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Guo, Wanjin, Ruifeng Li, Yaguang Zhu, Tong Yang, Rui Qin i Zhixin Hu. "A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator". Applied Sciences 9, nr 10 (17.05.2019): 2033. http://dx.doi.org/10.3390/app9102033.
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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.
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Dömel, Andreas, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller i Michael Suppa. "Toward fully autonomous mobile manipulation for industrial environments". International Journal of Advanced Robotic Systems 14, nr 4 (1.07.2017): 172988141771858. http://dx.doi.org/10.1177/1729881417718588.
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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.
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Vozzhenikova, Ol'ga, i Salavat Muhtarov. "Manipulation and protection against manipulation in activities of the head of the internal affairs body of the Russian Federation". Applied psychology and pedagogy 6, nr 4 (4.10.2021): 101–14. http://dx.doi.org/10.12737/2500-0543-2021-6-4-101-114.
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The aim of the research in this work is to study the features of psychological manipulation and ways to neutralize it as components of the activities of the heads of the internal affairs body of the Russian Federation.
The phenomenon of "manipulation" has been studied by researchers in this field for a long time. In general terms, it means a sequence of some intentions and actions, the final result of which is not obvious to those to whom it is directed. The development of the global information and communication environment makes various theoretical and applied knowledge of a specific property available to a wide range of people and creates favorable conditions for the use of this knowledge for the purpose of manipulation and manipulative influence on certain social groups, entire social systems and their individual representatives.
By the nature of their activities, the heads of the internal affairs bodies of the Russian Federation often have to deal with psychological manipulation, the involvement in which is related to official necessity.
A study (survey) was carried out with the participation of 50 students of the management faculty of the Academy of Management of the Ministry of Internal Affairs of Russia aged 30 to 55 years, the purpose of which was to study the features of psychological manipulation in the activities of the head of the internal affairs body of the Russian Federation.
The results of the study showed that there is a need to develop the manager's competence in the field of manipulative influence. Today in psychological science and practice there are many technologies for the use, recognition and protection from psychological manipulations, which can be successfully used by the heads of the internal affairs bodies of the Russian Federation in managerial activities, but this requires special training from them.
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Sepiashvili, Ekaterina, Manuchehr Rozikov i Ruzador Aydarmamadov. "Scientific basis for the use of psychological influence in personnel work". Applied psychology and pedagogy 5, nr 3 (14.07.2020): 178–90. http://dx.doi.org/10.12737/2500-0543-2020-184-196.
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The problem of psychological influence on people is relevant for research both in theoretical and applied terms. A significant increase in interest in the study of communication processes is one of the characteristic features of the development of the modern world. Projects are being carried out in the course of which the features of communication in the educational, industrial, official, political and other social spheres are studied. At present, several methodological approaches that have formed in science can be identified in which the phenomenon of “manipulation” is understood differently.
The paper presents the theoretical and methodological foundations of the study of psychological influence, outlines the guidelines of the studies carried out to date on this issue. Existing theories and methodologies dictate a different understanding of how to relate to manipulations, how to work with manipulative behavior, what is considered an effective solution to the problem of manipulation. In the broadest sense, manipulation is any personal influence on someone or something.
As part of the writing of the article, an empirical study of employees and managers of personnel services of organizations was conducted. The subjects were 50 people aged 22 to 45 years, organizations and enterprises whose profession is of the type “person-person”, because the tendency to manipulate in this case is especially strong. Based on the study, among all the psychological manipulations in the professional activities of the personnel service, nine methods of psychological manipulations (constructive and destructive) created in the course of professional activity were identified.
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Cheng, H. H. "Real-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator". Journal of Dynamic Systems, Measurement, and Control 116, nr 4 (1.12.1994): 687–701. http://dx.doi.org/10.1115/1.2899268.
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The real-time implementation of path planning, trajectory generation, and servo control for manipulation of the prototype UPSarm are presented in this paper. The prototype UPSarm, which is primarily designed for studying the feasibility of loading packages inside a trailer, is a ten degree-of-freedom hybrid serial-and-parallel-driven redundant robot manipulator. The direct, forward, inverse, and indirect kinematic solutions of the UPSarm using three coordinate spaces: actuator space, effective joint space, and world Cartesian coordinate space are derived for real-time path planning, trajectory generation, and control. The manipulation of the UPSarm is based upon a general-purpose path planner and trajectory generator. Provided with appropriate kinematics modules and sufficient computational power, this path planner and trajectory generator can be used for real-time motion control of any degree-of-freedom hybrid serial-and-parallel-driven electromechanical devices. A VMEbus-based distributed computing system has been implemented for real-time motion control of the UPSarm. A PID-based feedforward servo control scheme is used in our servo controller. The motion examples of the UPSarm programmed in our robot language will show the practical manipulation of hybrid serial-and-parallel-driven redundant kinematic chains.
