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Hornfeck, Kenneth B. "A Customizable Socially Interactive Robot with Wireless Health Monitoring Capability." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1301595272.
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Yanick, Anthony Joseph. "Driving By Speaking: Capabilities and Requirements of a Vocal Joystick." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1327677974.
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Gonthier, Yves. "Force task planning of robotic systems with limited actuator capabilities." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ29595.pdf.
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Gonthier, Yves. "Force task planning of robotic systems with limited actuator capabilities." Thesis, McGill University, 1996. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=27222.
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In this thesis, we study the problem of large wrench application using robotic systems with limited force or torque actuators. It is shown that such systems may be able to apply a wrench in some configurations only; therefore their useful Force Workspace is limited, and may be smaller than their reachable workspace.To improve the force capabilities of a system, base mobility or redundancy can be employed. A planning algorithm is proposed which results in proper base positioning relative to large-force quasi-static tasks. Similarly, the Force Workspace can be used to position such tasks relative to a robotic system. An efficient numerical algorithm is proposed to generate the Force Workspace, based on the 2$ sp{n}$-tree decomposition of the Cartesian space. Its efficiency stems from the variable resolution nature of the Cartesian space representation, and also from the use of four test levels that restrict the search to valid regions of the Cartesian space only. Examples of Force Workspaces are given for redundant and non-redundant planar manipulators, and spatial manipulators.
Next, the case of tasks requiring the application of a wrench along a given path is considered. The Task Workspace, the set of Cartesian space locations that are valid starting positions for such tasks, is shown to be a subset of the Force Workspace.
To plan redundant manipulator postures during large force-tasks, a new method based on a mini-max optimization scheme is developed. (Abstract shortened by UMI.)
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Gonzalez, Daniel Jesus. "Extra robotic legs for augmenting human payload and positioning capabilities." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/122134.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019Cataloged from PDF version of thesis.
Includes bibliographical references (pages 119-123).
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator that consists of two articulated robot legs that help bear a heavy backpack payload and a portion of the operator's own weight. The design was driven by a need to increase the effectiveness of Department of Energy hazardous material emergency response personnel who are encumbered by their Personal Protective Equipment. Essentially a backpack-with-legs, the XRL system must bear large loads during operation, but also requires a proprioceptive transmission to allow for close physical interaction with the human operator. The linkage and actuator design minimizes the maximum required actuator torque by exploiting torque redistribution using a closed kinematic chain. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements.
A seamless hybrid control architecture was developed to allow the operator command over the pace of the XRL stand-to-squat transition. A fail-safe Hybrid Open-Loop/Closed-Loop Control Architecture splits the Cartesian space into a closed-loop subspace in which the robot controls its balance and stability, and an open-loop subspace in which the human operator may move the robot at will through only a force interaction. Distributing the control computation to the joint level wherever possible makes the system robust to disconnections from the central computer. Initial tests of balance control while performing squatting transitions indicate the feasibility of this control scheme for the XRL system. It is desirable for the Human-XRL quadruped system to walk with an ambling gait in which the rear legs lead the front legs by 25% of the gait period, which minimizes the energy lost from foot impacts while maximizing the margin of balance stability.
Unlike quadrupedal robots, the XRL system cannot command the human's limbs to coordinate quadrupedal locomotion. By modeling the human-robot system during steady state walking as a coupled pair of simple nonlinear limit cycle oscillators, it can be shown that, using only a coupling made of passive mechanical components, a stable limit cycle that synchronizes the gaits while maximizing stability between the human and robot during walking may be achieved. By exploiting these inherently stable passive dynamics, the margin of stability and rate of synchronization may be supplemented with active control. By using these key design, control, and gait synchronization techniques, the XRL System will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all equipment loads acting on them.
by Daniel Jesus Gonzalez.
Ph. D.
Ph.D. Massachusetts Institute of Technology, Department of Mechanical Engineering
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Williams, Kenton J. (Kenton James). "Physics-, social-, and capability- based reasoning for robotic manipulation." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/70445.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 124-128).
Robots that can function in human-centric domains have the potential to help humans with the chores of everyday life. Moreover, dexterous robots with the ability to reason about the maneuvers they execute for manipulation tasks can function more autonomously and intelligently. This thesis outlines the development of a reasoning architecture that uses physics-, social-, and agent capability-based knowledge to generate manipulation strategies that a dexterous robot can implement in the physical world. The reasoning system learns object affordances through a combination of observations from human interactions, explicit rules and constraints imposed on the system, and hardcoded physics-based logic. Observations from humans performing manipulation tasks are also used to develop a unique manipulation repertoire suitable for the robot. The system then uses Bayesian Networks to probabilistically determine the best manipulation strategies for the robot to execute on new objects. The robot leverages this knowledge during experimental trials where manipulation strategies suggested by the reasoning architecture are shown to perform well in new manipulation environments.
by Kenton J. Williams.
S.M.
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Nemitz, Markus P. "HoverBot : a manufacturable swarm robot that has multi-functional sensing capabilities and uses collisions for two-dimensional mapping." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/33160.
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Swarm robotics is the study of developing and controlling large groups of robots. Collectives of robots possess advantages over single robots such as being robust to mission failures due to single-robot errors. Experimental research in swarm robotics is currently limited by swarm robotic technology. Current swarm robotic systems are either small groups of sophisticated robots or large groups of simple robots due to manufacturing overhead, functionality-cost dependencies, and their need to avoid collisions, amongst others. It is therefore useful to develop a swarm robotic system that is easy to manufacture, that utilises its sensors beyond standard usage, and that allows for physical interactions. In this work, I introduce a new type of low-friction locomotion and show its first implementation in the HoverBot system. The HoverBot system consists of an air-levitation and magnet table, and a HoverBot agent. HoverBots are levitating circuit boards which are equipped with an array of planar coils and a Hall-effect sensor. HoverBot uses its coils to pull itself towards magnetic anchors that are embedded into a levitation table. These robots consist of a Printed Circuit Board (PCB), surface mount components, and a battery. HoverBots are easily manufacturable, robots can be ordered populated; the assembly consists of plugging in a battery to a robot. I demonstrate how HoverBot's low-cost hardware can be used beyond its standard functionality. HoverBot's magnetic field readouts from its Hall-effect sensor can be associated with successful movement, robot rotation and collision measurands. I build a time series classifier based on these magnetic field readouts, I modify and apply signal processing techniques to enable the online classification of the time-variant magnetic field measurements on HoverBot's low-cost microcontroller. This method allows HoverBot to detect rotations, successful movements, and collisions by utilising readouts from its single Hall-effect sensor. I discuss how this classification method could be applied to other sensors and demonstrate how HoverBots can utilise their classifier to create an occupancy grid map. HoverBots use their multi-functional sensing capabilities to determine whether they moved successfully or collided with a static object to map their environment. HoverBots execute an "explore-and-return-to-nest" strategy to deal with their sensor and locomotion noise. Each robot is assigned to a nest (landmark); robots leave their nests, move n steps, return and share their observations. Over time, a group of four HoverBots collectively builds a probabilistic belief over its environment. In summary, I build manufacturable swarm robots that detect collisions through a time series classifier and map their environment by colliding with their surroundings. My work on swarm robotic technology pushes swarm robotics research towards studies on collision-dependent behaviours, a research niche that has been barely studied. Collision events occur more often in dense areas and/or large groups, circumstances that swarm robots experience. Large groups of robots with collision-dependent behaviours could become a research tool to help invent and test novel distributed algorithms, to understand the dependencies between local to global (emergent) behaviours and more generally the science of complex systems. Such studies could become tremendously useful for the execution of large-scale swarm applications such as the search and rescue of survivors after a natural disaster.
