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Schmitt, Philipp Sebastian [Verfasser], i Wolfram [Akademischer Betreuer] Burgard. "Planning and control for industrial manipulation". Freiburg : Universität, 2019. http://d-nb.info/1223849260/34.
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Damianakis, John. "Proximity sensor network for sensor-based manipulation". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ29588.pdf.
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Tarbouriech, Sonny. "Dual-Arm control strategy in industrial environments". Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS111.
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Le besoin grandissant de flexibilité en milieu industriel conduit à reconsidérer la manière dont les robots sont utilisés dans de tels environnements. Il s'ensuit que la relation entre l'homme et les machines doit évoluer au profit d'une plus grande proximité, en leur permettant de partager un espace de travail commun et d'interagir physiquement.Dans cette optique, cette thèse a pour objectif de contribuer au contrôle de robots bi-bras à des fins collaboratives dans un contexte industriel. Pour ce faire, nous proposons une approche de contrôle cinématique réactif basée sur une loi de contrôle en admittance. Celle-ci permet une manipulation d'objets sécuritaire en collaboration physique avec des opérateurs humains. Le contrôleur résout un problème d’optimisation quadratique (QP) afin de trouver le déplacement articulaire permettant de satisfaire la commande spécifiée dans l'espace de la tâche, ceci tout en respectant un ensemble de contraintes (e.g. limites articulaires, évitement de collision).La résolution cinématique peut être adaptée afin de générer des solutions parcimonieuses au niveau des vitesses articulaires, ce qui signifie qu'un nombre minimal d'actionneurs est activé pour assurer la réalisation de la tâche. Cela induit un comportement potentiellement plus sûr dans un environnement évolutif partagé avec des individus.Les plateformes bi-bras comprennent parfois des extensions (par exemple, une base mobile, un torse articulé, etc.). Dans cette thèse, nous présentons une méthode hiérarchique originale pour le contrôle de systèmes multi-robots.Une implémentation open source du travail, acrfull {rkcl}, a été développée. Cette librairie rassemble tous les composants décrits dans cette thèse et peut être facilement configuré pour inclure de nouveaux robots. Tout au long des développements, des validations expérimentales ont été effectuées sur le cobot mobile à deux bras BAZARThe growing need for flexibility in industrial settings leads to reconsidering the way robotic systems are exploited in such environments. It follows that the relationship between humans and machines has to evolve in favor of more proximity, by letting them share the same workspace and physically interact together.With this in mind, this thesis aims at contributing beyond the state of art in the control of dual-arm robots for collaborative purposes in an industrial context. We propose a generic online kinematic control approach based on an admittance control law which enables safe manipulation of objects in physical collaboration with humans. The controller solves a acrfull{qp} optimization problem to find the joint space motion that satisfies the task space command while respecting a set of constraints (e.g. joint limits, collision avoidance).The kinematic solver can be tuned to generate parsimonious solutions at the joint velocity level, meaning that as few actuators as possible are activated to achieve the tasks. This induces potentially safer behavior in an unstructured environment shared with humans.Dual-arm platforms are sometimes extended to include additional robots (e.g., mobile base, articulated torso, ...). In this thesis, we also present an original hierarchical method for the control of multi-robot systems.An open-source implementation of the work, acrfull{rkcl}, is available. It implements all the components described in this thesis and can be easily configured to work with new robots. Throughout the developments, experimental validations have been performed on the dual-arm mobile cobot BAZAR
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Huckaby, Jacob O. "Knowledge transfer in robot manipulation tasks". Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51902.
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Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible and intuitive to most users, is still a difficult task. There remain a number of unmet needs. For example, many existing solutions today are proprietary, which makes widespread adoption of a single solution difficult to achieve. Also, most approaches are highly targeted to a specific implementation. But it is not clear that these approaches will generalize to a wider range of problems and applications. To address these issues, we define the Interaction Space, or the space created by the interaction between robots and humans. This space is used to classify relevant existing work, and to conceptualize these unmet needs. GTax, a knowledge transfer framework, is presented as a solution that is able to span the Interaction Space. The framework is based on SysML, a standard used in many different systems, which provides a formalized representation and verification. Through this work, we demonstrate that by generalizing across the Interaction Space, we can simplify robot programming and enable knowledge transfer between processes, systems and application domains.
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Venator, Edward Stephen. "A Low-cost Mobile Manipulator for Industrial and Research Applications". Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665.
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Bahloul, Abdelkrim. "Sur la commande des robots manipulateurs industriels en co-manipulation robotique". Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLS511/document.
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Durant ce travail de thèse, nous nous sommes intéressés à la commande d'un robot manipulateur industriel, configuré pour une co-manipulation avec un opérateur humain, en vue de la manutention de charges lourdes. Dans un premier temps, nous avons présenté une vue d'ensemble des études qui ont été menées dans ce cadre. Ensuite, nous avons abordé la modélisation et l'identification des paramètres dynamiques du robot Denso VP-6242G. Nous avons utilisé le logiciel OpenSYMORO pour calculer son modèle dynamique. Après une présentation détaillée de la méthode d'identification des paramètres de robots manipulateurs, nous l'avons appliqué au cas de notre robot. Cela nous a permis d'obtenir un vecteur des paramètres qui garantit une matrice d'inertie définie positive pour n'importe quelle configuration articulaire du robot, tout en assurant une bonne qualité de reconstruction des couples pour des vitesses articulaires constantes, ou variables au cours du temps. Par la suite, nous avons détaillé les nouvelles fonctionnalités proposées pour le générateur de trajectoire en temps réel, sur lequel repose notre schéma de commande. Nous avons présenté une méthode d'estimation de la force de l'opérateur à partir des mesures de la force d'interaction entre le robot et l'opérateur, tout en tenant compte de la pénalisation de la force de l'opérateur afin d'avoir une image de cette dernière permettant de générer une trajectoire qui respecte les limites de l'espace de travail. Des tests du générateur de trajectoire simulant différents cas de figure possibles nous ont permis de vérifier l'efficacité des nouvelles fonctionnalités proposées. Le générateur permet de produire une trajectoire dans l'espace de travail tridimensionnel selon la direction de l'effort appliqué par l'opérateur, ce qui contribue à l'exigence de transparence recherchée en co-manipulation robotique. Dans la dernière partie, nous avons présenté et validé en simulation une commande en impédance dont les trajectoires de référence sont issues du générateur développé. Les résultats obtenus ont donné lieu à une bonne qualité de poursuite des trajectoires désirées. D'autre part, le respect des limites virtuelles de l'espace de travail a également été pris en compte. Cependant, les trajectoires articulaires correspondantes peuvent franchir les limites définies pour préserver l'intégrité du robotIn this thesis, we were interested in the control of industrial manipulators in co-manipulation mode with a human operator for the handling of heavy loads. First, we have presented an overview of existing studies in this framework. Then, we have addressed the modeling and the identification of dynamic parameters for the Denso VP-6242G robot. We have used the OpenSYMORO software to calculate its dynamical model. After a detailed presentation of the method for identifying the robot's parameters, we have applied it to the case of our robot. This allowed us to obtain a vector of the parameters which guarantees a positive definite inertia matrix for any configuration of the robot, as well as a good quality of reconstruction of the torques in the case of constant joint velocities or in the case of variable ones over time. To continue, we have detailed the new features that have been proposed for the online trajectory generator, for which the control scheme is based on. We have presented a method for estimating the operator's force from the measurements of the interaction force between the robot and the operator, while taking into account for the penalization of the operator's force in order to have an information of this last which allows to generate a trajectory that respects the limits of workspace. Some tests of the trajectory generator simulating different possible scenarios have allowed us to check the effectiveness of the new proposed features. The generator makes it possible to produce a trajectory in the three-dimensional workspace according to the direction of the force applied by the operator, which contributes to fulfill the requirement of transparency that is sought in a co-manipulation. In the last part, we have presented and validated, in simulation, an impedance control whose reference trajectories are delivered by the proposed generator. The obtained results have shown a good trajectory tracking. On the other hand, the satisfaction of the virtual bounds of the workspace has also been nicely taken into account. However, the corresponding articular trajectories can cross the bounds defined to preserve the integrity of the robot
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Talbut, Carol-Jane. "Workforce control and manipulation : a case study of the social relations of power in the canning industry in Ashton". Master's thesis, University of Cape Town, 1998. http://hdl.handle.net/11427/13879.
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Bibliography: leaves. [141-145].This thesis is a case study of the social relations of power within the canning industry in Ashton. The project had three main aims: 1) to document the physical situation at the two canning factories in Ashton, in order to profile the basic composition of the workforce, aspects of the labour process and working and employment conditions; 2) to examine the processes and mechanisms of control and then 3) to use the first two aims as a basis to take stock of what this control means in terms of workers lives: i.e. examining the lived experience of 'control'. I adopted a primarily qualitatively focused approach and used a combination of interviews and group discussions to elicit the information necessary to inform these aims. The results showed how in the logic of capitalist development, pre-existing social divisions are exploited. The interaction of these pre-existing social divisions within the structure of the workforce, combined with deliberate control mechanisms serves to divide, atomise and thereby control the workforce. I found the workers to be divided by gender and race, these divisions are intensified by differences between whether workers have seasonal or permanent employment and where they live. These divisions, aggravated by differences, are then combined with the deliberate use of piecework, the assembly line and the factories recruitment system. Workers experienced most of these control mechanisms as normal and natural and are mostly thankful to have work.
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Shaikh, Amir. "Alternative manipulation devices and strategies in a virtual reality operator-training system". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0001/MQ44039.pdf.
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LIMA, Serena. "Technologies for cultivation and exploitation of microalgae in industrial applications". Doctoral thesis, Università degli Studi di Palermo, 2020. http://hdl.handle.net/10447/395104.
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This thesis work is focused on technologies for the development of the microalgal industry. During this 3-years PhD work several themes were addressed.
Section 1 consists in a literature review concerning the general features of microalgae, their composition and a description of the photosynthetic process. Furthermore, themes such as biosynthetic pathways, growth kinetics, microalgae cultivation and their applications are reviewed.
Section 2 focuses on the genetic manipulation of microalgae aimed at producing a vitamin B12-enriched food supplement. In this case, the human intrinsic factor gene, was inserted in the genome of the microalgae Chlamydomonas reinardhtii in order to integrate new functions in this organism and path the way for the creation of a B12-enriched microalgal supplement. For sure, genetic engineering is going to play a role in the future of microalgal industry, but, while these technologies are developing, alternative strategies may consist in exploiting the present available photosynthetic microorganisms for obtaining the desired products.