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Chen, Yan, Tianwei Tang, Yongjian Li i Di Fan. "Does interest alignment between hotels and online travel agencies intensify review manipulations?" Industrial Management & Data Systems 121, nr 6 (16.03.2021): 1435–56. http://dx.doi.org/10.1108/imds-11-2020-0657.
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PurposeThis study examines whether a higher interest alignment between online travel agencies (OTAs; hosting platform) and hotels (business owners) will intensify review manipulation activities.Design/methodology/approachWith a panel data set collected from a Chinese online travel agency and a travel search engine, the authors develop a matching-based difference-indifference approach to examine the presence of partnership-intensified review manipulation.FindingsThe authors find that the ratings of agency's partner hotels (with a higher interest alignment) are abnormally higher than those of matched non-partner hotels (with a lower interest alignment), after they are benchmarked with their ratings on the search engine (without a partnership business model). Further, the analysis results indicate that this partnership-intensified manipulation deteriorates the hotel's sales performance because of damaged customer trust and satisfaction.Originality/valuePrevious studies implicitly assume that review manipulator is independent from the hosting platform. This is the first study examining the role of the hosting platform in review manipulations.
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Zhang, Qin, Jialei Zhang, Ahmed Chemori i Xianbo Xiang. "Virtual Submerged Floating Operational System for Robotic Manipulation". Complexity 2018 (12.11.2018): 1–18. http://dx.doi.org/10.1155/2018/9528313.
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In this work, a virtual submerged floating operational system (VSFOS) based on parallel and serial robotic platforms is proposed. The primary aim behind its development lies in carrying out simulated underwater manipulation experiments in an easier and safer way. This VSFOS is consisted of a six-degree-of-freedom (6-DOF) parallel platform, an ABB serial manipulator, an inertial sensor, and a real-time industrial computer. The 6-DOF platform is used to simulate the movement of an underwater vehicle, whose attitude is measured by the inertial sensor. The ABB manipulator, controlled by the real-time industrial computer, works as an operational tool to perform underwater manipulation tasks. In the control system architecture, software is developed to receive the data collected by the inertial sensor, to communicate and send instructions. Furthermore, the real-time status of the manipulator is displayed in this software. To validate the proposed system, two experiments have been conducted to test its performance. In the first experiment, the test is carried out to check the communication function of VSFOS, while in the second one, the manipulator is intended to follow the movement of the parallel platform and perform simulated operational task in the space. The obtained results from these two experiments show clearly the effectiveness and the performance of the proposed VSFOS.
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KRAKHMALEV, O. N. "GENETIC PROGRAMMING AND OBJECT MODELING OF MANIPULATION ROBOTS". Computational Nanotechnology 10, nr 2 (30.06.2023): 16–25. http://dx.doi.org/10.33693/2313-223x-2023-10-2-16-25.
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The application of a genetic algorithm to solve the inverse kinematics problem of manipulative robots is considered. The basic concepts of the method of finding solutions using a genetic algorithm are defined. A block diagram of a simple genetic algorithm is presented. It is justified to use multiprocessor computing systems (transputers) to calculate genetic operators. This will greatly increase the efficiency of genetic algorithms. Manipulation systems with three and four links are selected as examples. The problem statement consisted in determining the hinge coordinates of an industrial robot by the specified Cartesian coordinates of the position of the center of the tool (TCP - Tool Center Point) installed on its final link. The results obtained confirm the effectiveness of genetic algorithms in solving inverse kinematics problems of industrial (manipulation) robots. Based on graph theory, the genetic programming procedure is defined as a way to find optimal kinematic structures of robot manipulation systems. The use of genetic programming for modification of object models of manipulation robots is shown. The object representation of the dynamic model of manipulation robots is considered. It is noted that the recombination of objects corresponding to mathematical expressions having mechanical meaning requires kinematic correspondence of the objects used. It is proposed to draw up object diagrams using computer programs that automate this process based on the principle of visual programming (Low-code).
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Ozawa, Mikio, Daiki Kato, Hiroaki Hanai, Toshiki Hirogaki i Eiichi Aoyama. "Skillful Manipulation of Electronic Musical-Note-Type Instrument Using Industrial Humanoid Robot". International Journal of Mechanical Engineering and Robotics Research 13, nr 3 (2024): 325–30. http://dx.doi.org/10.18178/ijmerr.13.3.325-330.