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Naqvi, Syed Muhammad Raza. "Exploration des LLM et de l'XAI sémantique pour les capacités des robots industriels et les connaissances communes en matière de fabrication." Electronic Thesis or Diss., Université de Toulouse (2023-....), 2025. http://www.theses.fr/2025TLSEP014.
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Dans l'industrie 4.0, la fabrication avancée est essentielle pour façonner les usines du futur, en permettant d'améliorer la planification, l'ordonnancement et le contrôle. La capacité d'adapter rapidement les lignes de production en réponse aux demandes des clients ou à des situations inattendues est essentielle pour améliorer l'avenir de la fabrication. Bien que l'IA apparaisse comme une solution, les industries s'appuient toujours sur l'expertise humaine en raison des problèmes de confiance et du manque de transparence des décisions de l'IA. L'IA explicable intégrant des connaissances de base liées à la fabrication est cruciale pour rendre les décisions de l'IA compréhensibles et dignes de confiance. Dans ce contexte, nous proposons le cadre S-XAI, une solution intégrée combinant les spécifications de la machine et le MCSK pour fournir une prise de décision explicable et transparente. L'accent est mis sur la fourniture de capacités machine en temps réel afin de garantir une prise de décision précise tout en expliquant simultanément le processus de prise de décision à toutes les parties prenantes concernées. En conséquence, le premier objectif était de formaliser les spécifications des machines, y compris les capacités, les fonctions, la qualité et les caractéristiques des processus, en se concentrant sur la robotique. Pour ce faire, nous avons créé une ontologie des capacités des robots qui formalise tous les aspects pertinents des spécifications des machines, tels que la capacité, l'aptitude, la fonction, la qualité et les caractéristiques du processus. En plus de cette formalisation, le RCO permet aux acteurs de la fabrication de capturer les capacités robotiques décrites dans les manuels de spécification (capacités annoncées) et de les comparer avec les performances réelles (capacités opérationnelles). Le RCO est basé sur le langage de description des services de machines, une ontologie de référence créée pour les services de fabrication et alignée sur l'ontologie formelle de base, l'ontologie de la fonderie industrielle, l'ontologie des artefacts d'information et l'ontologie des relations. Le deuxième objectif était la formalisation du MCSK. Nous introduisons le MCSK et présentons une méthodologie pour l'identifier, en commençant par reconnaître les différents modèles de CSK dans la fabrication et en les alignant sur les concepts de fabrication. L'extraction du MCSK sous une forme utilisable est un défi, c'est pourquoi notre approche structure le MCSK en énoncés NL en utilisant des LLM pour faciliter le raisonnement basé sur des règles, améliorant ainsi les capacités de prise de décision. Le troisième et dernier objectif est de proposer un cadre S-XAI utilisant le RCO et le MCSK pour évaluer si les machines existantes peuvent effectuer des tâches spécifiques et générer des explications NL compréhensibles. Cet objectif a été atteint en intégrant le RCO, qui fournit des capacités opérationnelles telles que la répétabilité et la précision, au MCSK, qui décrit les exigences du processus. En utilisant le raisonnement sémantique basé sur le MCSK, le système S-XAI fournit de manière transparente des explications NL qui détaillent chaque logique et chaque résultat.Dans le cadre du S-XAI, un NN prédit les capacités opérationnelles des robots, tandis que l'IA symbolique incorpore ces prédictions dans un système de raisonnement basé sur le MCSK et fondé sur le RCO.Cette configuration hybride maximise les forces de chaque système d'IA et garantit que les prédictions soutiennent un processus décisionnel transparent. En outre, la S-XAI améliore l'interprétabilité des prédictions du NN grâce à des techniques XAI telles que LIME, SHAP et PDP, clarifiant les prédictions du NN et permettant d'obtenir des informations détaillées pour un meilleur calibrage et une gestion proactive, favorisant ainsi un environnement de fabrication résilient et informéIn Industry 4.0, advanced manufacturing is vital in shaping future factories, enabling enhanced planning, scheduling, and control. The ability to adaptproduction lines swiftly in response to customer demands or unexpected situations is essential to enhance the future of manufacturing. While AI is emerging as a solution, industries still rely on human expertise due to trust issues and a lack of transparency in AI decisions. Explainable AI integrating commonsense knowledge related to manufacturing is crucial for making AI decisions understandable and trustworthy. Within this context, we propose the S-XAI framework, an integrated solution combining machine specifications with MCSK to provide explainable and transparent decision-making. The focus is on providing real-time machine capabilities to ensure precise decision-making while simultaneously explaining the decision-making process to all involved stakeholders. Accordingly, the first objective was formalizing machine specifications, including capabilities, capacities, functions, quality, and process characteristics, focusing on robotics. To do so, we created a Robot Capability ontology formalizing all relevant aspects of machine specifications, such as Capability, Capacity, Function, Quality, and Process Characteristics. On top of this formalization, the RCO allows manufacturing stakeholders to capture robotic capabilities described in specification manuals (advertised capabilities) and compare them with real-world performance (operational capabilities). RCO is based on the Machine Service Description Language, a domain reference ontology created for manufacturing services, and aligned with the Basic Formal Ontology, Industrial Foundry Ontology, Information Artifact Ontology, and Relations Ontology. The second objective was the formalization of MCSK. We introduce MCSK and present a methodology for identifying it, starting with recognizing different CSK patterns in manufacturing and aligning them with manufacturing concepts. Extracting MCSK in a usable form is challenging, so our approach structures MCSK into NL statements utilizing LLMs. to facilitate rule-based reasoning, thereby enhancing decision-making capabilities. The third and final objective is to propose an S-XAI framework utilizing RCO and MCSK to assess if existing machines can perform specific tasks and generate understandable NL explanations. This was achieved by integrating the RCO, which provides operational capabilities like repeatability and precision, with MCSK, which outlines the process requirements. By utilizing MCSK-based semantic reasoning, the S-XAI system seamlessly provides NL explanations that detail each logic and outcome. In the S-XAI framework, an NN predicts the operational capabilities of robots, while symbolic AI incorporates these predictions within an MCSK-based reasoning system grounded in the RCO. This hybrid setup maximizes the strengths of each AI system and ensures that predictions support a transparent decision-making process. Additionally, S-XAI enhances the interpretability of NN predictions through XAI techniques such as LIME, SHAP, and PDP, clarifying NN predictions and enabling detailed insights for better calibration and proactive management, ultimately fostering a resilient and informed manufacturing environment
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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposéesThe offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
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Lauwers, Tom. "Aligning Capabilities of Interactive Educational Tools to Learner Goals." Research Showcase @ CMU, 2010. http://repository.cmu.edu/dissertations/556.
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This thesis is about a design process for creating educationally relevant tools. I submit that the key to creating tools that are educationally relevant is to focus on ensuring a high degree of alignment between the designed tool and the broader educational context into which the tool will be integrated. The thesis presents methods and processes for creating a tool that is both well aligned and relevant.
