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Dissertations / Theses on the topic 'Simulation of a robotic workplace'
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Mrkva, Tomáš. "Simulační studie výrobní linky s průmyslovými roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417546.
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This diploma thesis deals with the design of a robotic workplace for deburring of a given part. The robot's task is to remove the machined part from the production machine, create a blank workpiece ready for machining, and finally deburr the the machined part. There are several proposals for the layout of the robotic cell, as well as the design of the end effector, the input tray for semi-finished products and a stand with tools for deburring. Subsequently, a simulation model of the designed robotic cell is created in the Siemens Process Simulate software. Using RSC modules, the exact resulting cell clock is determined. The whole process of creating a simulation model is detaily described. At the end of this thesis is an economic evaluation of the proposed solution.
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Čefelín, David. "Virtuální zprovoznění paletizačního/depaletizačního pracoviště." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417458.
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This diploma thesis is dealt with the virtual commissioning of a palletizing line, which is palletized using an industrial robot. In the theoretical part I describe the applications, divisions and effectors of the industrial robots and the reasons and the benefits of palletizing. Furthermore, the issue of virtual commissioning is described, including sensors, that are served for the proper operation of the workplace and the virtual simulation. In the practical part I describe the future workplace, creating a simulation and the program in the RobotStudio software.
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Chromčík, Adam. "Návrh virtuálního modelu robotického pracoviště." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382284.
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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.
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Rolinc, Lukáš. "Návrh svařovací robotické buňky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400974.
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The diploma thesis deals with the design of a workplace with robots designed for spot welding of wire reinforcement of the car seat. After analyzing and description of the given task, the workplace concept is chosen based on the input parameters. Subsequently, sub-systems of the production cell are designed and selected for this concept. For example the design of clamping fixtures, rotary table, input and output storage magazines or the selection of welding guns and robots are solved. The workplace is designed to ensure operator safety and protection. The production cycle of the designed workplace is simulated in Siemens Process Simulate to verify functionality and required productivity of the production line. Technical and economic evaluation of the proposed solution is also included in this diploma thesis.
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Srdošová, Michaela. "Návrh robotické buňky pro manipulační operace." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400982.
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This Master`s thesis deals automation of the workplace for manipulation operations. Robot’s role is take cooler from case, insert them into the dimensional and tightness device and then robot must place cooler on the output conveyor in robotic cell. The thesis describe deployment working cell, the selection and design process of each device and the robotic cell is designed with the safety standards. On the end in this thesis is a technical-economics evaluation. The simulation model in Process Simulate is a aim of this thesis, because we know working cycle time from this model.
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Baťka, Tomáš. "Virtuální zprovoznění robotizované výrobní buňky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444300.
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The diploma thesis deals with the virtual commissioning of robotic workplace designed to engrave board materials and their subsequent packaging. The summary of the knowledge that contributes to the development of the virtual commissioning as well as description of each component of the given robotic cell, are described in the theoretical part. In the practical part are described procedures such as assembling of the simulation model in Process Simulate software, creating the PLC program in integrated development environment TIA Portal or creating visualization for HMI panel. In the end, the actual commissioning of the workplace was performed, followed by additional modification and validation of the robotic program.
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Kljajič, Marko. "Simulační studie robotické linky pro obsluhu obráběcího stroje a realizaci dokončovacích operací." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417547.
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The aim of the thesis is conceptual design of robotic workplace with its subsequent simulation. The current workplace for manufacturing and deburring parts for automotive industry is operated manually. The plan is overall automation and replacement of operators by robots. The thesis deals with the concept of layout of elements in the cell, and the procedure of their selection or design. Process simulation is performed in the Process Simulate software from Siemens. For the purposes of the work is used RCS module, which on the basis of dynamic conditions can calculate the cycle of production very close to the reality. The production cycle is compared to the current workplace. The work also deals with the economic evaluation of the proposed workplace.
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Bražina, Jakub. "Virtuální zprovoznění výrobního systému." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400983.
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This diploma thesis deals with virtual commissioning of production system which is located in the laboratories of the Institute of Production Machines, Systems and Robotics at the BUT. The issue of virtual commissioning is described in the theoretical part of the thesis, followed by a description of each device located in this production system. The design of the 3D model, the design of the PLC control program and also the virtual commissioning itself are described in the practical part of the thesis. There is the creation of the robot‘s program described at the end of the thesis. Several Siemens software tools were used for virtual commissioning realization (TECNOMATIX Process Simulate, TIA Portal and PLCSIM Advanced 2.0).
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Kysela, Martin. "Návrh robotické linky pro svařování ocelového rámu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443245.
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The aim of this diploma thesis is to design a cell for robotic arc welding of steel frame. Three possible solutions are provided and one of them is to be chosen to work out. Construction designs of fixture, machine guarding and material racks were created and devices and components required for cell functionality were chosen. All of that with regard to the safety of workplace operators.The result is 3D model of welding cell, it´s implementation and virtual commissioning in the simulation software Process simulate. We will verify the weldability of assigned part, find out the production cycle, eliminate error and lastly the technical and economic evaluation will be work out.
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Šuba, Marek. "Digitální zprovoznění robotizovaného výrobního systému pro odporové navařování." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443726.
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The subject of this diploma thesis is the simulation and digital commissioning of a robotic production system for welding elements such as studs on sheet metal parts. The basis of the work is search of information related to industrial robots, PLC control, tools used for welding, fixtures, manipulators, sensors, safety and protection elements commonly used in such production systems. The second part of the work deals with the given problem and it is a virtual commissioning of the given concept of a robotic production system. This means creating its simulation model in the Process Simulate environment, selecting robots, creating robotic trajectories, collision analysis, creating sensors, signals and optimization. Last part includes the connection of the simulation model with the software S-7PLCSIM Advanced and TIA Portal, the creation of control PLC logic in the form of a program, visualization and verification of their functionality using the above-mentioned connection with the simulation model.