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Industrial robots contribute significantly to productivity improvements, quality improvements, and cost reductions at production sites. Among the industrial robots, those that can cooperate with humans without safety measures or output limitations on the motors of their axes are known as cooperative robots. In the manufacturing field, there is a growing demand for production lines where humans and robots can coexist and cooperate instead of those where robots perform all processes on their own. In this study, we focus on a cooperative robot fabricated using a 3D resin printer and aim to improve its operation using the same tools as humans. As an example of such an application, we attempt to develop a sound-feedback-based motion for manipulating an electronic musical instrument called an “otamatone”. First, the hardware for grasping the object is created using a 3D printer, and notes on the modeling process are described. We then construct an advanced sound feedback system using the Robot Operating System (ROS) to identify the sounding position and pitch of the instrument. In this study, we propose a partial model-matching method for determining the Proportional–Integral–Derivative (PID) gains of the servomotors of each joint of a robot. Consequently, the accuracy of the robot’s motion improves and the accuracy of the intended musical performance is enhanced.
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Yartseva, S. "Speech Manipulation: Spanglish as a Tool of Speech Impact". Bulletin of Science and Practice, nr 8 (15.08.2023): 339–46. http://dx.doi.org/10.33619/2414-2948/93/39.
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The article deals with speech impact, in particular, speech manipulation. Various approaches to the definition of manipulation in the language are being analyzed, manipulative techniques are being defined. As an example, for the analysis of the impact, a linguistic phenomenon is taken, which, in fact, is not manipulative, but is involved in advertising activities to influence English and Spanish-speaking consumers, namely Spanglish. It is being analyzed how the phenomenon of Spanglish is actively used in the advertising field to influence the addressee, and what manipulative techniques are applied.
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Mańkowski, Tomasz, Jakub Tomczyński, Krzysztof Walas i Dominik Belter. "PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation". Electronics 9, nr 7 (16.07.2020): 1147. http://dx.doi.org/10.3390/electronics9071147.
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In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also presented. The design includes resistive position and angle sensors in each joint, resulting in full joint observability. The controller has a position-based controller integrated, along with USB communication protocol, enabling gripper state reporting and direct motor control from a PC. A high-level driver operating as a Robot Operating System node is also provided. All drives and circuitry of the PUT-Hand are integrated within the hand itself. The sensory system of the hand includes tri-axial optical force sensors placed on fully actuated fingers’ fingertips for reaction force measurement. A set of experiments is provided to present the motion and perception capabilities of the gripper. All design files and source codes are available online under CC BY-NC 4.0 and MIT licenses.
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Tabata, Kenta, Hiroaki Seki, Tokuo Tsuji i Tatsuhiro Hiramitsu. "Realization of Swing Manipulation by 3-DOF Robot Arm for Unknown String via Parameter Estimation and Motion Generation". International Journal of Automation Technology 15, nr 6 (5.11.2021): 774–83. http://dx.doi.org/10.20965/ijat.2021.p0774.
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Dynamically manipulating flexible objects using robots is difficult. Some studies have been conducted that only considered one type of object with known properties or that needed an identification test for string properties in advance. We propose a method to realize the dynamic manipulation of a string with unknown characteristics. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. The proposed method estimates the string properties to realize the motion objective via the real manipulation of the string. An identification test in advance was not necessary. In this study, we focus on swing manipulation. This can increase the motion energy of a string without a high-power actuator. After making a large swing, the robot can throw strings to a more distant target, such as a hammer throw. This motion is useful for explanation robots, rescue robots, and so on. We modified the proposed method to generate a swing manipulation. Then, we investigate whether swing manipulation can be performed by the proposed method and demonstrate its effectiveness via experiments with various strings with unknown characteristics.
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Kuts, Vladimir, Jeremy A. Marvel, Murat Aksu, Simone L. Pizzagalli, Martinš Sarkans, Yevhen Bondarenko i Tauno Otto. "Digital Twin as Industrial Robots Manipulation Validation Tool". Robotics 11, nr 5 (18.10.2022): 113. http://dx.doi.org/10.3390/robotics11050113.
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The adoption of Digital Twin (DT) solutions for industrial purposes is increasing among small- and medium-sized enterprises and is already being integrated into many large-scale companies. As there is an increasing need for faster production and shortening of the learning curve for new emerging technologies, Virtual Reality (VR) interfaces for enterprise manufacturing DTs seem to be a good solution. Furthermore, with the emergence of Industry 5.0 (I5.0) paradigm, human operators will be increasingly integrated in the systems interfaces though advanced interactions, pervasive sensors, real time tracking and data acquisition. This scenario is especially relevant in collaborative automated systems where the introduction of immersive VR interfaces based on production cell DTs might provide a solution for the integration of the human factors in the modern industrial scenarios. This study presents experimental results of the comparison between users controlling a physical industrial robot system via a traditional teach pendant and a DT leveraging a VR user interface. The study group involves forty subjects including experts in robotics and VR as well as non-experts. An analysis of the data gathered in both the real and the virtual use case scenario is provided. The collected information includes time for performing a task with an industrial robot, stress level evaluation, physical and mental effort, and the human subjects’ perceptions of the physical and simulated robots. Additionally, operator gazes were tracked in the VR environment. In this study, VR interfaces in the DT representation are exploited to gather user centered metrics and validate efficiency and safety standards for modern collaborative industrial systems in I5.0. The goal is to evaluate how the operators perceive and respond to the virtual robot and user interface while interacting with them and detect if any degradation of user experience and task efficiency exists compared to the real robot interfaces. Results demonstrate that the use of DT VR interfaces is comparable to traditional tech pendants for the given task and might be a valuable substitute of physical interfaces. Despite improving the overall task performance and considering the higher stress levels detected while using the DT VR interface, further studies are necessary to provide a clearer validation of both interfaces and user impact assessment methods.