The design domain of the thesis is described by a set of tools I refer to as “Configurable Embodied Interfaces”. Configurable embodied interfaces have a number of key features, they: Can sense their local surroundings through the detection of such environmental and physical parameters as light, sound, imagery, device acceleration, etc. Act on their local environment by outputting sound, light, imagery, motion of the device, etc. Are configurable in such a way as to link these inputs and outputs in a nearly unlimited number of ways. Contain active ways for users to either directly create new programs linking input and output, or to easily re-configure them by running different programs on them. Are user focused; they assume that a human being is manipulating them in some way, through affecting input and observing output of the interface.
Spurred by the growth of cheap computation and sensing, a large number of educational programs have been built around use of configurable embodied interfaces in the last three decades. These programs exist in both formal and informal educational settings and are in use from early childhood through adult and community education. Typically, configurable embodied interfaces are used as tools in three major and sometimes overlapping areas: computer Science education, creative and engineering design education, and traditional science and math education.
This work details three examples of collaborations between technologists and educators that led to the creation of educationally successful tools; these three examples share a focus on creating a configurable embodied interface to tackle a specific cognitive and affective set of learning goals, but differ completely in the location of the learning environment, the age and interests of the learners, and the nature of the learning goals. Through the exploration of the methods used, an analysis of the general and context-specific features of the design processes of the three accounts, and a comparison of the process used in this thesis to a conventional engineering design process, this work provides case studies and a set of guidelines that can inform technologists interested in designing educationally relevant embodied interfaces
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Zamora, Merino Victor. "Development of Monitoring and Control Capabilities between Remote Robotic Systems and the METERON Infrastructure." Thesis, Luleå tekniska universitet, Rymdteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-69728.
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Woods, Benjamin Samuel. "Enhancing the Capabilities of Large-Format Additive Manufacturing Through Robotic Deposition and Novel Processes." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/98843.
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The overall goal of this research work is to enhance the capabilities of large-format, polymer material extrusion, additive manufacturing (AM) systems. Specifically, the aims of this research are to (1) Construct, and develop a robust workflow for, a large-format, robotic, AM system; (2) Develop an algorithm for determining and relaying proper rotation commands for 5 degree of freedom (DoF) multi-axis deposition; and (3) Create a method for printing a removable support material in large-format AM. The development and systems-integration of a large-format, pellet-fed, polymer, material extrusion (ME), AM system that leverages an industrial robotic arm is presented. The robotic arm is used instead of the conventional gantry motion stage due to its multi-axis printing ability, ease of tool changes for multi-material deposition and/or subtraction, and relatively small machine footprint. A novel workflow is presented as a method to control the robotic arm for layer-wise fabrication of parts, and several machine modifications and workflow enhancements are presented to extend the multi-axis manufacturing capabilities of the robot. This workflow utilizes existing AM slicers to simplify the motion path planning for the robotic arm, as well as allowing the workflow to not be restricted to a single robotic deposition system.
To enable multi-axis deposition, a method for generating tool orientations and resulting deposition toolpaths from a geometry's STL file was developed for 5-DoF conformal printing and validated via simulation using several different multi-DOF robotic arm platforms. Furthermore, this research proposes a novel method of depositing a secondary sacrificial support material was created for large-format AM to enable the fabrication of complex geometries with overhanging features. This method employs a simple tool change to deposit a secondary, water-soluble polymer at the interfaces between the part and supporting structures. In addition, a means to separate support material into smaller sections to extend the range of geometries able to be manufactured via large-format AM is presented. The resultant method was used to manufacture a geometry that would traditionally be considered unprintable on conventional large-format AM systems.Master of Science
Additive manufacturing (AM), also known as 3D printing, is a method of manufacturing objects in a layer-by-layer technique. Large-format AM is typically defined as an AM system that can create an object larger than 1 m3. There are only a few manufacturers in the world of these systems, and all currently are built on gantry-based motion stages that only allow movement of the printer in three principal axes (X, Y, Z). The primary goal of this thesis is to construct a large-format AM system that uses a robotic arm to enable printing in any direction or orientation. The use of an industrial robotic arm enables printing in multiple planes, which can be used to print structures without support structures, print onto curved surfaces, and to purt with curved layers which produces a smoother external part surface. The design of the large-format AM system was validated through successful printing of objects as large as 1.0x0.5x1.2 m, simultaneous printing of a sacrificial support material to enable overhanging features, and through completing multi-axis printing. To enable multi-axis printing, an algorithm was developed to determine the proper toolpath location and relative orientation to the part surface. Using a part's STL file as input, the algorithm identifies the normal vector at each movement command, which is then used to calculate the required tool orientation. The tool orientations are then assembled with the movement commands to complete the multi-axis toolpath for the robot to perform. Finally, this research presents a method of using a second printing tool to deposit a secondary, water-soluble material to act as supporting structures for overhanging and bridging part features. While typical 3D printers can generally print sacrificial material for supporting overhangs, large-format printers produce layers up to 25 mm wide, rendering any support material impossible to remove without post-process machining. This limits the range of geometries able to be printed to just those with no steep overhangs, or those where the support material is easily reachable by a tool for removal. The solution presented in this work enables the large scale AM processes to create complex geometries.
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Tuohimaa, H. (Hannele). "Microfoundations of dynamic capabilities in retail in the age of artificial intelligence and robotics." Master's thesis, University of Oulu, 2019. http://jultika.oulu.fi/Record/nbnfioulu-201910253025.
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Abstract. The purpose of this study is to find out what are the skills possessed by people working in physical stores and how these can be utilized and managed in the future. The research problem lies in an assumption that do people working in retail stores obtain required skills and capabilities or not, and are they recognized and utilized by management. Many technological solutions have been introduced within the retail industry, but there seems to be lack of understanding how to utilize peoples’ skills differently as some predictable and repeatable tasks are (or will be) performed by machines.
There have been studies conducted in the previous years about dynamic capabilities from the perspective of strategic leaders of companies. Dynamic capabilities have been researched in customer centric industries also from the perspective of corporate directors. However, there lacks a study that fully concentrates on retail industry (no other customer centric industries) and solely limits the research to study physical stores mainly from the perspective of people who actually work in the stores, not the leaders in headquarters. Therefore, it could be stated that this study fulfils a research gap lying in the analyses of dynamic capabilities and their microfoundations.
The main results of the study show, that there are variations related to information flows as well as there are inefficiencies about information of technological developments happening in the field in general. There is high motivation towards personal and professional development and willingness to learn. Changes made in processes and operations are mostly based on stores’ own customer analyses and communication with their customers. Even though needs for changes are recognized and there is willingness to development, it is highly resources-dependent. Realignments or redeployments are not fully conducted within store operations if their current resources and technologies in use do not allow this. There is a need to move away from certain routines towards being more creative and analytical. Even though there were need to move away from certain routines, there were no indications of considering the routines to be disappearing from store operations. There are structures in stores and in their supportive operations, which enable good customer service, doing the tasks and routines but there are little enabling factors for other things e.g. to innovate and be creative. Skills such as ability to analyse customer behaviour, product knowledge, good communication skills, ability to learn and share new knowledge, plan, organize and prioritize are possessed. However, the structures and processes prevent to utilize these skills to truly fluently communicate new opportunities forward and be part of creating something completely new. Utilization of skills in a new untraditional way are remained in the background because of routines and the traditional role descriptions and therefore it could be argued, that the microfoundations of retail companies are not dynamic.
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Budolak, Daniel Wojciech. "Extending the Capabilities of Time Delayed Haptic Teleoperation Systems." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/104995.
