systems, such as, humanoid, industry, social robot, space robot, mobile robot, surgery and so on. As humans, we use our hands in different ways and can perform various maneuvers such as writing, altering posture of an object in-hand without having difficulties. Most of our daily activities are dependent on the prehensile and non-prehensile capabilities of our hand. Therefore, the human hand is the central motivation of grasping and manipulation, and has been explicitly studied from many perspectives such as, from the design of complex actuation, synergy, use of soft material, sensors, etc; however to obtain the adaptability to a plurality of objects along with the capabilities of in-hand manipulation of our hand in a grasping device is not easy, and not fully evaluated by any developed gripper. Industrial researchers primarily use rigid materials and heavy actuators in the design for repeatability, reliability to meet dexterity, precision, time requirements where the required flexibility to manipulate object in-hand is typically absent. On the other hand, anthropomorphic hands are generally developed by soft materials. However they are not deployed for manipulation mainly due to the presence of numerous sensors and consequent control complexity of under-actuated mechanisms that significantly reduce speed and time requirements of industrial demand. Hence, developing artificial hands or grippers with prehensile capabilities and dexterity similar to human like hands is challenging, and it urges combined contributions from multiple disciplines such as, kinematics, dynamics, control, machine learning and so on. Therefore, capabilities of artificial hands in general have been constrained to some specific tasks according to their target applications, such as grasping (in biomimetic hands) or speed/precision in a pick and place (in industrial grippers). Robotic grippers developed during last decades are mostly aimed to solve grasping complexities of several objects as their primary objective. However, due to the increasing demands of industries, many issues are rising and remain unsolved such as in-hand manipulation and placing object with appropriate posture. Operations like twisting, altering orientation of object within-hand, require significant dexterity of the gripper that must be achieved from a compact mechanical design at the first place. Along with manipulation, speed is also required in many robotic applications. Therefore, for the available speed and design simplicity, nonprehensile or dynamic manipulation is widely exploited. The nonprehensile approach however, does not focus on stable grasping in general. Also, nonprehensile or dynamic manipulation often exceeds robot’s kinematic workspace, which additionally urges installation of high speed feedback and robust control. Hence, these approaches are inapplicable especially when, the requirements are grasp oriented such as, precise posture change of a payload in-hand, placing payload afterward according to a strict final configuration. Also, addressing critical payload such as egg, contacts (between gripper and egg) cannot be broken completely during manipulation. Moreover, theoretical analysis, such as contact kinematics, grasp stability cannot predict the nonholonomic behaviors, and therefore, uncertainties are always present to restrict a maneuver, even though the gripper is capable of doing the task. From a technical point of view, in-hand manipulation or within-hand dexterity of a gripper significantly isolates grasping and manipulation skills from the dependencies on contact type, a priory knowledge of object model, configurations such as initial or final postures and also additional environmental constraints like disturbance, that may causes breaking of contacts between object and finger. Hence, the property (in-hand manipulation) is important for a gripper in order to obtain human hand skill. In this research, these problems (to obtain speed, flexibility to a plurality of grasps, within-hand dexterity in a single gripper) have been tackled in a novel way. A gripper platform named Dexclar (DEXterous reConfigurable moduLAR) has been developed in order to study in-hand manipulation, and a generic spherical payload has been considered at the first place. Dexclar is mechanism-centric and it exploits modularity and reconfigurability to the aim of achieving within-hand dexterity rather than utilizing soft materials. And hence, precision, speed are also achievable from the platform. The platform can perform several grasps (pinching, form closure, force closure) and address a very important issue of releasing payload with final posture/ configuration after manipulation. By exploiting 16 degrees of freedom (DoF), Dexclar is capable to provide 6 DoF motions to a generic spherical or ellipsoidal payload. And since a mechanism is reliable, repeatable once it has been properly synthesized, precision and speed are also obtainable from them. Hence Dexclar is an ideal starting point to study within-hand dexterity from kinematic point of view. As the final aim is to develop specific grippers (having the above capabilities) by exploiting Dexclar, a highly dexterous but simply constructed reconfigurable platform named VARO-fi (VARiable Orientable fingers with translation) is proposed, which can be used as an industrial end-effector, as well as an alternative of bio-inspired gripper in many robotic applications. The robust four fingered VARO-fi addresses grasp, in-hand manipulation and release (payload with desired configuration) of plurality of payloads, as demonstrated in this thesis. Last but not the least, several tools and end-effectors have been constructed to study prehensile and non-prehensile manipulation, thanks to Bayer Robotic challenge 2017, where the feasibility and their potentiality to use them in an industrial environment have been validated. The above mentioned research will enhance a new dimension for designing grippers with the properties of dexterity and flexibility at the same time, without explicit theoretical analysis, algorithms, as those are difficult to implement and sometime not feasible for real systems