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Saadat, Mozafar, i Ping Nan. "Industrial applications of automatic manipulation of flexible materials". Industrial Robot: An International Journal 29, nr 5 (październik 2002): 434–42. http://dx.doi.org/10.1108/01439910210440255.
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Fu, Xiaokuan, Yong Liu i Zhilei Wang. "Active Learning-Based Grasp for Accurate Industrial Manipulation". IEEE Transactions on Automation Science and Engineering 16, nr 4 (październik 2019): 1610–18. http://dx.doi.org/10.1109/tase.2019.2897791.
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Muzyka, I. V. "Manipulative technologies of racist ideologues in the system of formation of defective legal consciousness". ACTUAL PROBLEMS OF THE LEGAL DEVELOPMENT IN THE CONDITIONS OF WAR AND THE POST-WAR RECONSTRUCTION OF THE STATE, nr 13 (1.10.2022): 269–75. http://dx.doi.org/10.33663/2524-017x-2022-13-44.
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In the proposed article, the author attempts to prove that in the system of formation of defective legal consciousness of modern societies, the leading role is played by manipulative technologies. The connections between manipulative technologies and the distorted legal consciousness inherent in all carriers in Russia are highlighted. It is revealed that ideological factors, in particular, legal demagoguery – manipulation of the idea of law and legal values - are the basis of the destructive social order established in Russia with ingrained defective public legal consciousness. It is established that the defect of political and legal consciousness was the result of manipulations with the help of the following basic narratives: the concept of the «Russian world» as a world empire; revanchist expansionism and the cult of war. It is believed that this problem today requires a detailed study in order to create tools to counter Russian aggression in the information space and prevent the manifestations of such phenomena in the legal life of Ukraine. Key words: imperial ideology of racism, manipulative technologies, scientific manipulations, defective legal consciousness, «Russian world».
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Yonemoto, Ryo, i Haruhiko Suwa. "Reactive Scheduling Based on Adaptive Manipulator Operations in a Job Shop Configuration with Two Machines". International Journal of Automation Technology 15, nr 5 (5.09.2021): 661–68. http://dx.doi.org/10.20965/ijat.2021.p0661.
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Manufacturing systems are affected by uncertainties, such as machine failure or tool breakage, which result in system downtime and productivity deterioration. In machining processes, system downtime must be reduces. This study aims to establish an automated scheduling technique that flexibly responds to unforeseen events, such as machine failure, based on adaptive operations of the handling manipulator instead of an operation schedule for the machine tools. We propose an “adaptive manipulation” procedure for establishing a reactive revision policy. The reactive revision policy modifies a portion of the manipulator operation sequence, followed by the machine operation sequence. We conduct a physical scheduling simulation on a material-handling manipulator system imitating a job-shop manufacturing system. Through simulations involving machine breakdown scenarios, the applicability of the reactive revision policy based on adaptive manipulation is demonstrated.
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Yang, Peng, Hao Wang, Zhen Liu, Zhiyan Dong i Lihua Zhang. "Development of an Anthropomorphic and Dexterous Dual-Arm System for Aerial Cooperative Bimanual Manipulation". Machines 10, nr 4 (11.04.2022): 273. http://dx.doi.org/10.3390/machines10040273.
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It is a challenging task for an aerial manipulator to complete dual-arm cooperative manipulation in an outdoor environment. In this study, a new dual-arm aerial manipulator system with flexible operation is developed. The dual-arm manipulator system is designed for the application of aerial manipulation, and it has the characteristics of low weight, low inertia, and a humanoid arm structure. The arm structure is composed of customized aluminum parts, each manipulator contains four degrees of freedom, similar to the arrangement of human joints, including shoulder yaw, shoulder pitch, elbow pitch, and wrist roll. Next, the workspace of the dual-arm manipulator is simulated and analyzed, and the relevant kinematic and dynamic models are deduced. Finally, through the lift load, accuracy and repeatability, cooperative bimanual manipulation tests on the test bench, and multiple groups of outdoor flight tests, the relevant performance analysis and verification of the dual-arm aerial manipulator system are carried out. The test results evaluate the feasibility of the designed dual-arm aerial manipulator system for outdoor cooperative manipulation.