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This thesis focuses on making improvements to time-delayed teleoperation systems, with both direct and semi-autonomous haptic control, by addressing the challenges associated with force-position (F-P) predictive architectures. As the time delay from the communication channel increases, system stability and performance degrade. Previously, solutions focused on communication channel stability and environment force estimation methods that primarily rely on linearization of the Hunt-Crossley (HC) contact model. These result in a loss of transparency in the system and limiting use cases from linearization assumptions. Moreover, semi-autonomous solutions aimed at decreasing user effort and automating subtasks, such as obstacle avoidance and user guidance, require training or singularly focus on joint space tasks.
This work addresses the shortcomings of the aforementioned methods by refocusing on system components to achieve more favorable dynamics during environment contact with the use of a series elastic actuator (SEA), investigating alternative HC parameter estimation techniques, and synthesizing an assistive semi-autonomous control framework that predicts user intention recognition and automates gross motion tasks. Experimental results with a remote SEA demonstrate improved performance with stiff environments in delays of up to two seconds round trip time. The coupling of the force and position through the actuator along with simultaneous sensing capabilities also show robustness for contact with soft environments. Further improvements with soft environment contact are achieved through HC parameter estimation, with smooth parameter update switching using a Sigmoid function. A novel application of Chebyshev polynomial approximation for adaptive parameter estimation of the HC model was also proposed. This approach provides control via backstepping with adaptive parameter estimation using Lyapunov methods. Additionally, this method reduces excitation requirements by using nonlinear swapping and the data accumulation concept to guarantee parameter convergence. A simulated teleoperation system demonstrates the effectiveness of this approach and initial results from experiment show promise for this approach in practice. Finally, a user study involving a pick and place task produced favorable results for the proposed semi-autonomous framework which significantly reduced task completion times.Master of Science
Teleoperated systems are powerful solutions for remotely executing tasks in situations where autonomous solutions are not robust enough and/or user knowledge is desired for a task. However, teleoperation performance and stability is degraded by delays in the communication channel. A common way to deal with time delay is to use a predictive controller on the local side to cancel out the delay by knowing the remote side dynamics. Previous approaches have focused on stabilizing the communication channel or the use of estimators and observers to better capture the remote side dynamics. The drawback of these approaches is that they achieve stability at the expense of system transparency, leading to divergence in the force and position matching between the master and remote side. Many of the methods for environment force estimation involves linearizing contact models, creating limitations in their application. Moreover, semi-autonomous solutions aimed at decreasing user effort and automating subtasks such as obstacle avoidance and user guidance require training data sets for the algorithm or only focus individually on joint space tasks. This thesis addresses the shortcomings of the aforementioned methods by refocusing on system components to achieve more favorable dynamics using a series elastic actuator (SEA) while interacting with the environment, investigating nonlinear and linear contact model estimation methods for identifying parameters of the Hunt-Crossley (HC) model, and synthesising an assistive semi-autonomous control framework that predicts user intention for task execution. Experimental results for the use of an SEA demonstrate improved performance with stiff environments in delays of up to two seconds round trip time (RTT). The coupling of the force and position through the actuator along with simultaneous sensing capabilities also showed robustness for contact with soft environments. Various estimation methods for HC parameter identification was investigated to improve the local side model. A novel application of Chebyshev polynomial approximation of the HC model with adaptive parameter estimation was also proposed to provide control along with decreasing the excitation requirements by using backsteping control with nonlinear swapping and the data accumulation concept. A simulated teleoperation system demonstrated the effectiveness of this approach with a smooth paramater update transition. Initial results from experiment also show promise for this approach in practice. Finally, a user study involving a pick and place task produced favorable results for the proposed semi-autonomous framework which significantly reduced task completion times.
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Windahl, Torbjörn, and Pablo Espinoza. "How Do Organizations Expand their ERP beyond its Core Capabilities : A case study at ABB Robotics." Thesis, Mälardalen University, School of Sustainable Development of Society and Technology, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-755.
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Researchers and practitioners alike believe it is not until an organization expands their ERP system that they will reap the full benefits of it. The question of how to expand an ERP system beyond its core is investigated in this thesis. It is done by reviewing ERP research and comparing this with empirical data collected in a case study made at a focal company. The focal company is a member of the business network Automation Region. The case describes how the focal company moved from using an ERP system to where they now have an e-procurement system connected to their core ERP and has developed a sales process system which might become their e-commerce system in the future to take control of their supply chain as a whole. It shows how a process thinking view has aided them in putting the customer in focus and incorporating parts of the TQM philosophy. The conclusion reveals that it is crucial to understand and work with processes and there are motives and obstacles to consider when expanding an ERP system. It furthermore uncovers the importance of giving this expansion of the ERP system, the move beyond the core ERP, a proper name such as Extended ERP, eERP. It is important because then, when we understand the eERP fully, we will be ready for the next level of business which may very well be ERP2 or Second Generation ERP which incorporates entire business networks.
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Smith, Lauren Melissa. "The Tri-Wheel: A Novel Robot Locomotion Concept Meeting the Need for Increased Speed and Climbing Capability." Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1417782329.
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Alqasemi, Redwan M. "Maximizing manipulation capabilities of persons with disabilities using a smart 9-degree-of-freedom wheelchair-mounted robotic arm system." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002004.
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Lubbe, Hendrik Gideon. "Intelligent automated guided vehicle (AGV) with genetic algorithm decision making capabilities." Thesis, [Bloemfontein?] : Central University of Technology, Free State, 2007. http://hdl.handle.net/11462/85.
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Thesis (M.Tech.) - Central University of Technology, Free State, 2006The ultimate goal regarding this research was to make an intelligent learning machine, thus a new method had to be developed. This was to be made possible by creating a programme that generates another programme. By constantly changing the generated programme to improve itself, the machines are given the ability to adapt to there surroundings and, thus, learn from experience. This generated programme had to perform a specific task. For this experiment the programme was generated for a simulated PIC microcontroller aboard a simulated robot. The goal was to get the robot as close to a specific position inside a simulated maze as possible. The robot therefore had to show the ability to avoid obstacles, although only the distance to the destination was given as an indication of how well the generated programme was performing. The programme performed experiments by randomly changing a number of instructions in the current generated programme. The generated programme was evaluated by simulating the reactions of the robot. If the change to the generated programme resulted in getting the robot closer to the destination, then the changed generated programme was kept for future use. If the change resulted in a less desired reaction, then the newly generated programme was removed and the unchanged programme was kept for future use. This process was repeated for a total of one hundred thousand times before the generated program was considered valid. Because there was a very slim chance that the instruction chosen will be advantageous to the programme, it will take many changes to get the desired instruction and, thus, the desired result. After each change an evaluation was made through simulation. The amount of necessary changes to the programme is greatly reduced by giving seemingly desirable instructions a higher chance of being chosen than the other seemingly unsatisfactory instructions. Due to the extensive use of the random function in this experiment, the results differ from one another. To overcome this barrier, many individual programmes had to be generated by simulating and changing an instruction in the generated programme a hundred thousand times. This method was compared against Genetic Algorithms, which were used to generate a programme for the same simulated robot. The new method made the robot adapt much faster to its surroundings than the Genetic Algorithms. A physical robot, similar to the virtual one, was build to prove that the programmes generated could be used on a physical robot. There were quite a number of differences between the generated programmes and the way in which a human would generally construct the programme. Therefore, this method not only gives programmers a new perspective, but could also possibly do what human programmers have not been able to achieve in the past.