In store warehouses, objects differ in terms of shape. During the automation process, reliable grasping is required, due to the variability of object shapes and positions. The main objective is to create and validate a gripper design. It should be able to adapt to objects, grasping them. This grasping should be harmless. To develop a gripper, distinct models are created. To improve the capabilities, an iterative approach is used. An initial gripper is created. Upgrades and refinements are carried out. Two models are compared using benchmarks. The best model is selected. The main result of this thesis is the creation of a variable-stiffness gripper capable of changing its stiffness at will. It contains a variable-stiffness core. Performance is improved. The gripper is capable of grasping delicate objects. A Utility Model is published for the gripper design. This model permits the patenting of this research and the potential industrialisation.
Programa de Doctorat en Informàtica

Etude d'un robot avec un prehenseur tridigital. Le manipulateur possede six degres de liberte et est dote d'un capteur tactile d'efforts a six composantes. Conception d'une commande gardee avec retour d'efforts. Etude d'un logiciel de strategie d'assemblage. Experimentation dans le cas de taches d'assemblage de haute precision

Manufacturing companies currently have a tendency to expand more and more their production mix, on the one hand to satisfy fully the requirements of the market, which are becoming increasingly pretentious, on the other hand to diversify production, in order to disengage from any failure that a single product can found. So it will be offered different products of the same family and each product will have some variants that permit to customize it. It is clear that this way of working can become problematic, particularly if factories intend to automate the different stages of the production cycle. There are no doubts about the fact that among all the operations that lead to obtain a finished product, the assembly operation is the most critical, in particular because assembly is affected by all errors due to the operations carried upstream. Then, it is possible to say that to automate the assembly operations of a customizable product is considerably complex and the traditional ways to design an automated system may be inadequate. The necessity of flexibility in automatic assembly is a topic widely discussed in the context of the industrial engineering, however, studies conducted by the research, in order to propose a rational method for the design of an automatic flexible system, are quite modest. The research activity presented here proposes a new class of flexible assembly systems: the robotized work cell F-FAS (Fully - Flexible Assembly System). The modeling of this automatic system, based and validated by experimental tests, has allowed to compare the potential of this machine with those of traditional systems for flexible assembly, allowing to state that this work cell is very competitive, in particular for conditions of extremely varied productive mix. The modeling cited above also allows to proportion properly the robot work cell, in according with the necessities of production. During the study of F-FAS prototype, some interesting aspects of the subsystems that compose the work cell are surfaced, in particular, it was found that the characteristics of the end-effector for the robot heavily influence the performance of the machine. That is why it was decided to dedicate an important part of the research activity at the design of this subsystem and at its subsequent building with rapid prototyping technology.
L’attività di ricerca presentata in questa tesi di dottorato propone una nuova classe di sistemi flessibili di assemblaggio: la cella robotizzata F-FAS (Fully -Flexible Assembly System). La modellazione di questo sistema automatico, basata e convalidata da prove sperimentali, ha permesso di confrontare le potenzialità di questa macchina con quelle dei sistemi tradizionali di assemblaggio flessibile, consentendo di affermare che tale impianto risulta assai competitivo, in particolare per condizioni di mix produttivo estremamente vario. La modellazione citata inoltre permette di proporzionare adeguatamente la cella di lavoro sulla base delle esigenze di produzione. Durante lo studio condotto sul prototipo di cella F-FAS, sono affiorati alcuni aspetti interessanti relativi ai sottosistemi che la compongono, in particolare è emerso che le caratteristiche dell’end-effector per il robot risultano influenzare pesantemente le prestazioni dell’intera macchina. Ecco perché si è deciso di dedicare una parte importante dell’attività di ricerca alla progettazione di questo sottosistema e alla sua successiva realizzazione, mediante tecniche di prototipazione rapida.