For this reason, in Section 3, flashing light as lighting strategy was explored. In fact, light energy was provided in packages to three different microalgal species, Nannochloropsis gaditana, Koliella antarctica, Tetraselmis chui, to observe the enhanced production of high-value products such as chlorophylls, carotenoids and polyunsaturated fatty acids. Furthermore, this method represents a temporal dilution of light aimed at avoiding the saturation effect.
An alternative strategy for the exploitation of microalgal industry may consist in selecting and isolating indigenous species in an approach called phycoprospecting, discussed in Section 4. The concept of phycoprospecting relies on employing wastewaters as a nutrient source in order to create a sustainable process able to remediate polluted effluents while at the same time providing valuable compounds.
Lastly, in Section 5 the theme of outdoor photobioreactors for the production of microalgal biomass is addressed. The possibility to produce biomass and extend microalgal industry in Sicily, a region full of unexploited natural resources, was investigated.
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Veelo, Bastiaan Niels. "Variations of Shape in Industrial Geometric Models". Doctoral thesis, Norwegian University of Science and Technology, Department of Product Design, 2004. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-240.
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This thesis presents an approach to free-form surface manipulations, which conceptually improves an existing CAD system that constructs surfaces by smoothly interpolating a network of intersecting curves. There are no regularity requirements on the network, which already yields superior modelling capabilities compared to systems that are based on industry-standard NURBS surfaces.
Originally, the shape of such a surface can be modified only locally by manipulating a curve in the network. In this process there is an inherent danger that the curve is being pulled away from intersections that it has with other curves. When this happens, the network is invalidated as a surface representation, and many curves may have to be adjusted to restore network consistency and surface quality. This thesis contributes a method that solves these problems by propagating changes that are made in one curve to curves in its vicinity. How and to what extent curves react to changes is controlled by two parameters that can be varied along the curve that is being manipulated. Any curve may be constrained in one or more degrees of freedom. The integrity of the curve network is implicitly conserved, as well as the geometric continuity of the surface.
The result is a tool for the modification of curve-interpolating surfaces, which can easily be applied to large areas on models with any level of detail. This allows designers to concentrate on the creative process, rather than on planning chains of actions. They can explore different design variations, optimise shapes further, and generally be more productive.
Dette doktorgradsarbeidet presenterer en fremgangsmåte for formgivning og modifisering av datamaskinbaserte, skulpturerte flater. Metoden forbedrer et eksisterende system for data-assistert konstruksjon (DAK) som bygger dobbeltkrummede flater ved å interpolere et nettverk av skjærende kurver. Nettverket trenger ikke være regelmessig, noe som allerede gir bedre modelleringsmuligheter sammenliknet med systemer som er basert på standard NURBS flater.
En slik flate kan opprinnelig bare endres lokalt ved å dra i en kurve. I denne prosessen er det fare for at kurven blir dratt fra skjæringspunkter den har med andre kurver. Hvis dette skjer, representerer ikke nettverket en flate lenger, og mange kurver må justeres for å få tilbake integriteten i nettverket og kvaliteten i formen. Denne avhandlingen bidrar med en metode som løser disse problemene ved å spre endringer som blir gjort i en kurve til andre kurver i nærheten. Hvordan og i hvilken utstrekning kurvene reagerer på endringen styres av to parametre som kan varieres langs kurven som blir endret. Enhver kurve kan låses i en eller flere frihetsgrader. Integriteten til nettverket samt glattheten i formen blir bevart automatisk.
Resultatet er et redskap for modifikasjon av kurve-interpolerende flater som med letthet kan brukes på større områder av modeller med hvilken som helst grad av detalj. Dette gir designere muligheten til å konsentrere seg om det kreative, istedenfor å planlegge handlingsrekker. De kan utforske forskjellige designvariasjoner, optimalisere former ytterligere, og i det hele tatt være mer produktive.
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Tosello, Elisa. "Cognitive Task Planning for Smart Industrial Robots". Doctoral thesis, Università degli studi di Padova, 2016. http://hdl.handle.net/11577/3421918.
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This research work presents a novel Cognitive Task Planning framework for Smart Industrial Robots. The framework makes an industrial mobile manipulator robot Cognitive by applying Semantic Web Technologies. It also introduces a novel Navigation Among Movable Obstacles algorithm for robots navigating and manipulating inside a firm.
The objective of Industrie 4.0 is the creation of Smart Factories: modular firms provided with cyber-physical systems able to strong customize products under the condition of highly flexible mass-production. Such systems should real-time communicate and cooperate with each other and with humans via the Internet of Things. They should intelligently adapt to the changing surroundings and autonomously navigate inside a firm while moving obstacles that occlude free paths, even if seen for the first time. At the end, in order to accomplish all these tasks while being efficient, they should learn from their actions and from that of other agents.
Most of existing industrial mobile robots navigate along pre-generated trajectories. They follow ectrified wires embedded in the ground or lines painted on th efloor. When there is no expectation of environment changes and cycle times are critical, this planning is functional. When workspaces and tasks change frequently, it is better to plan dynamically: robots should autonomously navigate without relying on modifications of their environments. Consider the human behavior: humans reason about the environment and consider the possibility of moving obstacles if a certain goal cannot be reached or if moving objects may significantly shorten the path to it. This problem is named Navigation Among Movable Obstacles and is mostly known in rescue robotics. This work transposes the problem on an industrial scenario and tries to deal with its two challenges: the high dimensionality of the state space and the treatment of uncertainty.
The proposed NAMO algorithm aims to focus exploration on less explored areas. For this reason it extends the Kinodynamic Motion Planning by Interior-Exterior Cell Exploration algorithm. The extension does not impose obstacles avoidance: it assigns an importance to each cell by combining the efforts necessary to reach it and that needed to free it from obstacles. The obtained algorithm is scalable because of its independence from the size of the map and from the number, shape, and pose of obstacles. It does not impose restrictions on actions to be performed: the robot can both push and grasp every object. Currently, the algorithm assumes full world knowledge but the environment is reconfigurable and the algorithm can be easily extended in order to solve NAMO problems in unknown environments. The algorithm handles sensor feedbacks and corrects uncertainties.
Usually Robotics separates Motion Planning and Manipulation problems. NAMO forces their combined processing by introducing the need of manipulating multiple objects, often unknown, while navigating. Adopting standard precomputed grasps is not sufficient to deal with the big amount of existing different objects. A Semantic Knowledge Framework is proposed in support of the proposed algorithm by giving robots the ability to learn to manipulate objects and disseminate the information gained during the fulfillment of tasks. The Framework is composed by an Ontology and an Engine. The Ontology extends the IEEE Standard Ontologies for Robotics and Automation and contains descriptions of learned manipulation tasks and detected objects. It is accessible from any robot connected to the Cloud. It can be considered a data store for the efficient and reliable execution of repetitive tasks; and a Web-based repository for the exchange of information between robots and for the speed up of the learning phase. No other manipulation ontology exists respecting the IEEE Standard and, regardless the standard, the proposed ontology differs from the existing ones because of the type of features saved and the efficient way in which they can be accessed: through a super fast Cascade Hashing algorithm. The Engine lets compute and store the manipulation actions when not present in the Ontology. It is based on Reinforcement Learning techniques that avoid massive trainings on large-scale databases and favors human-robot interactions.
The overall system is flexible and easily adaptable to different robots operating in different industrial environments. It is characterized by a modular structure where each software block is completely reusable. Every block is based on the open-source Robot Operating System. Not all industrial robot controllers are designed to be ROS-compliant. This thesis presents the method adopted during this research in order to Open Industrial Robot Controllers and create a ROS-Industrial interface for them.Questa ricerca presenta una nuova struttura di Pianificazione Cognitiva delle Attività ideata per Robot Industriali Intelligenti. La struttura rende Cognitivo un manipolatore industriale mobile applicando le tecnologie offerte dal Web Semantico. Viene inoltre introdotto un nuovo algoritmo di Navigazione tra Oggetti Removibili per robot che navigano e manipolano all’interno di una fabbrica. L’obiettivo di Industria 4.0 è quello di creare Fabbriche Intelligenti: fabbriche modulari dotate di sistemi cyber-fisici in grado di customizzare i prodotti pur mantenendo una produzione di massa altamente flessibile. Tali sistemi devono essere in grado di comunicare e cooperare tra loro e con gli agenti umani in tempo reale, attraverso l’Internet delle Cose. Devono sapersi autonomamente ed intelligentemente adattare ai costanti cambiamenti dell’ambiente che li circonda. Devono saper navigare autonomamente all’interno della fabbrica, anche spostando ostacoli che occludono percorsi liberi, ed essere in grado di manipolare questi oggetti anche se visti per la prima volta. Devono essere in grado di imparare dalle loro azioni e da quelle eseguite da altri agenti. La maggior parte dei robot industriali mobili naviga secondo traiettorie generate a priori. Seguono filielettrificatiincorporatinelterrenoolineedipintesulpavimento. Pianificareapriorièfunzionale se l’ambiente è immutevole e i cicli produttivi sono caratterizzati da criticità temporali. E’ preferibile adottare una pianificazione dinamica se, invece, l’area di lavoro ed i compiti assegnati cambiano frequentemente: i robot devono saper navigare autonomamente senza tener conto dei cambiamenti circostanti. Si consideri il comportamento umano: l’uomo ragiona sulla possibilità di spostare ostacolise unaposizione obiettivo nonè raggiungibileose talespostamento puòaccorciare la traiettoria da percorrere. Questo problema viene detto Navigazione tra Oggetti Removibili ed è noto alla robotica di soccorso. Questo lavoro traspone il problema in uno scenario industriale e prova ad affrontare i suoi due obiettivi principali: l’elevata dimensione dello spazio di ricerca ed il trattamento dell’incertezza. L’algoritmo proposto vuole dare priorità di esplorazione alle aree meno esplorate, per questo estende l’algoritmo noto come Kinodynamic Motion Planning by Interior-Exterior Cell Exploration. L’estensione non impone l’elusione degli ostacoli. Assegna ad ogni cella un’importanza che combina lo sforzo necessario per raggiungerla con quello necessario per liberarla da eventuali ostacoli. L’algoritmo risultante è scalabile grazie alla sua indipendenza dalla dimensione della mappa e dal numero, forma e posizione degli ostacoli. Non impone restrizioni sulle azioni da eseguire: ogni oggetto può venir spinto o afferrato. Allo stato attuale, l’algoritmo assume una completa conoscenza del mondo circonstante. L’ambiente è però riconfigurabile di modo che l’algoritmo possa venir facilmente esteso alla risoluzione di problemi di Navigazione tra Oggetti Removibili in ambienti ignoti. L’algoritmo gestisce i feedback dati dai sensori per correggere le incertezze. Solitamente la Robotica separa la risoluzione dei problemi di pianificazione del movimento da quelli di manipolazione. La Navigazione tra Ostacoli Removibili forza il loro trattamento combinato introducendo la necessità di manipolare oggetti diversi, spesso ignoti, durante la navigazione. Adottare prese pre calcolate non fa fronte alla grande quantità e diversità di oggetti esistenti. Questa tesi propone un Framework di Conoscenza Semantica a supporto dell’algoritmo sopra esposto. Essodàairobotlacapacitàdiimparareamanipolareoggettiedisseminareleinformazioni acquisite durante il compimento dei compiti assegnati. Il Framework si compone di un’Ontologia e di un Engine. L’Ontologia estende lo Standard IEEE formulato per Ontologie per la Robotica e l’Automazione andando a definire le manipolazioni apprese e gli oggetti rilevati. È accessibile a qualsiasi robot connesso al Cloud. Può venir considerato I) una raccolta di dati per l’esecuzione efficiente ed affidabile di azioni ripetute; II) un archivio Web per lo scambio di informazioni tra robot e la velocizzazione della fase di apprendimento. Ad ora, non esistono altre ontologie sulla manipolazione che rispettino lo Standard IEEE. Indipendentemente dallo standard, l’Ontologia propostadifferiscedaquelleesistentiperiltipodiinformazionisalvateeperilmodoefficienteincui un agente può accedere a queste informazioni: attraverso un algoritmo di Cascade Hashing molto veloce. L’Engine consente il calcolo e il salvataggio delle manipolazioni non ancora in Ontologia. Si basa su tecniche di Reinforcement Learning che evitano il training massivo su basi di dati a larga scala, favorendo l’interazione uomo-robot. Infatti, viene data ai robot la possibilità di imparare dagli umani attraverso un framework di Apprendimento Robotico da Dimostrazioni. Il sistema finale è flessibile ed adattabile a robot diversi operanti in diversi ambienti industriali. È caratterizzato da una struttura modulare in cui ogni blocco è completamente riutilizzabile. Ogni blocco si basa sul sistema open-source denominato Robot Operating System. Non tutti i controllori industriali sono disegnati per essere compatibili con questa piattaforma. Viene quindi presentato il metodo che è stato adottato per aprire i controllori dei robot industriali e crearne un’interfaccia ROS.