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Lu, Yu. "Etude du volume de travail des robots : enveloppe, atteignabilite." Paris, ENSAM, 1988. http://www.theses.fr/1988ENAM0002.
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Proposition d'une methode geometrique de construction de l'enveloppe atteignable d'un robot. En effet, la connaisance des volumes atteignables d'un robot permet de determiner la faisabilite d'une trajectoire, de faciliter le positionnement du robot dans sa cellule de travail et l'optimisation des parametres geometriques de conception du manipulateur. Creation d'un outil de simulation a partir d'une base graphique
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Andersson, Sabina. "Simulation challenges in robotic grasping." Thesis, Umeå universitet, Institutionen för fysik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-186487.
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Grasping and dexterous manipulation is a huge area in the current robotic research field. Traditionally in industrial environments, robots are customized for a certain task and work well with repetitive movements where the entire process is predetermined and deterministic. The possibility for a robot to adapt to its surroundings and manipulate objects with unknown properties is very limited and requires new models and methods. It is advantageous to explore and test new algorithms and models in a simulated environment before building physical systems. This thesis focuses on making the development, design and control of dexterous robot hands easier by exploring the benefits and challenges to use simulation in Algoryx's physics engine AGX Dynamics for experimentation and evaluation of design, motion planning, contact models, geometry, etc. The goal is to simulate complex grasping situations in AGX Dynamics and to build knowledge about contact mechanics to fully capture the dynamics of grasping in simulation. The work consists of validating the simulation library with regards to fundamental physics characteristics involved in grasping by a series of benchmark tests. The validation process aims to verify the models and numerical methods in AGX Dynamics to ensure sim2real transfer. The work has exposed friction as one of the biggest challenges in simulation. Developments of the current friction models that better represent the reality have been implemented and tested in AGX. They both show promising results for further development.
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Williams, Manoleto Z. "Agent-based simulation of robotic systems." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Jun%5FWilliams.pdf.
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Thesis (M.S. in Modeling, Virtual Environments, and Simulation (MOVES))--Naval Postgraduate School, June 2003.Thesis advisor(s): Richard Harkins, John Hiles. Includes bibliographical references (p. 161-163). Also available online.
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Engström, Jesper, Elias Richloow, and Anders Wickström. "Modeling of Robotic Hand for Dynamic Simulation." Thesis, KTH, Maskinkonstruktion (Inst.), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-171991.
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KTHand is a robot hand designed within a doctoral thesis by Johan Tegin. KTHand is meant to be a simple construction, able to be produced for a low cost but still be functional thanks to feedback from tactile and position sensors. The mechanical construction of KTHand is based on three identical fingers, corresponding index finger, middle finger, and a thumb. Each finger consists of three movable links, called phalanges, connected by a leaf spring on the top. For the force actuation, a fishing line acting as a tendon is running through ducts in the phalanges. Each tendon is powered by a direct current motor in the hand, and this gives a finger three degrees of freedom (D.O.F.) with only one actuator, i.e. an under-actuated finger. To evaluate KTHand – simulations in the open-source software GraspIt! have been carried out. These simulations have been more or less successful, and a wish for simulation in another program has arisen. MSC ADAMS is a widely used and verified commercial program which is used for setting up advanced physical multibody simulations. ADAMS is fairly untested for the purpose of simulating robot hands and that is why it is of interest to see whether it is possible to successfully simulate the grasp dynamics of a robot hand, which is the topic for this thesis.As a starting point for the model design in ADAMS, a previously developed CAD model has been used since ADAMS provides the ability to import CAD files. To decrease the level of complexity, a number of simplifications have been done to the CAD model – unnecessary geometry such as screws and screw holes have been removed and curved lines in the geometry of the hand have been replaced by straight lines.After the simplified model was imported in ADAMS – joints, springs and contact conditions have been defined to obtain ranges of motion (R.O.M.) analogous to those of the physical prototype. To imitate the tendon which actuates a finger, a number of point forces have been defined. These point forces represent the reactive forces acting on the phalanges from the tendon. To perform a grasp simulation a number of different setups were used, each one with a different geometrical object to be grasped. Contact conditions between the hand and the objects were defined and the simulations were evaluated. The model can be used to simulate contact forces and how the hand interacts with different geometries. The conclusion of the simulations is that grasps based on shape give satisfying results while grasps based on friction force are of less accuracy. Friction conditions in ADAMS have turned out to be of low precision, and thus the grips based on friction become unrealistic.KTHand är en robothand utformad inom en doktorsavhandling av Johan Tegin. KTHand är tänkt att vara en enkel konstruktion som ska kunna tillverkas för en låg kostnad samtidigt som den ska vara funktionell tack vare återkoppling av taktila givare och positionsgivare. KTHands mekaniska konstruktion är baserad på tre identiska fingrar, motsvarande pekfinger, långfinger och tumme. Varje finger är uppbyggt av tre rörliga länkar sammanfogade av en bladfjäder på ovansidan. Kraftstyrningen i ett finger utgörs av en fiskelina som löper genom hela fingret och får sin kraft av en likströmsmotor i handen. Detta ger ett finger med tre frihetsgrader aktuerat av en motor, alltså ett underaktuerat finger. För att utvärdera KTHand har simuleringar utförts i programmet GraspIt!. Dessa simuleringar har givit blandade resultat varför en önskan om simulering i annat program har uppkommit. MSC ADAMS är ett utbrett och välverifierat kommersiellt program som möjliggör avancerade fysikaliska flerkroppssimuleringar. ADAMS är dock ett tämligen oprövat program för just robothandssimulering och därför är det av intresse att utreda huruvida en robothands greppdynamik framgångsrikt kan simuleras i ADAMS och detta är ämnet som behandlas i den här rapporten. Sedan tidigare finns en utförlig CAD-modell av KTHand och denna har använts som utgångspunkt för modelluppbyggandet i ADAMS eftersom CAD-modeller kan importeras i detta program. För att bland annat minska komplexitetsnivån har den existerande CAD-modellen kraftigt förenklats på så vis att all, för ADAMS-modellen, onödig geometri som t.ex. skruvar och skruvhål har tagits bort. Vidare har även geometrin förenklats genom att kurviga kantlinjer har ersatts av raka dito. I ADAMS har leder och fjädrar definierats, rörelsetvång har införts genom att upprätta kontaktvillkor och kraftstyrning har lösts genom att införa krafter representerande de reaktionskrafter som uppkommer inne i fingrarna från den genomlöpande ”senan”. För att sedan simulera grepp har geometriska objekt skapats i ADAMS varefter kontaktvillkor definierats. Modellen kan användas för att simulera kontaktkrafter och hur handen interagerar med föremål av olika geometri. Slutsatsen av dessa simuleringar är att formbaserade grepp ger mer tillförlitliga resultat än friktionsbaserade grepp. Friktionsvilkoren i ADAMS har visat sig vara mindre tillförlitliga och på så sätt är de grepp som är starkt beroende av friktion ej verklighetstrogna.