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Liza Ahmad Shauri, Ruhizan, i Kenzo Nonami. "Assembly manipulation of small objects by dual‐arm manipulator". Assembly Automation 31, nr 3 (2.08.2011): 263–74. http://dx.doi.org/10.1108/01445151111150604.
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ARISUMI, Hitoshi, Kazuhito YOKOI, Tetsuo KOTOKU i Kiyoshi KOMORIYA. "Casting Manipulation". JSME International Journal Series C 45, nr 1 (2002): 267–74. http://dx.doi.org/10.1299/jsmec.45.267.
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Archambault, Jeffrey J., i Marie E. Archambault. "EARNINGS MANAGEMENT AMONG FIRMS DURING THE PRE-SEC ERA: A BENFORD'S LAW ANALYSIS". Accounting Historians Journal 38, nr 2 (1.12.2011): 145–70. http://dx.doi.org/10.2308/0148-4184.38.2.145.
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ABSTRACT This paper examines the existence of financial statement manipulation in the U.S. during a time period when many of the current motivations did not exist. The study looks for types of manipulations that would be motivated by the pre-SEC operating environment. To examine this issue, a sample of U.S. firms from the 1915 Moody's Analyses of Investments is divided into industrial firms, railroads, and utilities. The railroad and utility companies faced rate regulation during this time period, providing incentives to manipulate the financial reports so as to maximize the rate received. Industrial firms were not regulated. These companies wanted to attract investors, motivating manipulations to increase income and net assets. To determine if manipulations are occurring, a Benford's Law analysis is used. This analysis examines the frequency of numbers in certain positions within an amount to determine if the distribution of the numbers is similar to the pattern documented by Benford's Law. Some manipulations consistent with expectations are found.
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Mazzeo, Angela, Jacopo Aguzzi, Marcello Calisti, Simonepietro Canese, Fabrizio Vecchi, Sergio Stefanni i Marco Controzzi. "Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers". Sensors 22, nr 2 (14.01.2022): 648. http://dx.doi.org/10.3390/s22020648.
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The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.
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Ibarguren, Aitor, i Paul Daelman. "Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments". Sensors 21, nr 19 (5.10.2021): 6620. http://dx.doi.org/10.3390/s21196620.
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Collaborative part transportation is an interesting application as many industrial sectors require moving large parts among different areas of the workshops, using a large amount of the workforce on this tasks. Even so, the implementation of such kinds of robotic solutions raises technical challenges like force-based control or robot-to-human feedback. This paper presents a path-driven mobile co-manipulation architecture, proposing an algorithm that deals with all the steps of collaborative part transportation. Starting from the generation of force-based twist commands, continuing with the path management for the definition of safe and collaborative areas, and finishing with the feedback provided to the system users, the proposed approach allows creating collaborative lanes for the conveyance of large components. The implemented solution and performed tests show the suitability of the proposed architecture, allowing the creation of a functional robotic system able to assist operators transporting large parts on workshops.
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Lu, Siying. "A literature Review on Government-business Relationship and R&D Manipulation in Enterprise". International Journal of Global Economics and Management 3, nr 2 (28.06.2024): 383–87. http://dx.doi.org/10.62051/ijgem.v3n2.44.
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Under the background of the current economic transformation, how to reduce the manipulative behavior of R&D in enterprises and improve the positive policy effect of industrial policy and tax relief policy is a hot topic of academic discussion, and also an urgent problem to be solved in the process of realizing high-quality development in China. At the same time, entering the new era of development, the traditional Government-business relationship is gradually being replaced by a new one. The Government-business relationship will affect the behavior of enterprises' R&D manipulation to a large extent. Therefore, this paper reviews the literature research related to the Government-business relationship and R&D manipulation in the enterprises, which helps to objectively evaluate the achievements, problems and challenges in constructing and improving the Government-business relationship, and clarify the direction and focus of further reducing enterprise R&D manipulation by optimizing the relationship between government and business.
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González, Alejandro, Emilio J. Gonzalez-Galvan, Mauro Maya, Antonio Cardenas i Davide Piovesan. "Estimation of camera-space manipulation parameters by means of an extended Kalman filter: Applications to parallel robots". International Journal of Advanced Robotic Systems 16, nr 2 (1.03.2019): 172988141984298. http://dx.doi.org/10.1177/1729881419842987.