Робота виконана на кафедрі автоматизації технологічних процесів і виробництв факультету прикладних інформаційних технологій та електроінженерії Тернопільського національного технічного університету імені Івана Пулюя Міністерства освіти і науки України. Захист відбудеться «23» грудня 2020р. о 14.00год. на засіданні екзаменаційної комісії №22 у Тернопільському національному технічному університеті імені Івана Пулюя
В кваліфікаційній роботі було проведено аналіз сучасного стану управління промисловими роботами, також було оглянуто види роботизованих маніпуляторів, та захоплоюючих пристроїв. Розглянуто класифікацію захоплюючих пристроїв за принципом захоплення, представлено їх конструктивне виконання та принцип роботи, а також доцільність використання при різних технологічних завданнях. Також був проведений аналіз захоплювачів Бернуллі, їх основні переваги і недоліки, та можливість використання пневматичного контролю. Далі було проведено огляд можливих методів розрахунку турбулентнх течій та розглянуто популярні моделі турублентності, а також обрано оптимальну модель, для розрахунку нашого завдання. Надалі було представлено варіанти конструкцій струминних захоплювальних пристроїв з ежекторними соплами, та можливістю проведення пневматичного контролю.Наступном етапом було проведено дослідження представлених конструкцій захоплювальних пристроїв з ежекторними соплами. В результаті отриманих характеристик, методом порівняння, було визначено конструкцію з найоптимальнішими параметрами.Після цього було розглянуто програмне забезпечення, яке використовувалося впродовж виконання роботи, а саме пакет ANSYS CFX, який є одним з найпопулярніших програмних продуктів для розв'язання задач моделювання течії рідин і газів, а також SolidWorks - програмний комплекс САПР, для автоматизації робіт промислового підприємства на етапах конструкторської та технологічної підготовки виробництва.В заключній частині було проведено розрахунок освітлення робочого приміщення, та вимірювання шумої характеристики захоплювальних пристроїв.
In the qualification work the analysis of a modern condition of management of industrial works was carried out, also kinds of the robotic manipulators, and capturing devices were inspected. The classification of exciting devices according to the principle of capture is considered, their constructive execution and the principle of work, and also expediency of use at various technological tasks are presented. An analysis of Bernoulli's grippers, their main advantages and disadvantages, and the possibility of using pneumatic control was also performed. Next, a review of possible methods for calculating turbulent flows was considered and popular models of turbulence were considered, as well as the optimal model was selected to calculate our problem. Further variants of designs of jet capturing devices with ejector nozzles, and a possibility of carrying out pneumatic control were presented. The following stage carried out research of the presented designs of capturing devices with ejector nozzles. As a result of the obtained characteristics, the method of comparison was used to determine the design with the most optimal parameters. gases, as well as SolidWorks - a software package for CAD, to automate the work of an industrial enterprise at the stages of design and technological preparation of production.