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Miller, Michael E. "The development of an improved low cost machine vision system for robotic guidance and manipulation of randomly oriented, straight edged objects". Ohio : Ohio University, 1989. http://www.ohiolink.edu/etd/view.cgi?ohiou1182445639.
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Bose, Saptak. "An integrated approach encompassing point cloud manipulation and 3D modeling for HBIM establishment: a case of study". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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In the case of Cultural Heritage buildings, the need for an effective, exhaustive, efficient method to replicate its state of being in an interactive, three-dimensional environment is today, of paramount importance, both from an engineering as well as a historical point of view. Modern geomatics entails the usage of Terrestrial Laser Scanners (TLS) and photogrammetric modelling from Structure-from-Motion (SfM) techniques to initiate this modelling operation. To realize its eventual existence, the novel Historic Building Information Modelling (HBIM) technique is implemented. A prototype library of parametric objects, based on historic architectural data, HBIM allows the generation of an all-encompassing, three-dimensional model which possesses an extensive array of information pertaining to the structure at hand. This information, be it geometric, architectural, or even structural, can then be used to realize reinforcement requirements, rehabilitation needs, stage of depreciation, method of initial construction, material makeup, historic alterations, etc. In this paper, the study of the San Michele in Acerboli’s church, located in Santarcangelo di Romagna, Italy, is considered. A HBIM model is prepared and its accuracy analyzed. The final model serves as an information repository for the aforementioned Church, able to geometrically define its finest characteristics.
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Heys, Toby. "Sonic, infrasonic, and ultrasonic frequencies : the utilisation of waveforms as weapons, apparatus for psychological manipulation, and as instruments of physiological influence by industrial, entertainment, and military organisations". Thesis, Liverpool John Moores University, 2011. http://researchonline.ljmu.ac.uk/6092/.
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This study is a trans-disciplinary and trans-historical investigation into civilian and battlefield contexts in which speaker systems have been utilised by the military-industrial and military-entertainment complexes to apply pressure to mass social groupings and the individuated body. Drawing on authors such as historian/sociologist Michel Foucault, economist Jacques Attali, philosopher Michel Serres, political geographer/urban planner Edward Soja, musician/sonic theorist Steve Goodman, and cultural theorist/urbanist Paul Virilio, this study engages a wide range of texts to orchestrate its arguments. Conducting new strains of viral theory that resonate with architectural, neurological, and political significance, this research provides new and original analysis about the composition of waveformed geography. Ultimately, this study listens to the ways in which the past and current utilisation of sonic, infrasonic, and ultrasonic frequencies as weapons, apparatus for psychological manipulation, and instruments of physiological influence, by industrial, civilian, entertainment, and military organisations, predict future techniques of sociospatialised organisation. In chapter one it is argued that since the inception of wired radio speaker systems into U.S. industrial factories in 1922, the development of sonic strategies based primarily on the scoring of architectonic spatiality, cycles of repetition, and the enveloping dynamics of surround sound can be traced to the sonic torture occurring in Guantanamo Bay during the first decade of the twenty-first century. Exploring the use of surround sound speaker techniques by the FBI during the Waco Siege in Texas, this argument is developed in chapter two. In chapter three it is further contended that the acoustic techniques utilised in the Guantanamo torture cells represent the final modality and the logical conclusion of these strategies that have evolved between civilian and military contexts over the past 80 years. In chapter four, the speaker system instrumentality of the HSS ultrasonic beam - occurring post Guantanamo - comes to symbolise an epistemic shift in the application of waveformed pressure; the dynamics of directional ultrasound technology signalling the orchestration of a new set of frequency-based relations between the transmitter and the receiver, the speaker system and architectural context, and the civilian and war torn environment. The concluding proposition of the study submits that a waveformed cartography - mapping the soundscape's territorialisation by the military-entertainment complex - needs to be composed and arranged so that forms of recording, amplification, and resistance can be made coherent. Given the new set of non-sound politics announced by the HSS, this philosophy of frequency-based mapping will have to re-evaluate the taxonomy and indexical nature of spatial relations. This discipline will be a waveformed psychogeography; a frequency-based modality that heuristically charts the spatial concerns of the neural environment as well as the environs of the material and the built. As a field of research it will have a wide-ranging remit to explore the spatial, psychological, physiological, social, economic, and sexual effects that waveforms have upon our subjectivity. Its methodology - as suggested through the structuring of this study - will be multi-disciplined and multi-channelled. It will create new forms of knowledge about LRADs, iPods, Mosquitos, I ntonarumori , loudhailers, and Sequential Arc Discharge Acoustic Generators - the meta-network of speaker systems through which rhythms and cadences of power are transmitted, connected, and modulated.
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De, Martini Alessandro. "Intuitive programming of mobile manipulation applications : A functional and modular GUI architecture for End-User robot programming". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-303006.
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Mobile manipulators are changing the way companies and industries complete their work. Untrained end users risk facing unfunctional and nonuser- friendly Graphical User Interfaces. Recently, there has been shortages of people and talent in the heathcare industry where these applications would benefit in being used to accomplish easy and low level tasks. All these reasons contribute to the need of finding functional robot-user ways of communicating that allow the expansion of mobile manipulation applications. This thesis addresses the problem of finding an intuitive way to deploy a mobile manipulator in a laboratory environment. This thesis has analyzed whether it is possible to permit the user to work with a manipulator efficiently and without too much effort via a functional graphical user interface. Creating a modular interface based on user needs is the innovation value of this work. It allows the expansion of mobile manipulator applications that increases the number of possible users. To accomplish this purpose a Graphical User Interface application is proposed using an explanatory research strategy. First, user data was acquired using an ad hoc research survey and mixed with literature implementations to create the right application design. Then, an iterative implementation based on code-creation and tests was used to design a valuable solution. Finally, the results from an observational user study with non-roboticist programmers are presented. The results were validated with the help of 10 potential end users and a validation matrix. This demonstrated how the system is both functional and user-friendly for novices, but also expressive for experts.Mobilmanipulatorer förändrar sättet som företag och industrier utför sitt arbete. Otränade slutanvändare och särskilt de utan programmeringskunskap kommer att bemötas av icke-funktionella och användarovänliga grafiska användargränssnitt. Den senaste tiden har det varit brist på specialiserad personal inom hälsovårdsindustrin som har resulterat i ett beroende på dessa applikationer för att genomföra enkla uppgifter samt uppgifter på låg nivå. Alla dessa faktorer bidrar till det ökande behovet att hitta ett funktionellt sätt att kommunicera mellan robot och slutanvändare vilket tillåter expansionen av mobilmanipulatorapplikationer. Arbetet som beskrivs i denna avhandling adresserar problemet att finna ett intuitivt sätt att använda en mobilmanipulator i ett laboratoriemijö. Möjligheten att tillåta användaren att på ett enkelt och effektivt sätt arbeta med en manipulator via ett funtionellt grafiskt användargränssnitt analyseras. Innovationsvärdet och detta examensarbetes bidrag till nuvarande kunskap betraktar möjligheten att skapa ett modulärt gränssnitt baserat på användares behov. Detta möjliggör expansionen av mobilmanipulatörers applikation vilket ökar antalet möjliga användare. En förklarande forskningsstrategi används för att föreslå en grafisk användargränssnittsapplikation för att uppnå detta mål. Först användes data från ad hoc-undersökningar blandat med litteraturimplementeringar för att skapa den rätta applikationsdesignen. En iterativ implementering baserad på kodskapande samt tester användes sedan för att designa en värdefull lösning redo att testas. Slutligen presenteras resultat från en användarobservationsstudie med icke-robotikprogrammerare. De insamlade resultaten som samlades in under valideringsstadiet tack vare en grupp bestående av tio potentiella slutanvändare har analyserats genom användandet av en valideringsmatris som är baserad på tre parametrar. Detta demonstrerade hur systemet är både funktionellt och användarvänligt för nybörjare men också expressivt för experter.
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Fullenkamp, Steven Charles. "The Effect of Cue and Target Similarity on Visual Search Response Times: Manipulation of Basic Stimulus Characteristics". Wright State University / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=wright1388500646.