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Kiely, Daniel James. "Advancing surgical simulation in robotic gynecologic oncology." Thesis, McGill University, 2014. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=122989.
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Objective: To advance robotic surgery simulation in gynecologic oncology by: (1) conducting a randomized controlled trial of a virtual reality, proficiency-based robotic simulation curriculum to teach robotic suturing and (2) developing an inanimate model for training in the procedure of robotic pelvic lymphadenectomy. Methods: (1) Residents and attending surgeons in surgical specialties were randomized to a proficiency-based virtual reality robotic simulation curriculum or usual clinical work over 5 weeks. Ability to perform robotic suturing of an inanimate model of the vaginal cuff with the actual da Vinci® robot was assessed at baseline and after the intervention period. (2) Using anatomic texts and virtual model of the anatomy of the human pelvis, an inanimate model for training in robotic pelvic lymphadenectomy was developed using low-cost materials. The model was robotically dissected by three gynecologic oncologists and two gynecologic oncology fellows all of whom rated the model post-dissection using a structured rating scale.Results: (1) As compared to controls, the training group showed a trend to greater improvement in ability to perform robotic suturing of an inanimate model of the vaginal cuff as assessed by a global rating scale and a statistically significantly greater improvement in total knots performed. (2) The pelvic lymphadenectomy model was rated favorably for both anatomic realism and potential as a training tool. Discussion: Participation in a virtual reality robotic surgery training curriculum shows a trend to improving ability to perform inanimate tasks with the actual da Vinci® robot, suggesting a translational benefit. A high fidelity training model of robotic pelvic lymphadenectomy has been developed using low-cost materials. Both projects help to advance surgical simulation in gynecologic oncology, the first at the level of basic task training and the second in advanced techniques.Objectifs: Améliorer la simulation chirurgicale en gynécologie oncologique par: (1) un essai randomisé contrôlé pour évaluer un curriculum de simulation en réalité virtuelle pour enseigner l'enseignement des sutures (2) développement d'un modèle anatomique pour simuler la technique de curage ganglionnaire pelvienne. Méthodes: (1) Résidents et chirurgiens étaient randomisés au curriculum d'entrainement en simulation robotique (réalité virtuelle) ou groupe témoin pendant 5 semaines. L'habileté à la suture robotique avec le da Vinci® pour faire la fermeture de la voûte vaginale était évaluée avant et après l'intervention. (2) En utilisant les livres anatomiques et un modèle virtuelle de l'anatomie du pelvis, un modèle inanimé pour l'entrainement en curage ganglionnaire par voie robotique a été créé. Le modèle était disséqué et par la suite évalué par trois gynécologues oncologues et deux fellows en gynécologie oncologie. Résultats: (1) Le groupe d'entrainement a mieux amélioré que le groupe témoin en le nombre total de noeuds fait et a montré une tendance à une plus grande amélioration en évaluation avec une échelle standardisé. (2) Le modèle de curage ganglionnaire pelvienne a eu des résultats favorables aux évaluations par les médecins qui ont fait la dissection. Discussion: L'essai randomisé démontre qu'il y a au moins une tendance pour l'entrainement en réalité virtuelle d'améliorer l'habileté de faire les exercices avec le robot da Vinci®. Un modèle de curage ganglionnaire pelvienne avec une fidélité élevée a été créé avec des bonnes évaluations. Les deux projets aident à avancer la simulation en gynécologie oncologie, le premier en technique de base et la deuxième en techniques avancées.
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Nandy, Shiddhartha. "Dynamic simulation model of a robotic manipulator." Thesis, University of Newcastle Upon Tyne, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.318722.
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Wood, John Travis Ian. "Almeria-Mars: A web based robotic simulation." CSUSB ScholarWorks, 2003. https://scholarworks.lib.csusb.edu/etd-project/33.
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Chang, Ta-Cheng. "Simulation Assisted Robotic Orthopedic Surgery in Femoroacetabular Impingement." Scholarly Repository, 2011. http://scholarlyrepository.miami.edu/oa_dissertations/618.