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Parallel robots have a growing range of applications due to their appealing characteristics (high speed and acceleration, increased rigidity, etc.). However, several open problems make it difficult to model and control them. Low computational-cost algorithms are needed for high speed tasks where high accelerations are required. This article develops the nonlinear camera-space manipulation method and makes use of an extended Kalman filter (EKF) for the estimation of the camera-space manipulation parameters. This is presented as an alternative to the traditional method which can be time consuming while reaching convergence. The proposed camera-space manipulation parameter identification was performed in positioning tasks for a parallel manipulator and the experimental results are reported. Results show that it is possible to estimate the set of camera-space manipulation parameters by means of an extended Kalman filter. Using the proposed Kalman filter method we observed a significant reduction of the computational effort when estimating the camera-space manipulation parameters. However, there was no significant reduction of the robot’s positioning error. The proposed extended Kalman filter implementation requires only 2 ms to update the camera-space manipulation parameters compared to the 85 ms required by the traditional camera-space manipulation algorithm. Such time reduction is beneficial for the implementation of the method for a wide range of high speed and industrial applications. This article presents a novel use of an extended Kalman filter for the real-time estimation of the camera-space manipulation parameters and shows that it can be used to increase the positioning accuracy of a parallel robot.
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Al-Shanoon, Abdulrahman, Yanjun Wang i Haoxiang Lang. "DeepNet-Based 3D Visual Servoing Robotic Manipulation". Journal of Sensors 2022 (23.03.2022): 1–13. http://dx.doi.org/10.1155/2022/3511265.
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The fourth industrial revolution (industry 4.0) demands high-autonomy and intelligence robotic manipulators. The goal is to accomplish autonomous manipulation tasks without human interventions. However, visual pose estimation of target object in 3D space is one of the critical challenges for robot-object interaction. Incorporating the estimated pose into an autonomous manipulation control scheme is another challenge. In this paper, a deep-ConvNet algorithm is developed for object pose estimation. Then, it is integrated into a 3D visual servoing to achieve a long-range mobile manipulation task using a single camera setup. The proposed system integrates (1) deep-ConvNet training using only synthetic single images, (2) 6DOF object pose estimation as sensing feedback, and (3) autonomous long-range mobile manipulation control. The developed system consists of two main steps. First, a perception network trains on synthetic datasets and then efficiently generalizes to real-life environment without postrefinements. Second, the execution step takes the estimated pose to generate continuous translational and orientational joint velocities. The proposed system has been experimentally verified and discussed using the Husky mobile base and 6DOF UR5 manipulator. Experimental findings from simulations and real-world settings showed the efficiency of using synthetic datasets in mobile manipulation task.
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Reddy, B. Nithin. "Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications". International Journal for Research in Applied Science and Engineering Technology 12, nr 4 (30.04.2024): 6080–87. http://dx.doi.org/10.22214/ijraset.2024.59008.
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Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition of two extra degrees of freedom enhances the 6-DOF SCARA robot's spatial reach and manipulation capabilities. This enables the robot to perform tasks that require complex orientations, intricate movements, and precise positioning within a 3D workspace. The mechanical design, kinematics, and control strategies of these robots are carefully developed to ensure accurate and efficient performance, making them valuable tools in various industries. 6-DOF SCARA robots find applications in numerous industries where precise manipulation, efficient automation, and versatile positioning are crucial.
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MORIYAMA, Yuki, i Yusuke MAEDA. "View-Based Teaching/Playback for Manipulation by Industrial Robots". TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 79, nr 806 (2013): 3597–608. http://dx.doi.org/10.1299/kikaic.79.3597.
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Stenmark, Maj, i Jacek Malec. "Knowledge-based instruction of manipulation tasks for industrial robotics". Robotics and Computer-Integrated Manufacturing 33 (czerwiec 2015): 56–67. http://dx.doi.org/10.1016/j.rcim.2014.07.004.
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Murphy, Denis J., Donald Richards, Rebecca Taylor, Joël Capdevielle, Jean-Claude Guillemot, René Grison, David Fairbairn i Steve Bowra. "Manipulation of seed oil content to produce industrial crops". Industrial Crops and Products 3, nr 1-2 (październik 1994): 17–27. http://dx.doi.org/10.1016/0926-6690(94)90074-4.
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Hvilshøj, Mads, Simon Bøgh, Oluf Skov Nielsen i Ole Madsen. "Autonomous industrial mobile manipulation (AIMM): past, present and future". Industrial Robot: An International Journal 39, nr 2 (2.03.2012): 120–35. http://dx.doi.org/10.1108/01439911211201582.
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Du, Zhijiang, i Hui Dong. "Optimal dimension of redundant manipulator using the workspace density function". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, nr 11 (4.05.2015): 1787–94. http://dx.doi.org/10.1177/0954406215586009.