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Nese, Stian. "Anode Milling with an Industrial Robot Manipulator". Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-10186.
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Force control of robot manipulators will be needed in the future to fulfill the potential of automated solutions. For this to be possible, adequate control systems for this special purpose are required. This thesis proposes an extension to an existing force control approach found in the literature, based on direct force control, for the use of an industrial ABB robot in anode milling operations. This report presents a control system that aims to exercise force control with a robot manipulator, in order to conduct effective carbon anode milling. The control structure proposed contains both a position controller and a velocity controller, in order to enhance the final result. Because there is a gap between the theory on robot force control and the features usually available on an industrial robot, this control system is modified to be directly implementable on a standard industrial ABB robot manipulator. Simulations, and subsequent comparison, of both this control system and a control system typically found in the industry, which is based on PID control of the milling tool power consumption, are conducted. ABBs Robot- Studio is used to perform the simulations, where models of the tool, anode and coke are used. From these simulations we see that the industrial PID controller performs very well, and that the newly proposed control approach does not quite reach the same level of performance.
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Herrera, Yajaira. "Performance limitations of a force-controlled industrial manipulator". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ38632.pdf.
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RAHMAN, NAHIAN. "Towards Developing Gripper to obtain Dexterous Manipulation". Doctoral thesis, Università degli studi di Genova, 2018. http://hdl.handle.net/11567/929970.
Pełny tekst źródłaStreszczenie:
Artificial hands or grippers are essential elements in many robotic systems, such as, humanoid,
industry, social robot, space robot, mobile robot, surgery and so on. As humans, we use
our hands in different ways and can perform various maneuvers such as writing, altering
posture of an object in-hand without having difficulties. Most of our daily activities are
dependent on the prehensile and non-prehensile capabilities of our hand. Therefore, the
human hand is the central motivation of grasping and manipulation, and has been explicitly
studied from many perspectives such as, from the design of complex actuation, synergy, use
of soft material, sensors, etc; however to obtain the adaptability to a plurality of objects along
with the capabilities of in-hand manipulation of our hand in a grasping device is not easy,
and not fully evaluated by any developed gripper.
Industrial researchers primarily use rigid materials and heavy actuators in the design for
repeatability, reliability to meet dexterity, precision, time requirements where the required
flexibility to manipulate object in-hand is typically absent. On the other hand, anthropomorphic
hands are generally developed by soft materials. However they are not deployed
for manipulation mainly due to the presence of numerous sensors and consequent control
complexity of under-actuated mechanisms that significantly reduce speed and time requirements
of industrial demand. Hence, developing artificial hands or grippers with prehensile
capabilities and dexterity similar to human like hands is challenging, and it urges combined
contributions from multiple disciplines such as, kinematics, dynamics, control, machine
learning and so on. Therefore, capabilities of artificial hands in general have been constrained
to some specific tasks according to their target applications, such as grasping (in biomimetic
hands) or speed/precision in a pick and place (in industrial grippers).
Robotic grippers developed during last decades are mostly aimed to solve grasping
complexities of several objects as their primary objective. However, due to the increasing
demands of industries, many issues are rising and remain unsolved such as in-hand manipulation
and placing object with appropriate posture. Operations like twisting, altering
orientation of object within-hand, require significant dexterity of the gripper that must be
achieved from a compact mechanical design at the first place. Along with manipulation,
speed is also required in many robotic applications. Therefore, for the available speed and
design simplicity, nonprehensile or dynamic manipulation is widely exploited. The nonprehensile
approach however, does not focus on stable grasping in general. Also, nonprehensile
or dynamic manipulation often exceeds robot’s kinematic workspace, which additionally
urges installation of high speed feedback and robust control. Hence, these approaches are
inapplicable especially when, the requirements are grasp oriented such as, precise posture
change of a payload in-hand, placing payload afterward according to a strict final configuration.
Also, addressing critical payload such as egg, contacts (between gripper and egg)
cannot be broken completely during manipulation. Moreover, theoretical analysis, such as
contact kinematics, grasp stability cannot predict the nonholonomic behaviors, and therefore,
uncertainties are always present to restrict a maneuver, even though the gripper is capable of
doing the task.
From a technical point of view, in-hand manipulation or within-hand dexterity of a gripper
significantly isolates grasping and manipulation skills from the dependencies on contact type,
a priory knowledge of object model, configurations such as initial or final postures and also
additional environmental constraints like disturbance, that may causes breaking of contacts
between object and finger. Hence, the property (in-hand manipulation) is important for a
gripper in order to obtain human hand skill.
In this research, these problems (to obtain speed, flexibility to a plurality of grasps,
within-hand dexterity in a single gripper) have been tackled in a novel way. A gripper
platform named Dexclar (DEXterous reConfigurable moduLAR) has been developed in order
to study in-hand manipulation, and a generic spherical payload has been considered at the
first place. Dexclar is mechanism-centric and it exploits modularity and reconfigurability to
the aim of achieving within-hand dexterity rather than utilizing soft materials. And hence,
precision, speed are also achievable from the platform. The platform can perform several
grasps (pinching, form closure, force closure) and address a very important issue of releasing
payload with final posture/ configuration after manipulation. By exploiting 16 degrees of
freedom (DoF), Dexclar is capable to provide 6 DoF motions to a generic spherical or
ellipsoidal payload. And since a mechanism is reliable, repeatable once it has been properly
synthesized, precision and speed are also obtainable from them. Hence Dexclar is an ideal
starting point to study within-hand dexterity from kinematic point of view.
As the final aim is to develop specific grippers (having the above capabilities) by exploiting
Dexclar, a highly dexterous but simply constructed reconfigurable platform named
VARO-fi (VARiable Orientable fingers with translation) is proposed, which can be used as
an industrial end-effector, as well as an alternative of bio-inspired gripper in many robotic
applications. The robust four fingered VARO-fi addresses grasp, in-hand manipulation and
release (payload with desired configuration) of plurality of payloads, as demonstrated in this
thesis.
Last but not the least, several tools and end-effectors have been constructed to study
prehensile and non-prehensile manipulation, thanks to Bayer Robotic challenge 2017, where
the feasibility and their potentiality to use them in an industrial environment have been
validated.
The above mentioned research will enhance a new dimension for designing grippers
with the properties of dexterity and flexibility at the same time, without explicit theoretical
analysis, algorithms, as those are difficult to implement and sometime not feasible for real
systems
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Marcham, Laurence John. "Control of industrial manipulator vibration using artificial neural networks". Thesis, Southampton Solent University, 1997. http://ssudl.solent.ac.uk/1270/.
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This research project is a study of the application of artificial neural networks to the control of robot manipulator vibration, specifically concentrating on the improvement of dynamic path accuracy during linear motion. The aim of the investigation was to achieve this through compensation of the inherent vibration experienced at the end effctor. The first phase of the project was concerned with the mechanical structure of the manipulator with the specific aim of attaining a comprehensive understanding of robot manipulator vibration. This was achieved through the formaulation of a mathematical model using Lagrangian mechanics and through an empirical description, obtained through the implementation of laser interferometry and experimental modal analysis. The laser interferometry data were used to produce an empirical model, using an artificial neeural network (ANN) architecture, to learn to predict the vibration experienced at the end-effector. The second phase of the project concentrated on the simulation and design of an ANN based active vibration compensation system. The ANN architecture used was a time delay Elman network and the learning algorith used was a modified stochastic/backpropagation strategy. In simulation the controller was able to realise a reduction in vibration of 83.6 percent after training. After implementing the controller on a PUMA562C industrial manipulator a modest reduction of 16 per cent was achieved. The considerably lower magnitude of reduction was caused by the under-specified design of mechanical actuator Finally to assess the performance characteristics of the ANN based controller an analysis of the adaptive capabilities of the system to slowly changing manipulator characteristics and a comparison of the systems capabilities with a digital PID phase inverse controller applied to the control problem were investigated. The ANN based controller was capable of providing limited reakl-time adaption due to continuous reinforcement feedback. The ANN controller produced ann additional 6 percent reduction in vibration over the PID controller, despite a significantly lower sampling rate.
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Шендрик, Віра Вікторівна, Вера Викторовна Шендрик, Vira Viktorivna Shendryk, Е. Kuznetsov i Y. Mashyn. "Investigation of industrial robot-manipulator computer model motion control". Thesis, Sumy State University, 2017. http://essuir.sumdu.edu.ua/handle/123456789/55777.
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This article provides a technology for
develop a physical and mathematical simulation of the
robot's computer model. The purpose of the work is to
learn how to define the movement of robot elements.
A complete, controlled computer model of an
industrial robot manipulator has been created. Model
control is implemented using the modeling
environment software. The technology developed is
used to master the basics of robotics.
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Ogilvie, Andrew Scott. "Real-time neural network control of an industrial robotic manipulator". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0007/MQ34147.pdf.
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Zborovskiy, Marat. "Representing and manipulating spatial data in interoperable systems and its industrial applications". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35099.
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Thesis (S.M.)--Massachusetts Institute of Technology, System Design and Management Program, 2006.Includes bibliographical references (p. 123-126).
Introduction: The amount of information available nowadays is staggering and increases exponentially. Making sense of this data has become increasingly difficult because of the two factors: · The sheer volume of data · The lack of interoperability between disparate data sources and models While one can do little about the former factor, the latter one can be mitigated by advancing solutions that make data easy to work with and ensure the interoperability among data sources and models in intelligent networks. One way to achieve interoperability is to force every entity involved in the data exchange to adopt the same standard. However, organizations have heavily invested in proprietary data standards and are unlikely to replace their existing standards with a new one. Therefore, another solution is to create a standard, through which organizations can translate their data sources and share them with their customers or general community. The MIT Data Center is spearheading an initiative to create M - a language that is capable to provide the much needed interoperability between divergent data sources and models with an ultimate goal of creating a new intelligent information infrastructure (Brock, Schuster and Kutz 2006).
by Marat Zborovskiy.
S.M.
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Kwon, Dong-Soo. "An inverse dynamic tracking control for bracing a flexible manipulator". Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/15876.
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譚漢雄 i Hon-hung Tam. "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures". Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1998. http://hub.hku.hk/bib/B31219925.
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Tam, Hon-hung. "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures /". Hong Kong : University of Hong Kong, 1998. http://sunzi.lib.hku.hk/hkuto/record.jsp?B19712704.
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Boucher, Daniel Charles. "Closed loop end piece control of a servo controlled manipulator". Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25054.