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Wei, Chen. "Static force capabilities and dynamic capabilities of parallel mechanisms equipped with safety clutches." Master's thesis, Université Laval, 2014. http://hdl.handle.net/20.500.11794/24810.
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Cette thèse étudie les forces potentielles des mécanismes parallèles plans à deux degrés de liberté équipés d'embrayages de sécurité (limiteur de couple). Les forces potentielles sont étudiées sur la base des matrices jacobienne. La force maximale qui peut être appliquée à l'effecteur en fonction des limiteurs de couple ainsi que la force maximale isotrope sont déterminées. Le rapport entre ces deux forces est appelé l'efficacité de la force et peut être considéré ; comme un indice de performance. Enfin, les résultats numériques proposés donnent un aperçu sur la conception de robots coopératifs reposant sur des architectures parallèles. En isolant chaque lien, les modèles dynamiques approximatifs sont obtenus à partir de l'approche Newton-Euler et des équations de Lagrange pour du tripteron et du quadrupteron. La plage de l'accélération de l'effecteur et de la force externe autorisée peut être trouvée pour une plage donnée de forces d'actionnement.This thesis investigates the force capabilities of two-degree-of-freedom planar parallel mechanisms that are equipped with safety clutches (torque limiters). The force capabilities are studied based on the Jacobian matrices. The maximum force that can be applied at the end-effector for given torque limits (safety index) is determined together with the maximum isotropic force that can be produced. The ratio between these two forces, referred to as the force effectiveness, can be considered as a performance index. Finally, some numerical results are proposed which can provide insight into the design of cooperation robots based on parallel architectures. Considering each link and slider system as a single body, approximate dynamic models are derived based on the Newton-Euler approach and Lagrange equations for the tripteron and the quadrupteron. The acceleration range or the external force range of the end-effector are determined and given as a safety consideration with the dynamic models.
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Tagebrand, Emil, and Ek Emil Gustafsson. "Dataset Generation in a Simulated Environment Using Real Flight Data for Reliable Runway Detection Capabilities." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54974.
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Implementing object detection methods for runway detection during landing approaches is limited in the safety-critical aircraft domain. This limitation is due to the difficulty that comes with verification of the design and the ability to understand how the object detection behaves during operation. During operation, object detection needs to consider the aircraft's position, environmental factors, different runways and aircraft attitudes. Training such an object detection model requires a comprehensive dataset that defines the features mentioned above. The feature's impact on the detection capabilities needs to be analysed to ensure the correct distribution of images in the dataset. Gathering images for these scenarios would be costly and needed due to the aviation industry's safety standards. Synthetic data can be used to limit the cost and time required to create a dataset where all features occur. By using synthesised data in the form of generating datasets in a simulated environment, these features could be applied to the dataset directly. The features could also be implemented separately in different datasets and compared to each other to analyse their impact on the object detections capabilities. By utilising this method for the features mentioned above, the following results could be determined. For object detection to consider most landing cases and different runways, the dataset needs to replicate real flight data and generate additional extreme landing cases. The dataset also needs to consider landings at different altitudes, which can differ at a different airport. Environmental conditions such as clouds and time of day reduce detection capabilities far from the runway, while attitude and runway appearance reduce it at close range. Runway appearance did also affect the runway at long ranges but only for darker runways.
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Baktha, Kishore. "Evaluating the Performance and Capabilities of Popular Android Mobile Application Testing Automation Frameworks in Agile/ DevOps Environment." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281984.
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The number of mobile applications has increased tremendously over the last decade, thereby also having increased the importance of mobile application testing. Testing is a very crucial process in the development of a mobile application to ensure reliability and proper functionality. In an Agile/DevOps environment, test automation is an integral part in order to support the continuous integration and continuous delivery/deployment principle. There is a plethora of mobile application testing automation frameworks available in the market today. Android testing frameworks were chosen for this study because of the prevalence of Android applications in the market today. The focus of this study is the comparison of the most popular mobile application testing automation frameworks in terms of performance and capabilities in an Agile/DevOps environment. In order to achieve this, firstly, the three most popular mobile application testing automation frameworks to be used for the study were identified. Secondly, the Key Performance Indicators and capabilities to be used for comparison of the frameworks were identified. Then, test cases in a complex mobile application were designed for analysing the frameworks based on the criteria gathered. Finally, the test cases were integrated in a Continuous Integration/ Continuous Delivery pipeline to gather results and perform a more detailed comparison in an Agile/DevOps environment. From this study, Espresso turned out to be the best framework in terms of KPI analysed beating the other frameworks in all the KPIs, while Robotium was second best followed by Appium. But on the other hand, Appium was the best framework in terms of capabilities by having ability to execute the maximum number of capabilities analysed followed by Robotium while Espresso was the worst framework in this criteria.Antalet mobilapplikationer har ökat enormt under det senaste decenniet och därmed har även vikten av mobilapplikationstest ökat. Testning är en mycket viktig process i utvecklingen av en mobilapplikation för att säkerställa tillförlitlighet och korrekt funktionalitet. I en Agile/DevOps miljö är testautomation en viktig del för att stödja principen av kontinuerlig integration och kontinuerlig leverans/driftsättning. Det finns en mängd ramverk för automatiserad testning av mobilapplikationer på marknaden idag. Testramverk för Android valdes för denna studie på grund av utbredningen av Android-applikationer på marknaden idag. Fokus för denna studie är jämförelsen av de mest populära automatiserade testramverk för mobilapplikationer med avseende på prestanda och lämplighet i en Agile/DevOps miljö. För att uppnå detta, identifierades först de tre mest populära automatiserade testramverk för mobilapplikationer som skulle användas för studien. Sedan identifierades de viktigaste resultatindikatorerna och kapaciteterna som skulle användas för att jämföra ramverken. Därefter designades testfall i en komplex mobilapplikation för att analysera ramverken baserat på de bestämda kriterierna. Slutligen integrerades testfallen i en pipeline för kontinuerlig integration /kontinuerlig leverans för att samla resultat och utföra en mer detaljerad jämförelse i en Agile/DevOps miljö. Från denna studie visade sig Espresso vara det bästa ramverket när det gäller KPI-analys, som slog de andra ramarna i alla KPI: er, medan Robotium var näst bäst följt av Appium. Men å andra sidan var Appium det bästa ramverket med avseende på kapacitet. Den hade förmågan att utföra det maximala antalet kapacitet som analyserades, följt av Robotium medan Espresso var det sämsta ramverket i dessa kriterier.
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Quintero, Monroy Christian G. "Introspection on control-grounded capabilities. An agent inspired approach for control." Doctoral thesis, Universitat de Girona, 2007. http://hdl.handle.net/10803/7741.