Зміст ВСТУП 7 РОЗДІЛ 1 АНАЛІТИЧНА ЧАСТИНА 9 1.1 Аналіз сучасного стану управління промисловими роботами 9 1.2 Види маніпуляторів 11 1.3 Види захоплювальних пристроїв 12 1.3.1 Механічні захоплювальні пристрої 14 1.3.2 Вакуумні захоплювальні пристрої 15 1.3.3 Магнітні захоплювальні пристрої 16 1.4 Зaхoплювaчі Бернуллі, як ефективнa aльтеpнaтивa безкoнтaктнoгo зaхoплення вaнтaжів 18 1.5 Пневматичний контроль 29 1.5.1 Застосування пневматичного контролю 37 РОЗДІЛ 2 ТЕХНОЛОГІЧНА ЧАСТИНА 44 2.1 Огляд методів розрахунку турбулентних течій 44 2.1.1 Пряме чисельне моделювання (Direct Numerical Simulation - DNS). 44 2.1.2 Метод моделювання великих вихорів (Large Eddy Simulation - LES) 46 2.1.3 Застосування рівнянь Рейнольдса, замкнутих за допомогою моделей турбулентності (Reynolds-averaged Navier–Stokes - RANS). 48 2.1.4 Гібридні підходи. Метод моделювання відокремлених вихорів. 49 2.1.5 Інтегральні методи. 51 2.2 Моделі турбулентності 52 2.2.1 Класифікація моделей. 52 2.2.2 Моделі з двома рівняннями 53 2.2.3 Пристінкові функції. 54 2.2.4 Модель k-ε 54 2.2.5 Модель k- 55 2.2.6 Модель Ментера 56 2.3 Методика чисельного моделювання струминних захоплювальних пристроїв 58 РОЗДІЛ 3 КОНСТРУКТОРСЬКА ЧАСТИНА 63 3.1 Кoнcтpyкція cтpyминних зaхoплюючих пpиcтpoїв для безкoнтaктнoгo мaніпyлювaння 63 3.2 Струминні захоплювальні пристрої з ежекторними соплами для 70 пневматичного контролю розмірів об 70 РОЗДІЛ 4 НАУКОВО-ДОСЛІДНА ЧАСТИНА 83 4.1 Дослідження базової конструкції. 83 4.2 Дослідження конструкції з давачами 87 РОЗДІЛ 5 СПЕЦІАЛЬНА ЧАСТИНА 99 5.1 Програмне середовище ANSYS 99 5.2 Система автоматизованого проектування SolidWorks 106 РОЗДІЛ 6 ОХОРОНА ПРАЦІ ТА БЕЗПЕКА В НАДЗВИЧАЙНИХ СИТУАЦІЯХ 112 6.1 Загальна інструкція при роботі з пневмоінструментами 112 6.2 Розрахунок освітлення робочого приміщення при розробці пневматичних захоплювальних пристроїв 116 6.4 Шумова характеристика захоплювача 117 ВИСНОВКИ 119 Література 121

La surveillance de la santé se définit comme la production et le traitement de données destinées à informer les programmes de mitigation des risques sanitaires. La surveillance des maladies infectieuses animales est généralement considérée comme un bien public, impliquant la responsabilité de l’Etat. La surveillance des maladies émergentes transfrontalières, dont l’influenza aviaire hautement pathogène (IAHP), est même perçue comme un bien public mondial, justifiant un partage d’informations entre Etats. La forme la plus répandue de la surveillance, dite passive ou réactive, repose sur la communication d’acteurs privés ou publics d’informations qu’ils détiennent sur l’état sanitaire des populations animales qu’ils observent aux autorités en charge de la surveillance. La surveillance se trouve donc confrontée à la problématique des biens publics dont la gestion est dépendante de la décision décentralisée d’acteurs privés. Deux questions se posent alors : quels sont les facteurs qui influencent la décision de transmettre une information aux systèmes de surveillance publics ? Ces facteurs sont-ils purement financiers ou impliquent-ils d’autres types d’enjeux, qui font intervenir l’environnement social de l’individu, le territoire dans lequel il s’insère et ses rapports de pouvoirs ? Une autre question est celle de l’existence de réseaux d’information, établis entre acteurs privés et publics permettant d’alerter un maximum d’acteurs de l’apparition d’un risque sanitaire. Comment ces réseaux de constituent-ils ? Dans quelle mesure sont-ils liés aux systèmes de surveillance publics ? Quelles formes de gestion du risque, sous contrôle privé ou public, permettent-ils ? Le cas étudié est celui de l’IAHP due à H5N1 chez les volailles domestiques en Asie du Sud-Est. Une étude a été menée dans quatre zones d’échelle spatiale réduite réparties sur les deux pays, trois au Viet Nam et une en Thaïlande. La théorie des graphs a été appliquée à la diffusion de l’information sur les suspicions d’IAHP entre acteurs privés et publics des territoires avicoles. La structure de ces réseaux d’information est conditionnée par l’organisation politique des territoires ruraux, sous forme de villages, et par les filières dans lesquels s’insèrent les élevages présents dans les territoires. Dans les zones d’étude du Viet Nam présentant un grand nombre d’élevage commerciaux privés, les acteurs amont de la filière avicole commerciale, qui fournissent aliments et produits vétérinaires aux éleveurs, ont un accès privilégié à l’information issue du secteur avicole commercial et villageois. Dans la zone d’étude de Thaïlande, les acteurs impliqués dans les combats de coqs ont un accès privilégié à l’information issue des éleveurs villageois. Ces acteurs centraux dans les réseaux facilitent la diffusion spatiale des informations et l’accès de l’ensemble des éleveurs à ces informations. Les autorités vétérinaires sont présentes dans les réseaux mais la priorité qui leur est accordée est faible en comparaison aux acteurs privés de la filière. En