Pełny tekst źródłaStreszczenie:
This thesis discusses the possibility of attaining closed loop end piece control of a servo controlled manipulator by externally modifying the independent control loop set point of each robot link.
This procedure leaves the existing servo control loops intact and thus has the benefit of acquiring the advantages of an advanced control strategy while retaining the inherent reliability and stability of the existing control loops.
Algorithms are proposed for compensating for known disturbance torques, eliminating end piece position errors, and applying specified forces to the surroundings with the end piece. These algorithms are demonstrated
for the three degree of freedom case using a simulation package ROBSIM.FOR which simulates the response of a servo controlled manipulator to set point inputs.
To compensate for known disturbance torques the torques generated by the robot control system are assumed to be directly proportional to the changes in set points. These approximate relations are used to estimate the adjustment in set points necessary to generate the required additional joint torques. Simulation results show that this method is effective in compensating for gravity disturbance torques.
The Jacobian relates changes in position of the end piece to changes in joint angles. Using the Jacobian combined with a weighting factor to prevent overshoot an algorithm is developed which drives end piece position errors to zero. The transpose of the Jacobian is used to relate forces exerted on the surroundings by the end piece to generated joint torques. The required torques are created by adjusting the set points. Simulation results indicate that this method can be used to exert specified forces. Force control is more difficult to achieve than position control because the robot interacts physically with its surroundings. The ability of the robot to exert forces depends strongly on the robot's configuration.
All work in this thesis can be generated using the single program ROBSIM.FOR.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
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Ward, Keith Ronald. "Pseudo joint damping for reactive control of a mobile manipulator". Thesis, Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/17634.
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Yesudasu, Santheep. "Cοntributiοn à la manipulatiοn de cοlis sοus cοntraintes par un tοrse humanοïde : applicatiοn à la dépaléttisatiοn autοnοme dans les entrepôts lοgistiques". Electronic Thesis or Diss., Normandie, 2024. https://theses.hal.science/tel-04874770.
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Cette thèse de doctorat explore le développement et l'implémentation d'URNik-AI, un système de dépalettisation automatisé basé sur l'intelligence artificielle (IA), conçu pour manipuler des boîtes en carton de tailles et de poids variés à l'aide d'un torse humanoïde à double bras. L'objectif principal est d'améliorer l'efficacité, la précision et la fiabilité des tâches de dépalettisation industrielle grâce à l'intégration de la robotique avancée, de la vision par ordinateur et des techniques d'apprentissage profond.Le système URNik-AI est composé de deux bras robotiques UR10 équipés de capteurs de force/torque à six axes et d'outils de préhension. Une caméra RGB-D ASUS Xtion est montée sur des servomoteurs pan-tilt Dynamixel Pro H42 pour obtenir des images haute résolution et des données de profondeur. Le cadre logiciel comprend ROS Noetic, ROS 2 et le framework MoveIt, permettant une communication fluide et une coordination des mouvements complexes. Ce système assure une haute précision dans la détection, la saisie et la manipulation d'objets dans divers environnements industriels.Une contribution importante de cette recherche est l'implémentation de modèles d'apprentissage profond, tels que YOLOv3 et YOLOv8, pour améliorer les capacités de détection et d'estimation de pose des objets. YOLOv3, entraîné sur un ensemble de données de 807 images, a atteint des scores F1 de 0,81 et 0,90 pour les boîtes à une et plusieurs faces, respectivement. Le modèle YOLOv8 a encore amélioré les performances du système en fournissant des capacités de détection de points clés et de squelettes, essentielles pour la manipulation précise des objets. L'intégration des données de nuage de points pour l'estimation de la pose a assuré une localisation et une orientation précises des boîtes.Les résultats des tests ont démontré la robustesse du système, avec des métriques élevées de précision, rappel et précision moyenne (mAP), confirmant son efficacité. Cette thèse apporte plusieurs contributions significatives au domaine de la robotique et de l'automatisation, notamment l'intégration réussie des technologies robotiques avancées et de l'IA, le développement de techniques innovantes de détection et d'estimation de pose, ainsi que la conception d'une architecture de système polyvalente et adaptableThis PhD thesis explores the development and implementation of URNik-AI, an AI-powered automated depalletizing system designed to handle cardboard boxes of varying sizes and weights using a dual-arm humanoid torso. The primary objective is to enhance the efficiency, accuracy, and reliability of industrial depalletizing tasks through the integration of advanced robotics, computer vision, and deep learning techniques.The URNik-AI system consists of two UR10 robotic arms equipped with six-axis force/torque sensors and gripper tool sets. An ASUS Xtion RGB-D camera is mounted on Dynamixel Pro H42 pan-tilt servos to capture high-resolution images and depth data. The software framework includes ROS Noetic, ROS 2, and the MoveIt framework, enabling seamless communication and coordination of complex movements. This system ensures high precision in detecting, grasping, and handling objects in diverse industrial environments.A significant contribution of this research is the implementation of deep learning models, such as YOLOv3 and YOLOv8, to enhance object detection and pose estimation capabilities. YOLOv3, trained on a dataset of 807 images, achieved F1-scores of 0.81 and 0.90 for single and multi-face boxes, respectively. The YOLOv8 model further advanced the system's performance by providing keypoint and skeleton detection capabilities, which are essential for accurate grasping and manipulation. The integration of point cloud data for pose estimation ensured precise localization and orientation of boxes.Comprehensive testing demonstrated the system's robustness, with high precision, recall, and mean average precision (mAP) metrics confirming its effectiveness. This thesis makes several significant contributions to the field of robotics and automation, including the successful integration of advanced robotics and AI technologies, the development of innovative object detection and pose estimation techniques, and the design of a versatile and adaptable system architecture
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Roskilly, Anthony Paul. "A control system design and implementation strategy applied to an industrial robotic manipulator". Thesis, Lancaster University, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.335311.
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Girvin, Douglas Lynn. "Numerical analysis of right-half plane zeros for a single-link manipulator". Thesis, Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/16945.
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Aboussouan, Patrick. "Frequency response estimation of manipulator dynamic parameters". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65927.
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Lin, Guo-Qing. "Simulation of manipulator kinematics using interactive computer graphics". Thesis, Queensland University of Technology, 1991. https://eprints.qut.edu.au/36461/1/36461_Lin_1991.pdf.
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A novel general purpose simulation program of robot
manipulator kinematics using computer graphics has been developed
in this thesis. The program can be applied in robot manipulator
design, the workcell design integrated robot with other machines,
motion planning study, collision avoidance study, and teaching.
The wireframe geometric models of robot manipulator are written in
"C" language on IBM/PC.
The development of the computer graphics simulation program
incorporates the joints rotation, manipulator location, trajectory
generation, and manipulator programming. Further, the program has
the following features: geometric model scaling, geometric model
translation, variable view angle.
Initially, the mathematics for spatial description and
transformation are discussed. The different methods available for
solving the inverse kinematics of robot manipulator are discussed
and compared. The manipulator kinematics of ASEA 2000 has been
analyzed and three different methods of solution: algebraic,
geometric and quaternion, have been applied as an example. In
addition, The point-to-point and continuous trajectory generation
are presented.
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Johnson, Kevin Matthew. "Development of a statically balanced parallel platform manipulator". Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/15947.
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Padmanabhan, Babu. "Design of a robotic manipulator using variable geometry trusses as joints". Thesis, Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/53240.
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Parallel robotic manipulators are generally believed to be stiffer under load and more precise than conventional serial manipulators. This is because of their closed loop construction which allows forces to be shared through multiple paths to the ground. Unfortunately, most proposed parallel manipulator designs have severe workspace restrictions. The introduction of Variable Geometry Trusses (VGT’s) represents an opportunity to overcome this limitation.
The lack of stiffness in many serial manipulators is primarily due to compliance at the joints. The disadvantage of the series connected device include limitations in lilting capacity and vibration problems. Difficulties of this sort result from the cantilever structure of the device. These factors often limit the degrees of freedom that can be provided in the serial configuration. By replacing the revolute joints with the ‘VGT joints’, it may be possible to add considerable rigidity at the joints and hence design a highly dextrous manipulator.
The objective of this thesis is to study the feasibility of a design of manipulators using Variable Geometry Trusses. A modeling scheme capable of solving the inverse problem in closed form and finding the range of all possible solutions for a planar VGT has been presented. Another aspect that has been dealt with is in utilizing the extra degree of freedom that becomes available in the proposed manipulator. Enhancing the performance of the manipulator by optimizing relevant parameters has been carried out for a demonstrative case involving a planar truss.Master of Science
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Violero, Pascal. "Spara : un système de programmation automatique de tâche de manipulation robotisée". Toulouse 3, 1991. http://www.theses.fr/1991TOU30244.
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Les travaux presentes dans ce memoire s'integrent dans le developpement d'un systeme de programmation automatique de tache de manipulation dans un environnement contraint. Le probleme pris dans son integralite etant trop complexe, celui-ci est decompose en plusieurs sous-problemes: choix d'une strategie de prise, calcul de mouvements locaux et calcul de mouvements de transfert. Cette decomposition du probleme initial en engendre un autre lors de la synthese des differentes solutions. En effet, les sous-problemes ne sont pas independants, ce qui induit des problemes de compatibilite entre les differentes solutions. Ces incompatibilites sont de deux types: geometrique et d'incertitude. Notre contribution porte sur l'analyse de ces interactions, ce qui nous a conduit a realiser une structure de controle permettant de propager ces differentes contraintes tout au long de la planification. Le premier chapitre est consacre a l'etat de l'art dans le domaine de la programmation automatique de niveau tache. Nous presentons ensuite de facon formelle le principe de decomposition que nous avons utilise, ce qui nous permet d'introduire les differents modules utilises dans notre systeme. Le troisieme chapitre est plus particulierement consacre au module de prise. Le chapitre suivant represente la part la plus importante de notre travail, c'est-a-dire la resolution du probleme de compatibilite des solutions des differents modules (notamment entre les modules de mouvements locaux et de mouvements de transfert ainsi que celui existant entre le module de prise et de pose). Pour une plus grande flexibilite de notre systeme nous proposons une architecture de controle creee de maniere interactive. Le dernier chapitre est consacre a la mise en uvre et a la validation du systeme
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Askew, Craig Steven 1967. "Payload adaptive control of a flexible manipulator using neural networks". Thesis, The University of Arizona, 1992. http://hdl.handle.net/10150/278203.