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Introspecció sobre la dinàmica dels agents té un important impacte en decisions individuals i cooperatives en entorns multi-agent. Introspecció, una habilitat cognitiva provinent de la metàfora "agent", permet que els agents siguin conscients de les seves capacitats per a realitzar correctament les tasques. Aquesta introspecció, principalment sobre capacitats relacionades amb la dinàmica, proporciona als agents un raonament adequat per a assolir compromisos segurs en sistemes cooperatius. Per a tal fi, les capacitats garanteixen una representació adequada i explícita de tal dinàmica. Aquest enfocament canvia i millora la manera com els agents poden coordinar-se per a portar a terme tasques i com gestionar les seves interaccions i compromisos en entorns cooperatius. L'enfocament s'ha comprovat en escenaris on la coordinació és important, beneficiosa i necessària. Els resultats i les conclusions són presentats ressaltant els avantatges de la introspecció en la millora del rendiment dels sistemes multi-agent en tasques coordinades i assignació de tasques.Introspective reasoning on physical agents' dynamics will have an important impact on both individual and cooperative decisions in multi-agent environments. Introspection, a cognitive ability coming from the agent metaphor, allows agents to be aware of their capabilities to perform correctly the tasks proposed by other agents. Introspection, mainly on capabilities related to dynamics, provides agents a reliable reasoning for achieving sure commitments in cooperative systems. To that end, control-grounded capabilities guarantee an appropriate and explicit agent-oriented representation of the physical agents' dynamics.
This approach changes and improves the way how agents can coordinate with each other to perform the proposed tasks and how they manage their interactions and commitments in cooperative environments. The approach is tested on several scenarios where coordination is relevant, beneficial and necessary. Experimental results and conclusions emphasizing the advantages of introspection in the improvement of multi-agent performance in coordinated tasks and task allocation problems are presented.
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Hermeling, Christian, Johannes Abicht, Thomas Theling, and Ralf Hock. "Interdisziplinäre Produktentwicklung: Beschreibung einer Kooperation aus Industrie, angewandter Forschung und Technischem Design zur Realisierung einer assistierenden Roboterzelle." Thelem Universitätsverlag & Buchhandlung GmbH & Co. KG, 2021. https://tud.qucosa.de/id/qucosa%3A75875.
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Kollaborative Robotik wird in der Regel als eine, den Anwender entlastende, Komponente in einem Mensch-Maschine-Szenario verstanden. Dabei wird in einer bisher nicht automatisierten Arbeitsumgebung eine Teilautomatisierung nachgerüstet. Für die Entwicklung derartiger Systeme ist neben dem Anwender und seinen Anforderungen auch eine hohe Passfähigkeit zu unterschiedlichen Bestandssystemen ausschlaggebend. Dieses Paper dokumentiert interdisziplinäre Zusammenarbeit zwischen Industrie, angewandter Forschung und Technischem Design, um Kernanforderungen an Automatisierungslösungen für bestehende Werkzeugmaschinen zusammenzutragen. In einem industriellen Automatisierungsszenario entstand eine mobile Roboterzelle mit einem hängenden Roboter sowie einem Palettenspeicher zur Maschinenbeschickung. Vor- und Nachbearbeitungen sind in einheitlichen Fähigkeitsmodulen gekapselt. Maschine und Bauteile werden über ein intelligentes Bildverarbeitungssystem lokalisiert. Diese Referenzierung ermöglicht nach einmaligem Teachen das Nachführen der Roboterbewegungen bei einer Neukonfiguration. Ergänzt wird die Lösung durch ein schutzzaunloses Sicherheitskonzept und eine bedienerführende Benutzeroberfläche zur Fähigkeitskomposition. Mit der Automatisierungslösung können mittelständische Unternehmen bei Personalengpässen die Produktivität aufrechterhalten und Mitarbeiter von monotonen Tätigkeiten entlasten.
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Eriksson, Anders, and Anes Music. "Organizational readiness for the implementation of robots in collaborative environments: a case study." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54516.
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The concept Industry 4.0 brings several technologies that could be useful for the factories and manufacturers to become more competitive. One of these technologies is the robots in collaborative environments which operate fenceless together with the operators. The interest of these robots in the manufacturing sector has been getting more attention in recent years. These implementation types require the organizations to determine their readiness levels to have success with the robot. Currently, the successful implantations of the robots in collaborative environments in industry are few, and the success factors must be mapped. Therefore, investigating the potential barriers, enablers and establishing a road map for a case company could be useful to fill this gap and assist the organizations with what is necessary to accomplish a successful implementation. A case study was conducted at a manufacturing company in Sweden, which allowed for insights into how an actual organization approaches the situation. The case company organization was in the process of acquiring a robot in a collaborative environment, hence, the data from the case company was relevant to answer the research questions. Furthermore, the data was collected using interviews, observations, and documents at the case company. A literature review was performed to provide information regarding the common factors within a RCE implementation, which also was a base for the interview guide. The data was analysed by comparing the theoretical framework and with the empirical findings to bring forth a conclusion and to establish a road map for the case company. A road map was created with sets of questions to address the identified barriers and enablers found in both literature and at the case company. The constructed road map contains questions concerning the areas of knowledge about the robot in collaborative environments, communication & information, organizational aspects, and resistance towards the change. By addressing the questions developed in the framework, the organization could get an advantage when considering the implementation of the robot. For the case company, as they are further along in the process, the road map could indicate how well they have performed in current projects. Furthermore, it could generate a more successful project the next time.
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FREGNAN, EZIO. "CULTURA DEL LAVORO E ACADEMY AZIENDALI PER APPRENDERE NELLA QUARTA RIVOLUZIONE INDUSTRIALE." Doctoral thesis, Università Cattolica del Sacro Cuore, 2021. http://hdl.handle.net/10280/95711.
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La Quarta rivoluzione industriale e l’evoluzione tecnologica in atto stanno innescando significativi cambiamenti a livello culturale, sociale ed economico.
Le rapide trasformazioni del mondo del lavoro portano in luce l’esigenza di coinvolgere i principali soggetti responsabili di guidare il cambiamento organizzativo e professionale all’interno di un percorso di ricerca partecipata e collaborativa, capace di esplicitare e descrivere diversi modi di affrontare le esperienze connesse ai mutamenti in corso.
All’interno di questo contesto, il lavoro di tesi intende contribuire a delineare la nuova cultura del lavoro che sta emergendo da alcune pratiche innovative, presenti all’interno del nuovo ecosistema educativo e formativo.
La ricerca scientifica, iniziata nel settembre 2019 e conclusa nel settembre 2020, si articola in quattro domande:
Come sta cambiando il contesto nel quale viviamo e lavoriamo?
Come si sta trasformando la cultura del lavoro?
Quali Driver ne facilitano l’apprendimento?
Gli elementi della cultura del lavoro sono utili anche alla luce di una nuova trasformazione radicale e improvvisa?
Le risposte intendono fornire alcuni spunti di riflessione e un primo orientamento pratico per tutti coloro i quali sono coinvolti in prima persona nella costruzione di nuove soluzioni per l’apprendimento, volte a trasferire valore ai cittadini e ai lavoratori di domani.The Fourth Industrial Revolution and the technological evolution in place are originating significant changes in culture, society and economy. Rapid transformations in the world of work revealed the need of involving the main subjects in charge of driving both organizational and professional change toward an engaging and collaborative research path, able to make clear and describe different ways to face the experiences connected with the undergoing changes. Within this context, the thesis aims at contributing in outlining the new work culture emerging from some innovative practices, present in the new educational and training ecosystem. The scientific research, started in December 2019 and concluded in September 2020, is articulated in four questions: How is the context in which we live and work changing? How is the work culture undergoing transformations? Which Drivers do facilitate its understanding? Are the elements of the work culture useful also in the light of a new radical and unexpected transformation? The answers intend to provide some points for reflection and a first practical guidance for all those who are directly involved in the creation of new learning solutions, aimed at transferring value to citizens and workers of tomorrow.