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Femoroacetabular impingement (FAI) has been increasingly recognized as a cause of early hip osteoarthritis. FAI is characterized by pathologic contact between the femur and acetabular rim during hip join movement, caused by morphological abnormalities. Arthroscopic technique has become increasingly popular for FAI surgical treatment because of its minimal invasiveness. However, it involves cumbersome procedures and over- or under-resection are likely to occur. To tackle this issue, robot-assisted FAI arthroscopy is a well suited approach because it results in high accuracy and reproducible surgical outcomes. This dissertation provides new approaches and methods for the current challenges in the development of robot-assisted FAI arthroscopy. The study has three objectives: 1) to develop a robust calibration method for the A-mode ultrasound probe used for noninvasive bone registration, 2) to develop a bone registration simulator for verifying the registration accuracy and consistency for any given registration point-pattern, and 3) to develop a hip range of motion simulation system that returns the virtual range of motion and determines the bone resection volume. Carefully designed calibration procedures and simulation experiments have been conducted during the study of this research. From the experimental results, the developed ultrasound calibration method successfully reduces the registration errors and is proved to be robust. The results from the registration simulator indicate that the pattern with widely distributed points lead to better registration accuracy and consistency. The hip range of motion simulation system results in acceptable accuracy and successfully generates the resection volume. With further modifications, the ultrasound probe can be successfully calibrated with the developed method, and will be applied for noninvasive bone registration. The registration simulator can also be served as a useful tool for determining the optimized registration point-pattern, which can lead to reduced surgical trauma and registration time. Finally, the developed range of motion simulation system can allow the surgeon to evaluate the surgical outcome and to determine the resection volume even before the surgery begins. To conclude, this dissertation provides useful approaches, methods, and software for developing robot-assisted FAI arthroscopy.
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Shoaki, Salman Daif-Allah. "Generic robotic manufacturing systems : modelling/simulation and control." Thesis, Imperial College London, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.390617.
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Meyen, Forrest Edward. "Engineering a robotic exoskeleton for space suit simulation." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85810.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 177-181).
Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.
by Forrest Edward Meyen.
S.M.
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Renner, Michael Robert. "Machine Learning Simulation: Torso Dynamics of Robotic Biped." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/34602.
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Military, Medical, Exploratory, and Commercial robots have much to gain from exchanging wheels for legs. However, the equations of motion of dynamic bipedal walker models are highly coupled and non-linear, making the selection of an appropriate control scheme difficult. A temporal difference reinforcement learning method known as Q-learning develops complex control policies through environmental exploration and exploitation. As a proof of concept, Q-learning was applied through simulation to a benchmark single pendulum swing-up/balance task; the value function was first approximated with a look-up table, and then an artificial neural network. We then applied Evolutionary Function Approximation for Reinforcement Learning to effectively control the swing-leg and torso of a 3 degree of freedom active dynamic bipedal walker in simulation. The model began each episode in a stationary vertical configuration. At each time-step the learning agent was rewarded for horizontal hip displacement scaled by torso altitude--which promoted faster walking while maintaining an upright posture--and one of six coupled torque activations were applied through two first-order filters. Over the course of 23 generations, an approximation of the value function was evolved which enabled walking at an average speed of 0.36 m/s. The agent oscillated the torso forward then backward at each step, driving the walker forward for forty-two steps in thirty seconds without falling over. This work represents the foundation for improvements in anthropomorphic bipedal robots, exoskeleton mechanisms to assist in walking, and smart prosthetics.Master of Science
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Lilly, Kathryn Weed. "Efficient dynamic simulation of multiple chain robotic systems /." The Ohio State University, 1989. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487670346873809.
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Wong, Pang Fei 1979. "Algorithms for efficient dynamics simulation of space robotic systems." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99548.
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The algorithms used for solving the forward dynamics problem of a complex multibody system are essential for an efficient simulation of robotic systems. The efficiency is measured by the CPU time and the number of operations per number of bodies in the system. In this work, we discuss the solution of the forward dynamics problem for real-time simulations of space robotic systems using the so-called Articulated Body Method. Traditional methods use the calculation of the inverse of the generalized mass matrix. This makes the required number of operations proportional to the cube of the number of bodies in the multibody system. For real-time simulations of complex systems, O(n) algorithms seem to be the best choice because the number of operations is linearly proportional to the number of bodies. They become more efficient than O( n3) algorithms as soon as the number of bodies in the system exceeds 12--14. In this thesis, we will present a detailed discussion of O(n) algorithms derived based on the Articulated Body Method (ABM). This algorithm can be presented using Lagrangian and Hamiltonian variables. Such algorithms can be used for the real-time simulation of robotic systems by taking into account both joint-flexibility and approximations for the gear-ratio effect. A unified derivation of the ABM algorithms using both Lagrangian and Hamiltonian variables will be discussed. The intended, primary application of the algorithms is to develop real-time simulation engines for the complete robotic system of the International Space Station. The implementation and use of these algorithms will be analyzed in detail.
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Wang, Zhifeng. "Robotic Manipulation of Deformable Linear Objects: Modelling and Simulation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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With the development of materials science, deformable material objects are used in more andmore fields. Handling of deformable soft objects can be found in many industrial fields includingfood industry and recycle industry. But deformable objects are different from rigid objects. Thereis still room for development of material control, in which the use of computers to simulate controlplays an important role. In this thesis, a physical model of the cable is established based ongeometrically exact dynamic splines, and the simulink of matlab is used to develop the model ofthe cable to establish a control system. Under the action of this control system, the cable can reacha designated position and form the desired shape through a series of operations from the defaultposition and the straight starting state. In this process, the cable will contact the establishedobstacle model and will be affected by the interaction force provided by the obstacle model.At theend of the thesis, the simulation results are analyzed.
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Lancaster, Joseph Paul Jr. "Predicting the behavior of robotic swarms in discrete simulation." Diss., Kansas State University, 2015. http://hdl.handle.net/2097/18980.
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Doctor of PhilosophyDepartment of Computing and Information Sciences
David Gustafson
We use probabilistic graphs to predict the location of swarms over 100 steps in simulations in grid worlds. One graph can be used to make predictions for worlds of different dimensions. The worlds are constructed from a single 5x5 square pattern, each square of which may be either unoccupied or occupied by an obstacle or a target. Simulated robots move through the worlds avoiding the obstacles and tagging the targets. The interactions between the robots and the robots and the environment lead to behavior that, even in deterministic simulations, can be difficult to anticipate. The graphs capture the local rate and direction of swarm movement through the pattern. The graphs are used to create a transition matrix, which along with an occupancy matrix, can be used to predict the occupancy in the patterns in the 100 steps using 100 matrix multiplications. In the future, the graphs could be used to predict the movement of physical swarms though patterned environments such as city blocks in applications such as disaster response search and rescue. The predictions could assist in the design and deployment of such swarms and help rule out undesirable behavior.