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Flexible manipulators provide significant advantages over the commonly-used rigid robots due to their lightweight properties, but an accurate control of these manipulators is more difficult to attain, and it is especially demanding in task executions involving changing payloads. This thesis addresses the problem of payload adaptive control of flexible manipulators. The nonlinear model describing the manipulator dynamics is completely derived and is then used for an accurate computer simulation of the flexible manipulator motions. Payload identification is implemented by using a novel neural network approach to identify distinct payload classes from tip deflection patterns which result from different payloads. The identification procedure is then used to select a controller which best meets the control objectives specifying hub speed and maximum tip deflection. Two distinct controller synthesis procedures, one using a pole-placement design and one employing a variable structure technique, are developed. The merits of payload adaptive control are shown by several simulation experiments.
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Canu, Roland. "Publicités et travail marchand : la manipulation des documents publicitaires sur le marché des télécommunications". Toulouse 2, 2007. http://www.theses.fr/2007TOU20057.
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Publicités et travail marchand : sur le marché des télécommunications, les liens entre les publicités et l'activité déployée, d'un côté par les professionnels du marché pour représenter les offres, établir des critères de jugement pertinents et orienter les consommateurs parmi les biens économiques et, d'un autre côté, par les acteurs de la demande pour élaborer de nouveaux choix en mobilisant un certain nombre de supports prescriptifs, forment le point de départ de cette recherche. Il ne s'agit plus, dans ce cadre, d'associer l'action publicitaire à la réception des messages par le public, au décryptage de leurs contenus, mais de considérer l'immersion de l'objet publicitaire dans l'activité commerciale. Aussi préférons-nous à la manipulation des consommateurs par la publicité, la manipulation des imprimés publicitaires par les acteurs marchands. Cette focale n'évacue en rien la question du contenu des messages mais pose également avec insistance celle de leur matérialité et, surtout, des situations machandes ou non, bref de la configuration circonstancielle préexistante, dans lesquelles ils s'inscrivent et sur lesquelles ils sont censés agir, que ce soit dans un service marketing de l'opérateur Télécom, dans la boîte aux lettres d'un client, en boutique ou encore dans un centre d'appels. Déplacer le regard pour observer certaines dimensions plus pragmatiques du répertoire d'actions publicitaires ne signifie pas contester son efficacité ou la réduire, seulement la resituer dans le cadre de situations commerciales ordinaires et interroger la redéfinition conjointe de l'identité même de son incorportation, et de la nature des collectifs marchandsThe relation between advertising and the ordinary work of the market professionals and customers to orientate consumer choices and assessments of goods are the starting point of the study. Our purpose is not about associating adverstising action to its reception or to the deciphering of their content but to take an interest in the immersion of promotional documents in commercial activity. In other words, we get away from advertising manipulating the public and we choose the manipulation of advertising documents by public. The advertising's role can't be reduced to the cultural and symbolic cover of economy. This function inserts within economy and market relationships. The analysis of the messages' contents, their materiality and, foremost, commercial situations in which they are inscribed, will enable us to clarify the advertising action throughout the consumption process and, simultaneously, the nature of market relationships
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Lemaître, Sophie. "Le droit à l'épreuve du flux financiers illicites dans le secteur extractif : entre manipulation et double discours". Thesis, Rennes 1, 2017. http://www.theses.fr/2017REN1G033.
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Le pétrole, le gaz et les minerais sont des ressources indispensables pour le bon fonctionnement de nos économies et sont très convoitées. Elles sont, en outre, particulièrement propices à l’émergence de flux financiers illicites tels que la corruption, l’évitement fiscal ou encore le blanchiment de capitaux. La prise de conscience relative à l’ampleur des pratiques illicites dans le secteur extractif est relativement récente. Depuis une vingtaine d’années, diverses mesures formant un régime juridique ambitieux ont été adoptées pour endiguer ce phénomène. Malgré l’existence de ce régime juridique, les pratiques illicites perdurent au sein de ce secteur. Les acteurs du secteur extractif, entreprises et agents publics, ont su s’adapter et faire preuve de créativité pour contourner, détourner et manipuler ce régime juridique, afin de préserver leurs avantages et de perpétuer les flux financiers illicites. Ils peuvent également recourir à l’ingénierie juridique et financière qui leur fournit un arsenal d’outils juridiques et mobilise des experts maîtrisant à la perfection l’environnement juridique, politique et financier dans lequel les acteurs du secteur extractif évoluent. Ainsi le droit peut-il être propice aux flux financiers illicites et même au service de ceux-ci tout en voulant les combattreOil, gas and minerals are indispensable resources for our economies and are sought-after. They are particularly prone to illicit financial flows such as corruption, tax avoidance and money laundering. Awareness of the extent of illicit practices in the extractive sector is relatively new. Over the last two decades, various measures have been adopted, forming an ambitious legal framework to combat illicit financial flows in the extractive sector. Despite the existence of this legal framework, illicit practices are still persistent. Stakeholders within the extractive sector such as companies and public officials have been able to adapt and be creative in order to abuse, circumvent and manipulate this legal framework in order to preserve their advantages and perpetuate illicit financial flows. They can also use legal and financial engineering, which provides them with an arsenal of legal tools and mobilizes experts who master the legal, political and financial environment in which companies and public officials evolve. Hence while wanting to combat illicit financial flows, law can find itself propitious to these illicit practices and even to their service
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Welz, Pamela Jean. "Manipulating biotic and abiotic factors to enhance the remediation of agri-industrial wastewater in pilot-scale constructed wetlands". Thesis, University of the Western Cape, 2012. http://hdl.handle.net/11394/5126.
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Philosophiae Doctor - PhDAs a consequence of various cellar activities the wine industry produces copious volumes of potentially hazardous wastewater each year. South Africa is one of the top ten wine-producing countries, making the successful treatment of cellar effluent an important environmental obligation in this country. Constructed wetlands (CWs) are resilient to the seasonal input fluxes associated with agri-industrial waste and are ideal systems for the in-situ treatment of cellar effluent in small to medium-sized wineries not connected to municipal reticulation systems. In a project sponsored by the Water Research Commission of South Africa, a number of studies were undertaken to assess the remediation of winery wastewater and common components of winery wastewater in sand-filled pilot-scale constructed wetlands operated in batch mode. This thesis contains the results of three studies. The first study evaluated the temporal aspects of CW equilibration as a basis for future studies of system response to amendment. Microbial biomass and hydraulic conductivity values were monitored and microbial community fingerprints were obtained using denaturing gradient gel electrophoresis. The study showed that microbial community fingerprinting provides a valuable tool to assess the time-scales of microbial equilibration, which was found to be in the order of 100 days. In the second study, the biodegradation and mineralization of ethanol by acclimated and non-acclimated microbial populations in CWs were compared. By increasing the influent ethanol concentration at incremental intervals (incremental priming), the biodegradative capacity was significantly enhanced. At an influent COD concentration of 15 800 mg/L, no volatile fatty acids were detected in the effluent of an incrementally primed system and the maximum effluent COD measured was 180 mg/L. In contrast, an identical, unprimed system, amended with a lower concentration of COD (7587 mg/L), exhibited a maximum effluent COD concentration of 1 400 mg/L, with the metabolites butyrate and propionate accounting for up to 83% of the effluent COD. It was conclusively demonstrated that the use of incremental priming, together with the batch mode of operation enhanced long-term function of the CWs. In the third study, the removal of the phenolic component of winery wastewater was evaluated in CWs, as well as in sand columns and microcosms. It was found that at low influent phenolic concentrations in CWs, complete organic removal was accomplished, but at high concentrations, there was incomplete substrate removal and an accumulation of potentially toxic metabolites, including catechol. The sand provided a suitable substrate for the treatment of phenolic-laden waste, and both biotic (48%) and abiotic (52%) removal mechanisms effected the removal of model phenolics. Prior acclimation of microbial communities increased the biodegradation rate of phenolic acids significantly.
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Audet, Julien Mathieu. "Conception et validation expérimentale d’un système mécatronique pour la manipulation intuitive de composantes lourdes". Master's thesis, Université Laval, 2020. http://hdl.handle.net/20.500.11794/66710.
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Ce mémoire présente la conception et la validation expérimentale d'un système mécatronique visant à faciliter la manipulation de composantes lourdes dans des situations industrielles d'assemblage, par exemple l'assemblage de panneaux de fuselage d'avion. Le principe de la redondance sous-actionnée est utilisé pour que l'interaction entre l'opérateur humain et le robot soit sécuritaire, intuitive et réactive, tout en permettant une charge utile relativement élevée. Ce principe consiste à utiliser un mécanisme passif à basse impédance couplé à un système actif avec la charge utile à manipuler directement attachée à l'effecteur du mécanisme passif. Lors du fonctionnement du dispositif, l'opérateur humain manipule directement la charge utile et induit ainsi des mouvements dans le mécanisme passif. Les variations mesurées dans les articulations passives sont ensuite utilisées pour contrôler les articulations actives à haute impédance du robot. Dans les travaux réalisés antérieurement, le principe a été appliqué aux mouvements translationnels. Le but de ce mémoire est donc d'appliquer le principe de la redondance sous-actionnée aux mouvements rotatifs a n d'orienter une charge utile dans l'espace tridimensionnel. Tout d'abord, le principe est appliqué à un manipulateur plan à un degré de liberté pour évaluer la validité du concept pour les mouvements rotatifs. Ensuite, il est appliqué à un manipulateur spatial à deux degrés de liberté. Des contrepoids actifs sont utilisés pour équilibrer statiquement les deux manipulateurs. Il est à noter que le dernier mouvement rotatif n'est pas étudié puisqu'il est facile à implémenter ; l'équilibrage statique n'étant pas requis pour la rotation autour de l'axe vertical. Finalement, le système rotatif obtenu précédemment est combiné avec un système translationnel existant dans le but de manipuler librement une charge utile dans l'espace à six dimensions. Les validations expérimentales sont présentées pour montrer que le manipulateur est intuitif, réactif et sécuritaire pour l'opérateur humain.This Master's thesis presents the design and experimental validation of a mechatronic system aimed at facilitating the handling of heavy components in industrial assembly situations, for example the assembly of aircraft fuselage panels. The principle of underactuated redundancy is used to make the interaction between the human operator and the robot safe, intuitive and responsive, while allowing a relatively high payload. This principle consists in using a low-impedance passive mechanism paired with an active system with a payload directly attached to the passive mechanism's end e ector. In the operation of the device, the human operator directly manipulates the payload and thereby induces movements in the passive mechanism. The measured joint variables in the passive mechanism are then used to control the high-impedance active joints of the robot. In previous works, the principle of underactuated redundancy has been applied to translational movements. The aim of this Master's thesis is therefore to apply the principle of underactuated redundancy to rotations in order to rotate a payload in three-dimensional space. First, the principle is applied to a one-degree-of-freedom planar manipulator in order to evaluate the validity of the concept for rotational motions. Then, it is applied to a two-degree-of-freedom spatial manipulator. Active counterweights are used to statically balance the two manipulators. It should be noted that the last rotational motion is not studied since it is easy to implement; static balancing is not required for the rotation around the vertical axis. Subsequently, the rotational system obtained previously is combined with an existing translational system with the objective of freely manipulating a payload in six-dimensional space. The experimental validations are presented to show that the manipulator is safe, intuitive and responsive for the human operator.