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FREGNAN, EZIO. "CULTURA DEL LAVORO E ACADEMY AZIENDALI PER APPRENDERE NELLA QUARTA RIVOLUZIONE INDUSTRIALE." Doctoral thesis, Università Cattolica del Sacro Cuore, 2021. http://hdl.handle.net/10280/95711.
Full textAbstract:
La Quarta rivoluzione industriale e l’evoluzione tecnologica in atto stanno innescando significativi cambiamenti a livello culturale, sociale ed economico.
Le rapide trasformazioni del mondo del lavoro portano in luce l’esigenza di coinvolgere i principali soggetti responsabili di guidare il cambiamento organizzativo e professionale all’interno di un percorso di ricerca partecipata e collaborativa, capace di esplicitare e descrivere diversi modi di affrontare le esperienze connesse ai mutamenti in corso.
All’interno di questo contesto, il lavoro di tesi intende contribuire a delineare la nuova cultura del lavoro che sta emergendo da alcune pratiche innovative, presenti all’interno del nuovo ecosistema educativo e formativo.
La ricerca scientifica, iniziata nel settembre 2019 e conclusa nel settembre 2020, si articola in quattro domande:
Come sta cambiando il contesto nel quale viviamo e lavoriamo?
Come si sta trasformando la cultura del lavoro?
Quali Driver ne facilitano l’apprendimento?
Gli elementi della cultura del lavoro sono utili anche alla luce di una nuova trasformazione radicale e improvvisa?
Le risposte intendono fornire alcuni spunti di riflessione e un primo orientamento pratico per tutti coloro i quali sono coinvolti in prima persona nella costruzione di nuove soluzioni per l’apprendimento, volte a trasferire valore ai cittadini e ai lavoratori di domani.The Fourth Industrial Revolution and the technological evolution in place are originating significant changes in culture, society and economy. Rapid transformations in the world of work revealed the need of involving the main subjects in charge of driving both organizational and professional change toward an engaging and collaborative research path, able to make clear and describe different ways to face the experiences connected with the undergoing changes. Within this context, the thesis aims at contributing in outlining the new work culture emerging from some innovative practices, present in the new educational and training ecosystem. The scientific research, started in December 2019 and concluded in September 2020, is articulated in four questions: How is the context in which we live and work changing? How is the work culture undergoing transformations? Which Drivers do facilitate its understanding? Are the elements of the work culture useful also in the light of a new radical and unexpected transformation? The answers intend to provide some points for reflection and a first practical guidance for all those who are directly involved in the creation of new learning solutions, aimed at transferring value to citizens and workers of tomorrow.
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Krundel, Ludovic. "On microelectronic self-learning cognitive chip systems." Thesis, Loughborough University, 2016. https://dspace.lboro.ac.uk/2134/21804.
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After a brief review of machine learning techniques and applications, this Ph.D. thesis examines several approaches for implementing machine learning architectures and algorithms into hardware within our laboratory. From this interdisciplinary background support, we have motivations for novel approaches that we intend to follow as an objective of innovative hardware implementations of dynamically self-reconfigurable logic for enhanced self-adaptive, self-(re)organizing and eventually self-assembling machine learning systems, while developing this new particular area of research. And after reviewing some relevant background of robotic control methods followed by most recent advanced cognitive controllers, this Ph.D. thesis suggests that amongst many well-known ways of designing operational technologies, the design methodologies of those leading-edge high-tech devices such as cognitive chips that may well lead to intelligent machines exhibiting conscious phenomena should crucially be restricted to extremely well defined constraints. Roboticists also need those as specifications to help decide upfront on otherwise infinitely free hardware/software design details. In addition and most importantly, we propose these specifications as methodological guidelines tightly related to ethics and the nowadays well-identified workings of the human body and of its psyche.
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Rios, Oziel 1980. "Influence of actuator parameters on performance capabilities of serial robotic manipulator systems." 2008. http://hdl.handle.net/2152/17902.
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A serial robotic manipulator arm is a complex electro-mechanical system whose performance is primarily characterized by the internal parameters of its actuators. The actuator itself is a complex nonlinear system whose performance can be characterized by the speed and torque capabilities of its motor and its accuracy depends on the resolution of the encoder as well as its ability to resist deformations in its gear train under load. The mechanical gain associated with the gear train transmission is critical to the overall performance of the actuator since it amplifies the motor torque thus improving the force capability of the manipulator housing it, reduces the motor speed to a suitable output speed operating range, dominates the inertia content of the manipulator and amplifies the stiffness improving the precision under load of the overall system. In this work, a basic analytic process that can be used to manage the actuator parameters to obtain an improved arm design based on a set of desired/required performance specifications is laid out. The key to this analytic process is the mapping of the actuator parameters (motor speed, motor torque, rotary stiffness, encoder resolution, transmission efficiency, mass, rotary inertia) to their effective values at the system output via the mechanical gains of the actuator transmissions as well as the effective mechanical gains associated with the manipulator geometry. This forward mapping of the actuator parameters allows the designer to determine how each of the actuator parameters influences the functional capacity of the serial manipulator arm. The analytic formulation is demonstrated to be effective in addressing the issue of configuration management of serial robotic manipulators where the goal is to assemble a system from a finite set of actuator modules that meets some required performance specifications. To this end, four design case studies demonstrating the solution of the configuration management problem are presented where the application domains include designing for light to heavy-duty force applications, designing for responsiveness and designing for Human-Robot Interactions (HRI). The design trade-offs for each of the application domains are analyzed and design guidelines are presented. This research also formulates a new approach to characterizing the dynamic behavior of serial chain mechanisms via the kinetic energy distribution. In any mechanism, the amount of kinetic energy in the system is a very important quantity to analyze. Since the inertial torques are directly related to the rate of change of the kinetic energy, better design (and operation) is achieved by having an understanding of how kinetic energy is distributed along the mechanism structure as well as how rapidly kinetic energy is flowing within it. In this work, a description of the Kinetic Energy Partition Values (KEPV) for serial chain mechanisms, as well as their rates of change, are presented. The KEPVs arise from the partitioning of the mechanism’s kinetic energy. Two design criteria, one based on the KEPVs and another based on their rates of change, are developed. These design criteria are indicators of both the dynamic isotropy of the system as well as the amount of kinetic energy flow within the system. A six-axis spatial manipulator is used to illustrate the solution of a design optimization problem where the goal is to demonstrate how the inertial parameters of the actuators and mechanical gains of the actuator transmissions alter the kinetic energy of the system which is “measured” via an effective mass criterion and its distribution which is measured via the KEPV criterion. It is demonstrated that the mechanical gains in the actuators significantly influence the magnitude of the kinetic energy as well as its distribution within the system.text
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Harmeyer, Sean. "Acceleration capability analysis as a development tool for motion control of legged robotic systems." 2006. http://etd.nd.edu/ETD-db/theses/available/etd-12082006-164915/.
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Thesis (Ph. D.)--University of Notre Dame, 2006.Thesis directed by Alan Bowling for the Department of Aerospace and Mechanical Engineering. "December 2006." Includes bibliographical references (leaves 133-141).
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Lin, Han-Ping, and 林翰屏. "Robotic Air Hockey with Offensive & Defensive Capability Based on Machine Learning and Vision Techniques." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/75148826399780452396.