parallèle, des entretiens qualitatifs ou semi-quantitatifs utilisant les outils de l’épidémiologie participative ont été menés afin d’identifier les enjeux associés à la déclaration des suspicions aux autorités vétérinaire. Les enjeux diffèrent selon les territoires et les types de production avicoles qui les composent. Ces enjeux vont au-delà des problématiques purement financières : risques sanitaires et nuisances environnementales pour le voisinage, responsabilité dans les pertes économiques des autres éleveurs et des partenaires commerciaux, et valeur affective et sociale de l’animal sont autant de composantes potentielles de la décision de l’éleveur de déclarer une suspicion aux autorités. Une partie de ces enjeux est liée aux mesures de contrôle mise en place par l’Etat face au risque sanitaire. Cependant, d’autres sont strictement associés à la diffusion de l’information
Health surveillance is defined as the production and processing of data aimed at informing health risk mitigation programs. Surveillance of infectious animal diseases is usually considered as a public good, involving the responsibility of the state. Surveillance of transboundary emerging diseases, like HPAI, is even perceived as an international public good, justifying information sharing between countries. The most common type of surveillance, i.e. passive or reactive surveillance, is based on communications from private or public actors of the information they hold about the health status of animal populations they observe to authorities in charge of health surveillance. Animal health is therefore confronted with the problematic of public goods whose production depends on decentralized private decision. Two questions may be raised: what are the factors influencing the decision to transmit information to public surveillance systems? Are these factors solely of monetary nature or are they linked with other types of issues, among which the social environment of individuals, the place where they live and their power relationships? Another question relates to the existence of information networks established between private and public actors which enable to a part of the population of sanitary threats. How these are networks constituted? To which extent are they linked with public surveillance systems? Which type of risk management do they allow? The studied case is H5N1 HPAI in domestic poultry in Southeast Asia. A study was conducted in four areas of limited spatial scale distributed in two countries, three in Viet Nam and one in Thailand. Graph theory was applied to the diffusion of information related to HPAI suspicions between actors, private or public. The structure of these networks is shaped by the political organization of rural places, the villages, and by the value chains to which poultry farms belong. In study areas of Viet Nam with widespread commercial poultry farming, upstream actors of the value chain, supplying feed and veterinary products to farmers have better access to information from the commercial and backyard poultry farms. In the Thailand study area, actors participating in cock fighting games have a better access to information from backyard farms. These actors who are central in information networks facilitate the spatial spread of information and access of farmers to information from distant locations. Veterinary authorities are included in the information networks but their attributed priority is week in comparison with private actors of value chains. Besides, qualitative and semi-quantitative interviews were conducted, using tools of participatory epidemiology, in order to identify issues linked with suspicion reporting to veterinary authorities. Those issues differ according to places and types of poultry production. They go beyond purely monetary concerns: sanitary risks and environmental nuisances to the neighborhood, responsibility in economic losses of other farmers and commercial partners and social and affective value of animals are potential components of the decision of farmers to report a suspicion to veterinary authorities. A part of these issues are linked with disease control measures implemented by the state in response to sanitary risks. However, others are strictly associated with information spread. It is the case, for example, of impacts of information on poultry market prices

碩士
臺北城市科技大學
機電整合研究所
104
The purpose of the thesis is to design the application of the End Effector which the industrial robots use, among them we need to consider the material of the tool tolerance level of power, the surface could be deformed or not and the sleek level…etc., also we take the clips of gripper according to the tool design. In addition to these points, we design exclusive adapters in order to correspond the six axis flange from different brands, so that we could fix it. In the thesis we also discuss the reason about why not choose traditional barometric pressure gripper and the importance of vacuum chuck.