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Löf, Anton. "Generating and Manipulating Sound : Tools for digital music production". Thesis, Umeå universitet, Designhögskolan vid Umeå universitet, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-136886.
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Music making and technological development has always been connected. The digital revolution has made advanced music production, writing and distribution tools universally accessible. New intelligent tools built on machine learning are entering the market potentially changing how we create music and interact with creative content. The aim of this thesis project has been to find alternatives to existing interaction models manifested in modern DAWs (Digital Audio Workstations). Ideas developed through rough sketches and simple prototypes—the outcome consists of three concept videos proposing changes to three moments in the workflow of songwriters and producers. This thesis started with an idea of exploring the borderland between computer generated music and human creativity. Through desk research and interviews I learned that computational creativity exist and that there is a lot of different ways of defining creativity and art. Creating creative computers should not aim to replace humans creative abilities—it is rather about automating and creating tools that enhance our creative abilities. To understand how songwriters and producers work the subject were investigated through semi-structured contextual interviews. The different ways of working and using tools were mapped out and potential opportunity areas were identified. This thesis have been a project that through sketching, mock-ups and simple prototypes questions how we use digital tools in music production. These concepts and sketches were continuously brought back to experts for feedback. The outcome consists of three concepts. They are presented through three short videos. These videos are now shared with a bigger audience and will act as an conversation starter for people interested in tools for digital music production. 1. Automating parts of the songwriting process and create a collaborative workflow between a you and a computer, through a conversational user interface. 2. A pressure sensitive touch surface that let you manipulate sound. It is an adaptive system that automatically detects active controls in your DAW—it maps these active controls from your computer screen down to a touch pad. 3. The third concept changes the way you organise and look for sound files. It is a automatised process where a software helps you compare different sounds to each other. It takes away most labels and focuses on mapping sound according to its auditory profile.
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Sanchez, Loza Jose Manuel. "Shape sensing of deformable objects for robot manipulation". Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC012/document.
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Les objets déformables sont omniprésents dans notre vie quotidienne. Chaque jour, nous manipulons des vêtements dans des configurations innombrables pour nous habiller, nouons les lacets de nos chaussures, cueillons des fruits et des légumes sans les endommager pour notre consommation et plions les reçus dans nos portefeuilles. Toutes ces tâches impliquent de manipuler des objets déformables et peuvent être exécutées sans problème par une personne. Toutefois, les robots n'ont pas encore atteint le même niveau de dextérité. Contrairement aux objets rigides, que les robots sont maintenant capables de manipuler avec des performances proches de celles des humains; les objets déformables doivent être contrôlés non seulement pour les positionner, mais aussi pour définir leur forme. Cette contrainte supplémentaire, relative au contrôle de la forme d’un objet, rend les techniques utilisées pour les objets rigides inapplicables aux objets déformables. En outre, le comportement des objets déformables diffère largement entre eux, par exemple: la forme d’un câble et des vêtements est considérablement affectée par la gravité, alors que celle-ci n’affecte pas la configuration d’autres objets déformables tels que des produits alimentaires. Ainsi, différentes approches ont été proposées pour des classes spécifiques d’objets déformables.Dans cette thèse, nous cherchons à remédier à ces lacunes en proposant une approche modulaire pour détecter la forme d'un objet pendant qu'il est manipulé par un robot. La modularité de cette approche s’inspire d’un paradigme de programmation qui s’applique de plus en plus au développement de logiciels en robotique et vise à apporter des solutions plus générales en séparant les fonctionnalités en composants. Ces composants peuvent ensuite être interchangés en fonction de la tâche ou de l'objet concerné. Cette stratégie est un moyen modulaire de suivre la forme d'objets déformables.Pour valider la stratégie proposée, nous avons implémenté trois applications différentes. Deux applications portaient exclusivement sur l'estimation de la déformation de l'objet à l'aide de données tactiles ou de données issues d’un capteur d’effort. La troisième application consistait à contrôler la déformation d'un objet. Une évaluation de la stratégie proposée, réalisée sur un ensemble d'objets élastiques pour les trois applications, montre des résultats prometteurs pour une approche qui n'utilise pas d'informations visuelles et qui pourrait donc être améliorée de manière significative par l'ajout de cette modalitéDeformable objects are ubiquitous in our daily lives. On a given day, we manipulate clothes into uncountable configurations to dress ourselves, tie the shoelaces on our shoes, pick up fruits and vegetables without damaging them for our consumption and fold receipts into our wallets. All these tasks involve manipulating deformable objects and can be performed by an able person without any trouble, however robots have yet to reach the same level of dexterity. Unlike rigid objects, where robots are now capable of handling objects with close to human performance in some tasks; deformable objects must be controlled not only to account for their pose but also their shape. This extra constraint, to control an object's shape, renders techniques used for rigid objects mainly inapplicable to deformable objects. Furthermore, the behavior of deformable objects widely differs among them, e.g. the shape of a cable and clothes are significantly affected by gravity while it might not affect the configuration of other deformable objects such as food products. Thus, different approaches have been designed for specific classes of deformable objects.In this thesis we seek to address these shortcomings by proposing a modular approach to sense the shape of an object while it is manipulated by a robot. The modularity of the approach is inspired by a programming paradigm that has been increasingly been applied to software development in robotics and aims to achieve more general solutions by separating functionalities into components. These components can then be interchanged based on the specific task or object at hand. This provides a modular way to sense the shape of deformable objects.To validate the proposed pipeline, we implemented three different applications. Two applications focused exclusively on estimating the object's deformation using either tactile or force data, and the third application consisted in controlling the deformation of an object. An evaluation of the pipeline, performed on a set of elastic objects for all three applications, shows promising results for an approach that makes no use of visual information and hence, it could greatly be improved by the addition of this modality
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Veteška, Michal. "Konstrukce univerzálního průmyslového robota". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2016. http://www.nusl.cz/ntk/nusl-242093.
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The theoretical part deals with the basic division of industrial robots, their structure and working space. It analyzes propulsion using the industrial robots and sensors required to operate in the robot. The practical part describes the design of a mechanical arm for an industrial robot manipulator. The practical part also includes a description of the sensor and a description of the control unit.
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Sargsyan, Suren. "Conception et étude de systèmes mécatroniques basés sur la robotique de manipulation permettant de récupérer la motricité d'une personne". Ecole centrale de Nantes, 2013. http://www.theses.fr/2013ECDN0011.
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L'objectif de la thèse est la conception et l'analyse de systèmes portables pour la réhabilitation des fonctions motrices de l'homme, basés sur des mécanismes de manipulation optimisés en termes de poids et de consommation d'énergie. Les travaux concernent le développement de nouveaux dispositifs de réhabilitation électromécaniques contenant des éléments électroactif du type de polymère-métal-composite destinés à la réhabilitation et l'entretien des fonctions motrices de l'homme et de la modélisation, l'analyse et la conception de leurs systèmes biomécatroniques. Une nouvelle méthode pour un équilibrage précis des systèmes biomécaniques utilisant des ressorts, des contrepoids et des liens auxiliaires est proposée, en fournissant également un système d'ajustement de charge. Elle est applicable avec n’importe quel type de ressorts et permet non seulement de réduire les oscillations du moment des forces de gravité du contrepoids, mais aussi de contrôler sa loi de variation. La modélisation dynamique, le développement de la conception optimale et la méthodologie de contrôle d’un exosquelette avec des actionneurs électromécaniques pour les extrémités humaines sont effectuées en utilisant les équations de Lagrange-Maxwell. Les exemples numériques pour la détermination des lois de variation des tensions électriques de la commande et des puissances dans les actionneurs de l'exosquelette ont montré l'efficacité des méthodes proposées. La méthodologie de conception dynamique optimale et les algorithmes de calcul proposés ont été testés avec succès sur un exemple illustratif. La variation optimale des coordonnées généralisées, des tensions électriques de la commande et la puissance minimale des actionneurs ont été déterminés. Des actionneurs appropriés ont été sélectionnés. En conséquence, les tensions d'alimentation ont sensiblement été réduites. La méthodologie de la conception des systèmes de réhabilitation utilisant des actionneurs électroactifs du type polymère conducteur est proposée et testéeThe aim of the thesis is the design and analysis of portable systems for rehabilitation of motor functions of humans, based on the manipulation mechanisms with improved weight, calibration and energy consumption characteristics. The work deals with the development of new electromechanical rehabilitation devices containing electroactive polymer-metal-composite elements intended for rehabilitation and maintenance of human motor functions, and modelling, analysis and design of their biomechatronic systems. A new method for an accurate balancing of biomechanical system using springs, counterweights and auxiliary links is proposed, providing also a load adjustment system. It is applicable with spring with any characteristic and allows not only the reduction of the oscillations of the moment of the gravitational forces of the counterweight, but also the control of its law of variation. The dynamic modelling, the development of an optimal design and the control methodology of human extremity exoskeleton with electromechanical actuators are performed, using Lagrange-Maxwell equations. The numerical examples for determination of laws of variation of electrical control voltages and powers in the exoskeleton’s actuators showed the effectiveness of the proposed methods. The proposed method of optimal dynamic design and the computational algorithms were successfully tested on an illustrative example of optimal control problem. The variation of the generalized coordinates, the electrical control voltages and the powers of actuators due to minimum power inputs criterions were determined. Appropriate actuators were selected. As a result, the power inputs have been significantly reduced. The methodology of design for the rehabilitation systems with application of modern electroactive conducting polymer-metal composite actuators is proposed and tested
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Pereira, Letícia Reis. "Análise de perigos e pontos críticos de controle na produção de refeições industriais". reponame:Repositório Institucional da FURG, 2007. http://repositorio.furg.br/handle/1/2952.