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HAJHOUJ, MOUAMD. "Programmation hors ligne : emulation des composants d'une cellule robotisee." Paris, ENSAM, 1988. http://www.theses.fr/1988ENAM0005.
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On traite du cas d'une cellule robotisee comportant plusieurs chaines cinematiques. Le module d'execution gene la synchronisation et la communication entr les differentes taches. Le passage au robot reel montre que l'emulation de la commande elimine les erreurs dues a l'utilisation d'algorithmes generaux
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Moutran, Serge Riad. "Feasible Workspace for Robotic Fiber Placement." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/32738.
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Online consolidation fiber placement is emerging as an automated manufacturing process for the fabrication of large composite material complex structures. While traditional composite manufacturing techniques limited the productsâ size, geometrical shapes and laminate patterns, robotic automation of the fiber placement process allows the manufacture of complex bodies with any desired surface pattern or towpregâ s direction. Therefore, a complete understanding of the robot kinematic capabilities should be made to accurately position the structureâ s substrate in the workcell and to compute the feasible product dimensions and sizes.
A Matlab algorithm is developed to verify the feasibility of straight-line trajectory paths and to locate all valid towpreg segments in the workspace, with no focus on optimization. The algorithm is applied preliminary to a three-link planar arm; and a 6-dof Merlin robot is subsequently considered to verify the towpreg layouts in the three-dimensional space. The workspace is represented by the longest feasible segments and plotted on parallel two-dimensional planes. The analysis is extended to locate valid square areas with predetermined dimensions. The fabrication of isotropic circular coupons is then tested with two different compaction heads. The results allow the formulation of a geometric correlation between the end-effector dimensional measures and the orientation of the end-effector with respect to the towpreg segments.Master of Science
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Cabrera, Pablo Marcelo. "Robotic Fabrication Workflows for Environmentally Driven Facades." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/92001.
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Even though computer simulation of environmental factors and manufacturing technologies have experienced a fast development, architectural workflows that can take advantage of the possibilities created by these developments have been left behind and architectural design processes have not evolved at the same rate. This research presents design to fabrication workflows that explore data driven design to improve performance of facades, implementing for this purpose computational tools to handle environmental data complexity and proposes robotic fabrication technologies to facilitate façade components fabrication.
During this research three design experiments were conducted that tested variations on the design to fabrication workflow, approaching the flow of information in top-down and bottom-up processes. Independent variables such as material, environmental conditions and structural behavior, are the framework in which workflow instances are generated based on dependent variables such as geometry, orientation and assembly logic. This research demonstrates the feasibility of a robotic based fabrication method informed by a multi-variable computational framework plus a simulation evaluator integrated into a design to fabrication workflow and put forward the discussion of a fully automated scenario.Master of Science
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Ren, Xiangyang [Verfasser]. "Contribution to Simulation of Robotic Belt Grinding Processes / Xiangyang Ren." Aachen : Shaker, 2007. http://d-nb.info/1164340085/34.
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GUEDES, JULIO QUADRIO DE MOURA. "DESIGN,SIMULATION AND DEVELOPMENT OF A TENDON DRIVE ROBOTIC MANIPULATOR." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2010. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=16582@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROUm novo conceito de manipulador esta sendo estudado com o intuito de realizar tarefas inviáveis para manipuladores tradicionais. Este modelo de manipulador se baseia em manipuladores contínuos. Eles apresentam uma estrutura similar a uma coluna vertebral, são altamente modulares, leves, podem ser atuados remotamente e possuem alto índice de adaptabilidade com o ambiente. Este tipo de manipulador apresenta características interessantes para utilização em diversos tipos de tarefas, principalmente em inspeções em locais com muitos obstáculos e ambientes inóspitos para os seres humanos. Esta dissertação apresenta o desenvolvimento de um protótipo de manipulador contínuo atuado remotamente por tendões. Ele possui estrutura modular formado por vértebras ligadas serialmente. Inicialmente projetado através de ferramentas computacionais para em seguida ser construído fisicamente. São apresentados estudos cinemáticos e simulações com comparações entre a parte teórica e experimental. Por fim, é desenvolvida uma situação para simular a atuação do manipulador em uma tarefa real.
A new concept of robotic manipulator is studied to perform tasks not viable for traditional manipulators. This new model is based on a continuum manipulator. It has a structure similar to a backbone, it is highly modular, lightweight, it can be remotely actuated, and it has a high level of adaptability to the environment. This type of manipulator has interesting features for uses in various types of tasks, especially in inspections in places with many obstacles and inhospitable to humans. This thesis presents the development of a remote tendon drive robotic continuum manipulator prototype. It has a modular structure composed of serially connected vertebrae. It is initially designed by computational tools, and then physically built. Kinematic studies and simulations are presented with comparisons between theoretical and experimental results. Finally, a situation is presented to simulate the performance of the manipulator in a real task.
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Tung, Yi-Shiuan. "Analytical and simulation models for flexible, robotic automotive assembly lines." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119702.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 117-120).
To adapt to the rapidly changing market, the automotive industry is interested in flexible assembly lines that can handle disruptions due to machine failures or schedule changes. In this thesis, we propose a new assembly line layout (flexible layout) that uses mobile, robotic platforms to transport cars, which can move out of the line when disruptions occur to prevent blocking other cars on the line. We use discrete event simulation and analytical models to analyze the throughput of the new layout in a single band and two bands with a finite buffer. The simulation results show that the new layout achieves an average of 25.6% and 35.9% speed up over the conventional layout for the single band and two bands cases respectively. We improve previous two-machine line analytical models by augmenting the state of the Markov chain to model every machine in a band. We show that the augmented discrete Markov chain model predicts the throughput within 13% and 18% of the simulation throughput for the conventional and flexible layouts respectively. We further evaluate whether the flexible layout can improve its throughput by learning a policy for parking the platforms. By modeling the agents as independent learners, we apply single-agent reinforcement learning algorithms and show that the policy learned works well but suffers from lack of coordination.
by Yi-Shiuan Tung.