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The redundant manipulator has been broadly applied to various fields including industrial manufacturing, surgical manipulation and space exploration by providing high accuracy, flexibility, and efficiency. Particularly, the technology is capable of improving the assembling precision while simplifying the operation in complicated environments, and therefore of intense interest in industrial settings. For manipulator design, space occupation optimizing is a critical step and parameters of the flexible area, the shape and size of workspace have been commonly employed to evaluate the optimizing performance. In this paper, by combining the Fourier transform with the convolution theorem, we presented a workspace density function of redundant manipulator to describe the shape and size of workspace and flexibility. The workspace density function is an evaluation criterion to select the optimal geometric parameters for the manipulator. Based on the workspace density function shown in the simulation results section, the optimal design parameters were obtained. The approach presented in this paper holds the potential to improve the redundant manipulator design.
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Gray, Douglas A. "Transgenic manipulation of the ubiquitin–proteasome system". Essays in Biochemistry 41 (1.10.2005): 129–38. http://dx.doi.org/10.1042/bse0410129.
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The transgenic approach has been used in model systems from yeast to mammals to address basic research questions, and to achieve agricultural, pharmaceutical or industrial objectives. In basic research, transgenic organisms have generated novel observations that could not have been obtained otherwise. This chapter concentrates on the use of transgenics in deciphering the operation of the UPS (ubiquitin–proteasome system) in the yeast, plant, nematode, fly, and mouse model systems, and will touch on ways in which transgenic manipulation of the UPS has been exploited for agricultural, pharmaceutical, and industrial applications.
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Hanai, Hiroaki, Atsuyuki Miura, Toshiki Hirogaki i Eiichi Aoyama. "Advanced Musical Saw Manipulation by an Industrial Cooperative Humanoid Robot with Passive Sound Feedback". Journal of Robotics and Mechatronics 35, nr 3 (20.06.2023): 711–22. http://dx.doi.org/10.20965/jrm.2023.p0711.
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In recent years, collaborative robots able to work together with humans have become widespread in production sites and factory automation fields. In this context, the goal is to provide a production site where cooperative robots can share various types of tools with humans. However, we have not yet reached the point where collaborative robots and humans can share tools for advanced skills. Therefore, it is very important to investigate how a collaborative robot can control advanced tools requiring human skills and the processes for realizing such control. Musical instruments are some of the most difficult tools to handle. It is important to focus on musical instruments because they allow us to evaluate the robot’s manipulation not only by evaluating its movements, but also by evaluating the resultant sound. In this study, we consider a flexible and large deformable musical saw as an unknown and advanced tool difficult for humans to manipulate. In a previous report, a support method for imitating a human was adopted and provided manipulation control based on striking sound feedback using a cooperative humanoid robot. In the present paper, the support method is improved at the tip of the musical saw to realize an advanced wrist motion. In addition, we discuss skillful manipulations based on striking sound feedback control while considering the positions and postures between the collaborative humanoid robot and musical saw.
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Uthayasooriyan, Anuraj, Fernando Vanegas, Amir Jalali, Krishna Manaswi Digumarti, Farrokh Janabi-Sharifi i Felipe Gonzalez. "Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods". Drones 8, nr 6 (17.06.2024): 269. http://dx.doi.org/10.3390/drones8060269.
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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.
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Imtiaz, Muhammad Babar, Yuansong Qiao i Brian Lee. "PolyDexFrame: Deep Reinforcement Learning-Based Pick-and-Place of Objects in Clutter". Machines 12, nr 8 (11.08.2024): 547. http://dx.doi.org/10.3390/machines12080547.
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This research study represents a polydexterous deep reinforcement learning-based pick-and-place framework for industrial clutter scenarios. In the proposed framework, the agent tends to learn the pick-and-place of regularly and irregularly shaped objects in clutter by using the sequential combination of prehensile and non-prehensile robotic manipulations involving different robotic grippers in a completely self-supervised manner. The problem was tackled as a reinforcement learning problem; after the Markov decision process (MDP) was designed, the off-policy model-free Q-learning algorithm was deployed using deep Q-networks as a Q-function approximator. Four distinct robotic manipulations, i.e., grasp from the prehensile manipulation category and inward slide, outward slide, and suction grip from the non-prehensile manipulation category were considered as actions. The Q-function comprised four fully convolutional networks (FCN) corresponding to each action based on memory-efficient DenseNet-121 variants outputting pixel-wise maps of action-values jointly trained via the pixel-wise parametrization technique. Rewards were awarded according to the status of the action performed, and backpropagation was conducted accordingly for the FCN generating the maximum Q-value. The results showed that the agent learned the sequential combination of the polydexterous prehensile and non-prehensile manipulations, where the non-prehensile manipulations increased the possibility of prehensile manipulations. We achieved promising results in comparison to the baselines, differently designed variants, and density-based testing clutter.
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OVIECHKINA, Olena. "Operating relations in the post-industrial and transitive economy". Economics. Finances. Law, nr 12/3 (29.12.2020): 26–32. http://dx.doi.org/10.37634/efp.2020.12(3).5.