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Dissertação(mestrado) - Universidade Federal do Rio Grande, Programa de Pós-Graduação em Engenharia e Ciência de Alimentos, Escola de Química e Alimentos, 2007.Submitted by Caroline Silva (krol_bilhar@hotmail.com) on 2012-10-18T22:16:33Z No. of bitstreams: 1 anlise de perigos e pontos crticos de controle na produo de refeies industriais.pdf: 3492154 bytes, checksum: 189b63a7779b91e18742914f46f7d935 (MD5)
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O objetivo deste trabalho foi avaliar e caracterizar o programa APPCC na produção de refeições industriais conforme critérios, baseados no Codex Alimetarius, de maneira a identificar os Pontos Críticos de Controle - PCC, limites críticos associados aos perigos, monitoramento das operações, adoção de medidas corretivas e registro das informações, além de realizar análises microbiológicas das superfícies operacionais padronizadas e mãos dos manipuladores. Como instrumento de avaliação. Foi utilizada a técnica de “swab test” para analises das superfícies operacionais onde as refeições foram processadas e das mãos dos manipuladores. Os PCC obtidos como resultados da avaliação incluíram os seguintes procedimentos: recebimento das matérias-primas, resfriamento de hortifrutigranjeiros, descongelamento de produtos cárneos, cocção, distribuição e transporte dos alimentos. Os perigos foram relacionados à saúde pública com limites críticos baseados na Resolução da Diretoria Colegiada n º 216, de 15 de setembro de 2004, adotada pela Agência Nacional de Vigilância Sanitária – ANVISA (BRASIL, 2004). Os resultados das análises microbiológicas correspondentes aos microrganismos aeróbios viáveis ou heterotróficos/cm2, coliformes totais e coliformes fecais expressos como NMP, ficaram acima dos valores satisfatórios adotados como critérios internacionais referidos pela American Public Health Association – APHA (1997) e Organização Panamericana da Saúde (1982). Os resultados das análises microbiológicas de Staphylococcus coagulase positiva foram 100UFC/cm2 para um dos manipuladores.
The objetive of this work was avaliate HACCP program in the industrial foods according to criterion, based on Codex Alimetarius, the way to identify the Critical Control Points, critical limites associated to the dangerous, monitorate of the operations, adopted of correct measures and registration the informations. How instrument of avaliation, was used the swab test tecnic to analises of the operations surface where the foods were prepared and the hands of the workers. The results of the microbiological analises corresponded to the viables aerobics microrganisms/cm2, total and fecal coliforms expressed on NMP, were above of the satisfaction values adoted how internacional criterions related on American Public Health Association – APHA (1997) e Panamericana Organization of Health (1982). The Critical Control Points resulted of the avaliation included this procediments: reception of the material, to cool the vegetables, to mealt the meats, to cook, distribution ang transporte of the foods. The dangerous were related of the public heath with critics limits based on “Resolução da Diretoria Colegiada n º 216”, september 15 of 2004, adoted by “Agência Nacional de Vigilância Sanitária – ANVISA” (BRASIL, 2004). The results of the microbiological analises corresponding with the operational surfaces of foods, relationed of aerobic viable microorganisms, varyeted between 7,92 x 104 CUF/g and 4,4x 105, total and fecal coliforms between 9,3 and 110 CUF/g. The results associated with workers hands varieted, relationed to the same microorganisms, respectively, between 2,16 x 102 and 5,5 x 104 CUF/g, 24 and 110 CUF/g, indicating insatisfaction values adoted how international criterions related by American Public Heath Association – APHA (1997) and Panamerican Health Organization – PHO (1982). The microbiological analyses results of Sthaphylococcus positive coagulase varyeted between 10 and 100 CUF/g to the workers hands.
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Chlaň, Jakub. "Senzorika a řízení pohybu pro humanoidního robota". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417796.
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The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
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Zach, Jiří. "Manipulátor pro skleněné desky". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-264920.
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The object of this diploma work is to project a manipulator for the chaffs of glass, which will be mounted to the cutting machine RKP 01. The function of this manipulator will be a transposition of the chaffs of glass from the supply table to the haul. This manipulator check by calculations. RPK is the cutting machine for the circular-shaped cutouts, from which the saucers are made. Everything will be operated automatically, position of a handling moulding will be located by the sense organs and everything will be controlled by the automat, which was already designed by the firma FESTO FEC 30.
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Piccin, Olivier. "Spécification et résolution de tâches de manipulation complexes. Application à la téléprogrammation de robots distants". Phd thesis, Université Paul Sabatier - Toulouse III, 1995. http://tel.archives-ouvertes.fr/tel-00144080.
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Les travaux présentés dans cette thèse s'inscrivent dans le contexte de la robotique de manipulation distante où les possibilités de communication entre l'opérateur et le site robotisé sont réduites. Pour accroître l'autonomie de fonctionnement du manipulateur distant, il faut pouvoir raisonner sur un modèle du robot et de son environnement de travail. En raison de la connaissance imprécise de ce dernier, il est indispensable de disposer de moyens d'identification des positions et de la taille des objets en interaction avec le robot. De plus, le caractère non répétitif et la complexité des tâches envisagées nécessitent l'emploi d'un système rapidement reconfigurable et susceptible de traiter des problèmes suffisamment généraux. Dans cette perspective, l'approche proposée de spécification de tâches par contraintes autorise une description des actions à effectuer en termes de mobilités et de contraintes de contact à établir ou maintenir entre certains corps. Les relations de contraintes résultantes sont alors traitées par un module de résolution basé sur un schéma numérique itératif de type Newton-Raphson. Un niveau important de robustesse a été atteint grâce à une gestion dynamique du conditionnement des équations qui permet un choix automatique du scénario de résolution. Les applications de l'approche incluent en premier lieu la génération de trajectoires complexes et continues pour des systèmes robotisés quelconques. La mise en place de contraintes peut aussi être exploitée pour accomplir, localement, des évitements d'obstacles. Enfin, cette démarche se prête également à la résolution de tâches de calibration des objets présents dans l'univers du robot. Cette caractéristique est essentielle dans le contexte de manipulation distante où les modèles sont mal connus a priori. Finalement, la présentation d'un scénario expérimental de suivi de joint de soudure, mis en œuvre sur un manipulateur réel, nous permet de formuler une proposition pour l'exécution de tâches robotisées sur sites distants
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Tauveron, Grégoire. "Propriétés de surface des spores de Bacillus cereus et capacité de contamination des équipements agro-industriels : influence des conditions environnementales". Compiègne, 2006. http://www.theses.fr/2006COMP1650.
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Bacillus cereus, responsable de toxi-infections alimentaires, est un contaminant fréquent des aliments traités thermiquement. En effet, outre ses capacités de résistance aux traitements thermiques et chimiques, la spore de B. Cereus a une forte capacité d'adhésion aux matériaux inertes comme l'acier, et représente donc un risque majeur de contamination des aliments. La maîtrise de l'hygiène des équipements passe par une meilleure connaissance des facteurs influençant l'adhésion et la résistance au nettoyage des spores de B. Cereus. L'adhésion des micro-organismes est liée à la leurs propriétés de surface qui peuvent varier selon les conditions environnementales rencontrées. Au cours de cette étude, nous avons mis en évidence une grande variabilité des propriétés de surface (morphologie, caractère hydrophobe, protéines de surface) des spores selon les souches. Ces différences sont associées à une variabilité importante de la capacité d'adhésion à l'acier et de résistance au nettoyage en place (NEP) entre les souches. La confrontation de ces données a montré que l'adhésion des spores est favorisée par la longueur des appendices, alors que la résistance au NEP est inversement proportionnelle à la taille des exosporia. L'utilisation de mutants (chez B. Cereus et B. Anthracis) nous a permis de mettre en évidence que les filaments en brosse de l'exosporium (constitués par BclA) inhibent la résistance au nettoyage. L'absence de la protéine ExsY empêche la mise en place de l'exosporium et se traduit par une diminution de l'adhésion et une augmentation de la résistance au nettoyage. Donc le risque de contamination des surfaces est plus élevé pour des souches ayant de longs appendices et un petit exosporium. Par ailleurs, les propriétés de surface des spores sont affectées par les conditions rencontrées par la bactérie. Nous avons étudié l'influence de conditions susceptibles d'êtres rencontrées par les spores dans les IAA. La sporulation à haute température ainsi que la sporulation en milieu liquide affectent respectivement la taille et l'intégrité de l'exosporium et entraînent une diminution de l'adhésion. De plus, l'application de conditions hydrodynamiques proches de celles rencontrées dans les industries agro-alimentaires induit un endommagement de l'exosporium plus ou moins marqué selon les conditions de sporulation. Cet endommagement conduit à une diminution de l'adhésion des spores couplée à une augmentation de leur résistance au nettoyage. Ces différences de comportement devront donc être prises en compte dans les procédures d'analyse des risques liés à la présence de B. CereusBacillus cereus, responsible for food toxi-infections, frequently contaminates heated-processed foods. Indeed, beyond its resistance to heat and chemical treatment, the B. Cereus spore possesses a strong capacity to adhere to inert materials such as steel and therefore may be considered as a major food contamination risk. Mastery of equipment hygiene requires a deeper knowledge of factors which influence B. Cereus spores' adhesion capacity and their resistance to cleaning techniques. The adhesion of micro-organisms is linked to their surface properties, which may vary according to the environmental conditions they encounter. Ln the course of this study, we reveal a wide variability in surface properties (morphology, hydrophobia, surface protein content) from one spore strain to another. These differences are associated with a significant variability in each strain's capacity to adhere to steel and in its resistance to cleaning-in-place (CIP). Close examination of these data has shown that the longer their appendages, the stronger the spores' adhesion, whereas resistance to cleaning-in-place is inversely proportional to the size of the exosporia. The use of mutants (from B. Cereus and B. Anthracis) allowed us to show that brush-like exosporial filaments (made up of BclA) inhibit resistance to cleaning. An absence of the ExsY protein stops the exosporium from developing and leads to a consequent decrease in adhesion and an increase in resistance to cleaning. Thus, surface contamination risk is higher for strains with long appendages and small exosporia. Furthermore, spores' surface properties are affected by the conditions encountered by the bacteria. We have studied the influence of conditions likely to be encountered by spores in the agro-food industry. Sporulation at high temperature and sporulation in a liquid environment respectively affect the exosporium's size and integrity and result in lesser adhesion. Ln addition, the application of hydrodynamic conditions close to those encountered in the agro-food industry, induces greater or lesser damage to the exosporia according to the conditions in which they sporulated. This damage leads to a decrease in spore adhesion coupled with an increase in their resistance to eleaning. These behavioural differences must therefore be taken into account in analytical procedures applied in the determination of risk associated with the presence of B. Cereus