M. Eng.
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Mets, Kiritsis Lea. "Can cheap robotic vacuum cleaners be made more efficient? : A computer simulation of a smarter robotic vacuum cleaner." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230228.
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Robotic vacuum cleaners are popular domestic robots that clean floors without human intervention. The purpose of this report is to study how cheap robotic vacuum cleaners’ navigation pattern can be improved. This is achieved by simulating two models of robotic vacuum cleaners, one “simple” and one “smart”, both relying on the knowledge that cheap sensors can provide about the surrounding environment. As the results show how the smart robot is better than the simple robot in all simulations in terms of floor coverage, the results are considered successful. The fact that the simulations are simplified versions of real-life robotic vacuum cleaners is discussed, and future work could consider examining more realistic simulations or experiment on real-life robotic vacuum cleaners.Robotdammsugare är populära hushållsrobotar som städar golv utan människors inblandning. Syftet med den här rapporten är att undersöka hur billiga robotdammsugares navigeringsmönster kan förbättras. Detta görs genom att simulera två modeller av robotdammsugare, en "simpel" och en "smart", där båda förlitar sig på information som billiga sensorer kan ge om omgivningen. Resultaten anses vara lyckade då de visar hur den smarta roboten presterar bättre än den simpla roboten i alla simulationer. Faktumet att simulationerna är simplifierade versioner av verkliga robotdammsugare diskuteras och framtida forskning kan undersöka mer realistiska simulationer eller experimentera med riktiga robotdammsugare.
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Felip, León Javier. "Contact driven robotic grasping." Doctoral thesis, Universitat Jaume I, 2016. http://hdl.handle.net/10803/662853.
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As a result, in this thesis we provide a complete implementation of a manipulation
system that can operate in unstructured environments. However, there is room for
improvement in all the components presented and many unsolved questions that should
be addressed in the future remainComo resultado del trabajo presentado en esta tesis, se proporciona una implementación completa de un sistema de manipulación que puede funcionar en entornos no estructurados. Sin embargo, hay margen de mejora en todos los componentes y quedan muchas preguntas sin resolver que deberían ser abordadas en el futuro.
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Farelo, Fabian. "Task oriented simulation and control of a wheelchair mounted robotic arm." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003294.
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Goh, Kim-Huat. "WRAPS : a programming and simulation software tool for integrated robotic welding." Thesis, Loughborough University, 1988. https://dspace.lboro.ac.uk/2134/28002.
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The outcome of this research is a low-cost off-line programming and simulation system called WRAPS for robotic arc-welding. WRAPS is an acronym for Welding Robot Adaptive Programming and Simulation. The package was developed on a Future FX20 microcomputer with 640 kbytes RAM under the Concurrent CP/M-86 operating system. It is written in the 'C' language and graphics capabilities is provided via the Graphics System eXtension (GSX) of Digital Research. WRAPS is menu-driven and utilises windows and icons through custom software for user interface.
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Uebing, Matthias. "Simulation and control of a multi-axes pneumatically actuated animated figure." Thesis, University of Bath, 1999. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.285342.
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Abdou, Mohamed A. "Determinants and dynamics of social and workplace segregation : a simulation study." Thesis, University of Surrey, 2009. http://epubs.surrey.ac.uk/843429/.
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Segregation in workplaces and individuals' social networks based on ethnicity, race, and/or religion may have serious social and economic consequences. The relationship between social segregation and workplace segregation has been traditionally studied as a one-way causal relationship mediated by referral hiring. In this thesis, an alternative framework is introduced which describes the dynamic reciprocal relationships between social segregation, workplace segregation, individuals' homophily levels, and referral hiring. An agent-based simulation model was developed based on this framework. The model describes the process of continuous change in composition of workplaces and social networks of agents (individuals), and how this process affects levels of workplace segregation and the segregation of social networks of the agents. The simulation results indicated that a labour market may experience significant levels of workplace segregation and social segregation even when the hiring of workers occurs mainly through formal channels. The results also show that majority groups tend to be more homophilous than minority groups, that referral hiring may be beneficial for minority groups especially when the population is highly segregated, and that the relationship between referral hiring and minority unemployment is curvilinear. Levels of workplace and social segregation were found to be negatively correlated with minority proportion, average size of individuals' social network, and firm size, while they were positively correlated with overall unemployment level and hiring discrimination. The research is based on primary data involving structured interviews with a sample of 39 employers and 122 workers (81 Muslim and 41 Coptic workers) in industrial firms in Egypt. Two secondary data sets were also used: the Social Contract Survey (SCS) and Workers' Status in Industrial Enterprises Survey (WSIES). The data were used to assess the levels of social and workplace segregation in Egypt (which found to be high), and to validate the simulation model.
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Daudpoto, Jawaid. "Design and simulation of a shape memory alloy bundle actuated robotic finger." Thesis, University of Leeds, 2012. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.578624.