Full textAbstract:
碩士國立臺灣海洋大學
機械與機電工程學系
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The research mainly focuses on the realization of the neural network algorithm that applies to the robotic air hockey with both offensive and defensive capability. There are only limited amount of literature concerning the area. Most of the control modules are based on the nonlinear control system with artificial intelligence. There are many types of AI system to select, some system is good at identification, and some system is good at getting optimal solution. If an inadequate AI system is selected, not only the performance of experiment will be affected, but also the task will become failure. So it is essential to choose a proper AI system in designing a robotic air hockey with offensive and defensive capability. The research adopts RBF (Radial-Basis Function) network to make the system learn to forecast the motion of the puck using vision sensor and robot arm, and achieve the offensive and defensive capability. The experiments have demonstrated that the RBF network can overcome the disturbances of puck’s motion, such as the tilted tabletop and uneven air blown and so on. Then the arm is guided to the predicted positions to counterattack or defense. The experiments use low-cost devices to make the robot be able to operate simple offensive and defensive tasks. In the process of the experiments, image process technique is the key technology to overcome the situation of limited hardware. Finally it’s confirmed through the experiments, the system can perform offensive and defensive tasks with considering the puck impacts and rotation effects under limited puck’s speed conditions.
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"Maximizing manipulation capabilities of persons with disabilities using a smart 9-degree-of-freedom wheelchair-mounted robotic arm system." UNIVERSITY OF SOUTH FLORIDA, 2007. http://pqdtopen.proquest.com/#viewpdf?dispub=3260105.
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Panda, Punyabrahma. "A micro-robotic system with integrated force sensing capability for manipulation of magentic particles in three dimensions." Thesis, 2019. https://etd.iisc.ac.in/handle/2005/4414.
Full textAbstract:
Micro-robotic systems are used in various fields of science and technology for the manipulation of objects of size less than a millimeter. Magnetic tweezers can be considered as micro-robotic systems due to their ability to manipulate samples of size in the range of few micrometers. In magnetic tweezers, a magnetic microparticle is manipulated by applying magnetic fields near the particle. Magnetic tweezers are popular for manipulating biological samples due to their high specificity, bio-compatibility and having an untethered end effector that enables them to manipulate inside the samples. Despite these benefits, magnetic tweezers suffer from limitations such as non-linearity in actuation, poor actuation bandwidth, the measurement strategy demanding the particle to be clearly visible and finally, the necessity of sophisticated control strategies for controlling the position of magnetic particles. This thesis investigates the design and development of a micro-robotic system with force sensing capability that addresses the actuation, measurement and control limitations of magnetic tweezers systems.
In order to address the actuation and measurement limitations of magnetic tweezers, a current carrying micro-actuator is proposed to apply magnetic forces to the magnetic particles while an integrated force sensor measures the applied force. A simple analytical model for the force of interaction between the micro-actuator and magnetic particle is proposed and is employed to show that the force is proportional to the actuation current and position of the magnetic particle in three-dimensions (3-D). Further, simple models for mechanical stiffness and rise in temperature due to ohmic heating of the micro-actuator with force sensing capability are proposed. Subsequently, systematic guidelines are proposed for the design of the micro-actuator with force sensing capability. The designed micro-actuator with force sensing capability is fabricated and evaluated. The micro-actuator has an electrical bandwidth of about 1 MHz. The ability of the micro-actuator to apply 3-D forces to a magnetic particle is demonstrated by actuating permanent-magnet microparticles attached to micro-cantilever beams. The force sensing capability of the micro-actuator is demonstrated by measuring the deflection of the micro-actuator while it is actuating permanent-magnet microparticles.
The applicability of the micro-actuator with force sensing capability is shown by employing it for the development of a magnetometer to estimate the magnetic moment of micrometer-scale magnetic particles in 3-D. The developed magnetometer is evaluated by measuring magnetic moments of both hard and soft ferromagnetic particles and of untethered magnetic particles. The measured magnetic moments agree with their theoretical counterpart with an average error of 18%.
Finally, an open loop control strategy is proposed for controlling the position of magnetic particles in 2-D and 3-D respectively by applying appropriate actuation currents to the micro-actuator. Also, the force sensing capability is utilized to estimate the position of the magnetic particle along the out-of-plane axis of the micro-actuator. The estimated position of the magnetic particle is used to develop a novel scanning probe microscope (SPM) with an untethered probe. The motion of the magnetic particle in 3-D due to actuation current to the micro-actuator is estimated numerically and analyzed by using Mathieu equation with Dehmelt’s approximation. Control of the position of a magnetic particle is demonstrated by moving the particle in pre-defined trajectories in 2-D and 3-D. Further, a new strategy is developed to push samples of dimensions much smaller than the size of the magnetic particle. Finally, the imaging capability of the developed SPM is shown by imaging artificially generated topographies using a tethered probe.
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Del, Castillo Del Riego Guillermo. "Autonomous, vision-based, pivoting wheelchair with obstacle detection capability." 2004. http://www.oregonpdf.org.
Full textAbstract:
Thesis (Ph. D.)--University of Notre Dame, 2004.Includes bibliographical references (leaves 277-280). Also available online (PDF file) by a subscription to the set or by purchasing the individual file.
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Zibil, Alp. "Wrench capabilities of redundantly-actuated planar parallel manipulators." Thesis, 2007. http://hdl.handle.net/1828/2309.
Full textAbstract:
The wrench capability of a manipulator is defined as the maximum forces and moments that can be applied (or sustained) by the manipulator. Understanding these kinetostatic performances of a manipulator is crucial in design and control of manipulators. A novel analytical methodology for the determination of the force and moment capabilities of non-redundantly and redundantly actuated planar parallel manipulators is presented. This new methodology is compared to a previous methodology that used optimization and it is shown that the new methodology is computationally more efficient and yields more accurate results. Based on this methodology. five force and moment capability indices are proposed. The proposed indices are used to generate the wrench capabilities of nine different non-redundantly and redundantly actuated planar parallel manipulator architectures.
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Chao, Ying-Chin. "Unmanned Cooperative Fire-Seeking and -Fighting Robot with Bluetooth Communication and Stair-Climbing Capability." 2010. http://hdl.handle.net/1969.1/ETD-TAMU-2010-05-7780.
Full textAbstract:
This thesis presents a prototype of Unmanned Cooperative Fire-Seeking and
-Fighting Robots (UCSFRs) which have a new way to climb up the stairs or traverse over
obstacles with a ball screw. There are three unmanned vehicles (one Mother Vehicle (MV)
and two Daughter Vehicles (DVs)) presented in this research. The MV can carry two DVs
to climb stairs. They can communicate with each other using Bluetooth communication
modules. The core system of the UCSFRs is a PIC 16F877 microcontroller on a 2840
development board. The software is written in C language and the interface is established
through Hyper Terminal built in Windows XP. UCSFRs are low cost unmanned vehicles
compared with other commercial ones. The double-deck structure is applied on the DVs.
The body of the MV can be extended for special purposes. In this research, there are three
tests used to verify the functionality of the UCSFRs: (1) MV?s finding and stopping fire,
(2) Communication between the MV and the DVs, and (3) the MV?s climbing stairs. In
the second test, the DVs run in the opposite direction to assist MV detect fire. By
cooperative work, they can save time finding the fire. The MV will go to the hightemperature
area according to the data sent by the DVs. Because of the features mentioned
above, UCSFRs can be used to perform dangerous tasks instead of fire-fighters.