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In this research, commercially available Nickel-Titanium based shape memory alloy actuators are used to design and develop a novel bundled actuator. The bundled actuators are then used in a special configuration to actuate and control a low cost one degree of freedom (dof) anthropomorphic finger. SMAs possess hysteretic and nonlinear behaviour when heated (actuated) and cooled (relaxed). Hence, a full understanding of the behaviour of these actuators is essential to control them. In order to characterise the behaviour of the actuators, an instrumented test rig was designed and developed to characterise the commercially available Nickel-Titanium SMA actuators obtained from the two manufacturers. The test rig was equipped with the laser displacement sensor, the load cell and the thermocouple. All the measurements were taken by a PC based data acquisition system. Nickel-Titanium based SMA actuators (Flexinol® and Biometal'") obtained from the two manufacturers were characterised using the test rig. The Flexinol'" actuator was selected for the use in the bundled actuator on the basis of better drift property. The existing bundle designs are merely a parallel arrangement of individual actuators crimped or screwed to the end plates on both sides. However, this may cause uneven strains (and forces) in individual actuators of the bundle. The novel bundle proposed in this research used a single 960 mm long actuator looped around frictionless supports to form a 12-string bundled actuator. Design and simulation of a one dof finger was carried out by using a set of three bundled actuators arranged in a special configuration. This made it possible to use a simple control to achieve seven possible for the proposed finger.
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Youngsma, Katiegrace. "Development of a Model and Simulation Framework for a Modular Robotic Leg." Digital WPI, 2012. https://digitalcommons.wpi.edu/etd-theses/890.
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"As research in the field of mobile robotics continues to advance, legged robots in different forms and shapes find a variety of applications on rough terrain where wheeled robots fail to operate in practice. For this reason, a modular legged robot platform is being developed at WPI. This research focuses on developing a mathematical model and then building a simulation to verify the model for a single leg for this platform. The robot platform is modular in the sense that leg modules can be removed and added to predetermined ports on the robot chassis. The modularity of a legged robot is a significant advancement in mobile robotics technology as it enables a single robot to take on different body configurations depending on circumstances and environment to achieve its goals. It also poses a challenge in terms of overall design as it requires autonomous operation of the leg. The goal for this research is to in part fulfill the need for a mathematical model for an autonomous leg. This research investigates the development of a kinematic and dynamic model for the leg, a step trajectory for walking, a simulation of the system to verify the dynamic model, and various functions and scripts to identify shortcomings within the model. This research uses Mathworks Matlab and Wolfram Mathematica to develop the mathematical model, and Matlab Simulink SimMechanics and Matlab functions to build a simulation. Both the mathematical model and simulation follow the classic design of other legged robots, utilizing Lagrangian dynamics, the Jacobian, and simulation tools. The result is a project that is unique in that it drives a robot leg almost independently with very limited communication to a central controller."
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Hung, Min-Hsiung. "Dynamic control and simulation of actively-coordinated robotic terrain-adaptive wheeled vehicles /." The Ohio State University, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=osu1488188894440112.
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De, Backer Jeroen, and Bert Verheyden. "Robotic Friction Stir Welding for Automotive and Aviation Applications." Thesis, University West, Division of Production Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-2171.
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Friction Stir Welding (FSW) is a new technology which joins materials by using frictional heat. Inthe first part of this thesis, a profound literature study is performed. The basic principles, therobotic implementation and possibilities to use FSW for high strength titanium alloys areexamined. In the next phase, a FSW-tool is modelled and implemented on an industrial robot in arobot simulation program. Reachability tests are carried out on car body parts and jet engineparts. By using a simulation program with embedded collision detection, all possible weldinglocations are determined on the provided parts. Adaptations like a longer FSW-tool and amodified design are suggested in order to get a better reachability. In different case studies, thenumber of required robots and the reduction of weight and time are investigated and comparedto the current spot welding process.
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Farmer, Jesse Lee. "Kinematic Analysis Of A Two Body Articulated Robotic Vehicle." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/32651.
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The kinematic analysis of an articulated twin body, four-wheel, robotic vehicle is
presented. Polaris, a research platform and contending robotic vehicle in the Intelligent
Ground Vehicle Competition (IGVC) at Virginia Tech, was redesigned in 2006 to improve
the mobility of the vehicle by incorporating an innovative four-bar linkage that connects
the two bodies. The new linkage design minimizes vehicle off-tracking by allowing the
rear wheels to closely track the path of the front wheels. This thesis will outline the theoretical
kinematic model of the four-bar linkage as applied to a twin-bodied, differentially
driven vehicle. The kinematic model is validated through computer simulation as well as
experimentation on a fully operational robotic vehicle. The kinematic model presented
here outlines the foundations for an autonomous, four-wheel drive, multi-body control
system and opens avenues for dynamically controlling the tracking of the vehicleâ s rear
body with an actuated linkage configuration.Master of Science
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McConnell, David James. "Analysis of model referenced adaptive control applied to robotic devices." Thesis, Kansas State University, 1985. http://hdl.handle.net/2097/17099.
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Hecht, Steven A. "Driving by Speaking: Natural Language Control of Robotic Wheelchairs." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1365158700.
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Maladen, Ryan Dominic. "Biological, simulation, and robotic studies to discover principles of swimming within granular media." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/42852.
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The locomotion of organisms whether by running, flying, or swimming is the result of multiple degree-of-freedom nervous and musculoskeletal systems interacting with an environment that often flows and deforms in response to movement. A major challenge in biology is to understand the locomotion of organisms that crawl or burrow within terrestrial substrates like sand, soil, and muddy sediments that display both solid and fluid-like behavior. In such materials, validated theories such as the Navier-Stokes equations for fluids do not exist, and visualization techniques (such as particle image velocimetry in fluids) are nearly nonexistent.
In this dissertation we integrated biological experiment, numerical simulation, and a physical robot model to reveal principles of undulatory locomotion in granular media. First, we used high speed x-ray imaging techniques to reveal how a desert dwelling lizard, the sandfish, swims within dry granular media without limb use by propagating a single period sinusoidal traveling wave along its body, resulting in a wave efficiency, the ratio of its average forward speed to wave speed, of approximately 0.5. The wave efficiency was independent of the media preparation (loosely and tightly packed). We compared this observation against two complementary modeling approaches: a numerical model of the sandfish coupled to a discrete particle simulation of the granular medium, and an undulatory robot which was designed to swim within granular media. We used these mechanical models to vary the ratio of undulation amplitude (A) to wavelength (λ) and demonstrated that an optimal condition for sand-swimming exists which results from competition between A and λ. The animal simulation and robot model, predicted that for a single period sinusoidal wave, maximal speed occurs for A/ λ = 0.2, the same kinematics used by the sandfish. Inspired by the tapered head shape of the sandfish lizard, we showed that the lift forces and hence vertical position of the robot as it moves forward within granular media can be varied by designing an appropriate head shape and controlling its angle of attack, in a similar way to flaps or wings moving in fluids. These results support the biological hypotheses which propose that morphological adaptations of desert dwelling organisms aid in their subsurface locomotion. This work also demonstrates that the discovery of biological principles of high performance locomotion within sand can help create the next generation of biophysically inspired robots that could explore potentially hazardous complex flowing environments.
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Arora, Asit. "An evaluation of emerging technologies in ENT : virtual reality simulation & robotic surgery." Thesis, Imperial College London, 2014. http://hdl.handle.net/10044/1/28894.
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Virtual reality (VR) simulation and robotic surgery represent two focus areas for research and development in Otolaryngology-Head & Neck Surgery. This thesis was driven by a desire to deliver improvements in surgical training and patient care. The development and long-term prospective clinical evaluation of three novel robotic applications in Head & Neck surgery were investigated. The results suggest that robotic assisted thyroidectomy and robotic assisted parathyroidectomy are safe, feasible alternatives to conventional surgery. The primary advantage is the avoidance of a neck scar. The approach occupies a niche role that is justified in patients who have cultural or biological drivers to avoid a neck scar. Improvement in surgical exposure was necessary. A novel soft-tissue retractor was designed and manufactured to address this issue. Transoral robotic surgery represents a promising treatment option for patients with obstructive sleep apnoea who cannot tolerate or fail all the other treatment modalities. Biometric measures represent an important tool when assessing patient suitability for TORS. Only those who have undergone appropriate training, proctoring and licensure should perform robotic surgery. Safe implementation is essential. The studies of VR temporal bone simulation served as a preparatory to introducing VR simulation for robotic head and neck surgery. The face, content and construct validation of a novel temporal bone simulator was demonstrated. Further studies were conducted to benchmark and pilot a VR skills curriculum and assess the role of case specific surgical rehearsal. Simulation training represented a useful adjunct. This body work demonstrates that both technologies can be integrated to deliver effective robotic surgical training to enhance surgical performance and improve patient care.
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DeClerck, Terri Lynne. "Violence Against Nurses." ScholarWorks, 2017. https://scholarworks.waldenu.edu/dissertations/4134.
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Workplace violence against nurses causes stress, job dissatisfaction, injury, and financial burden. The purpose of this project was to examine training for nurses on violence, risk factors and on reporting workplace violence. The practice-focused question was designed to examine the effectiveness of educating nurses regarding violent patients and how to report episodes of violence. Benner's novice to expert theory guided the skill acquisition training of a convenience sample of 25 Midwestern medical nurses. The nurses participated by completing a survey prior to and following a violence simulation. A qualitative design was used with the 25 nurse participants who completed the pre-and post-simulation education surveys to assess for increased knowledge. Data were manually tabulated by coding responses into categories. Categorical themes of risk factors related to violence included environment, behavior, and illness-related; and themes related to interventions to prevent violence included awareness, education, communication, de-escalation, and calming. Overall results indicated that nurses saw the importance of reporting all injuries and violence to supervisors. The project makes a meaningful contribution to nursing practice by informing nurses how to report violence and injury from violence, and by informing administrators of the need for education in the recognition of risk factors for violence. The positive social change impact of this study for nurses is increased awareness that violence is not acceptable, and that a healthy work environment benefits nurses and promotes a safer healthcare work environment for patients and visitors to the healthcare setting.
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De, Donno Antonio. "Development and control of a robotic system for no-scar surgery." Thesis, Strasbourg, 2013. http://www.theses.fr/2013STRAD046/document.
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La chirurgie sans cicatrices, visant à réaliser des opérations chirurgicales sans cicatrices visibles, est l'avant-garde dans le domaine de la chirurgie mini-invasive. L'absence d'instruments adéquats est l'un des freins à son utilisation en routine clinique. Dans ce contexte, nous introduisons un nouveau robot chirurgical téléopéré, composé d'un endoscope et de deux instruments flexibles, avec 10 DDL motorisés. Cette thèse explore les différentes façons de contrôler le système. La cinématique du robot est analysée et différentes stratégies de contrôle maître/esclave, allant du contrôle articulaire au Cartésien, sont proposées. Ces stratégies ont été testés sur un simulateur virtuel ainsi que sur le système réel en laboratoire et en ex-vivo. Les résultats montrent qu’un seul utilisateur est capable de contrôler le robot et d’effectuer des tâches complexes en utilisant deux interfaces haptiquesNo-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces
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Sahin, Hakan. "Design Of A Secondary Packaging Robotic System." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606922/index.pdf.
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The use of robotic systems in consumer goods industry has increased over recent years. However, food industry has not taken to the robotics technology with the same desire as in other industries due to technical and commercial reasons. Difficulties in matching human speed and flexibility, variable nature of food products, high production volume rates, lack of appropriate end-effectors, high initial investment rate of the so-called systems and low margins in food products are still blocking the range of use of robotics in food industry.
In this thesis study, as a contribution to the use of robotic systems in food industry, a secondary packaging robotic system is designed. The system is composed of two basic subsystems: a dual-axis controlled robotic arm and a special-purpose gripper. Mechanical and control systems design of basic subsystems are performed within the scope of the study. During the designing process, instead of using classical design methods, modern computer-aided design and engineering tools are utilized.
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Oosting, Kenneth W. "Simulation of control strategies for a two degree-of-freedom lightweight flexible robotic arm." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/18230.
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