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The paper is devoted to an in-depth study of the capitalist private property of adherents of various currents and schools. It is emphasized that the internal contradictions of private property, which are concentrated in the relations of exploitation, are actively studied by the authors of neoliberalism, neo-institutionalism, and analytical Marxism. The paper shows that most of the works of Western scholars deny the phenomenon of economic exploitation in the post-industrial model of capitalism. The conclusions of domestic scholars about the absence of economic and non-economic coercion to work of hired workers in debilitated, transitive economies are criticized. Based on the theoretical analysis of works devoted to the objective study of new aspects of the relationship between employers and employees, the existence of such non-economic forms of exploitation is proven: psychological, political, axiological, social. The paper considers the main tools of non-economic exploitation, which include euphemisation and speculation in the interests, motives, feelings, consciousness, preferences and even passions of people. The consequences of euphemisation and speculation as tools of non-economic coercion to work, excessive consumption, the introduction of consumerist psychology are revealed. The economic purpose of the most popular socio-political technologies for manipulating the conscious and subconscious behavior of society, groups, individuals in the interests of the ruling classes is clarified. It is shown that these instruments of influence are actively used in various national models of capitalism. The mechanism of total manipulation of behavior, consciousness, psychology of people who are involved in the processes of production, marketing and consumption is considered. It is shown that total manipulation includes a set of non-economic forms of influence on people's decision-making, beneficial to the state, direct employers, financial and commercial structures not only nationally but also globally.
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Galabov, Vitan, Vencislav Slavkov, Gocho Slavov i Svetoslav Savchev. "Mechatronic Approaches for Functional Structural Synthesis of Mechanical Systems of Industrial Robots". Cybernetics and Information Technologies 13, nr 4 (1.12.2013): 74–94. http://dx.doi.org/10.2478/cait-2013-0055.
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Abstract The necessity of new approaches for structural synthesis of mechanical systems, which directly identify a limited number of structures that carry a potential for solving the technical problems and meet the specific requirements for the design of mechanical systems, mainly for specialised robots, is specified. The identified five types of kinematic chains (primary, parallel, secondary, additional and subsidiary), with different functionality, allow the synthesis of manipulators structures according to the defined goal tasks and specific functional requirements for hybrid systems, in particular specialised industrial robots. Two mechatronic approaches for functional structural synthesis of mechanical systems of industrial robots, where the main manipulation mechanism is a path generator, were introduced. A limited number of structures that meets the set of objectives and technical requirements to design mechanisms, is directly determined. Emphasis is placed on the tasks of passive (mechanical) control of manipulation systems associated with specialized robotics. Two mechatronic approaches for functional structural synthesis of mechanical systems of industrial robots, where the main manipulation mechanism is a motion generator, are introduced. A limited number of structures is directly defined that meets the set of technical objectives and requirements for the designed mechanisms. Emphasis is placed on the tasks of passive control of the manipulation systems associated with the specialized robotics.
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Weng, Ching-Yen, Qilong Yuan, Zhong Jin Lim i I.-Ming Chen. "Applications of Light-Weight Wearable Devices to Online Programming of Industrial Dual-Arm Robots". Unmanned Systems 08, nr 03 (23.03.2020): 211–19. http://dx.doi.org/10.1142/s2301385020500144.
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Dexterous manipulation of dual-arm robots in unstructured environments is very useful. Programming a dual-arm industrial robot to efficiently complete dexterous tasks, however, is especially challenging due to the complexity of its inverse kinematics, motion planning, dual-arm coordination with self-collision avoidance, and so on. This paper presents a systematic solution to accurately manipulate a dual-arm industrial robot on-site via light-weight wearable devices. In the developed system, the human operator directly drives the robot through the human arms motions tracked by the combination of inertial measurement units and handheld joystick controllers. A proper motion retargeting method with self-collision avoidance is used to enable the user to manipulate the robot directly through intuitive arm motions within a comfortable range and ensure the task manipulation with safety in unstructured environments. The developed system has been tested with various tasks, such as the manipulation of objects of different shapes, dexterous turn-over, and dual-arm coordination. Compared with the existing telerobotic systems, the developed system with simultaneous 14 degree-of-freedom teleoperation directly driven by light-weight wearable devices is able to handle more dexterous and accurate manipulation tasks with the capability of fast deployment and self-collision awareness. Such a solution could pave the way for online dual-arm robot programming on efficient manipulation skills transfer in the future.
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Panina, Elena. "Intra-articular administration of glucocorticosteroids in the practice of a rheumatologist". Clinical Medicine and Pharmacology 6, nr 4 (2.02.2021): 23–35. http://dx.doi.org/10.12737/2409-3750-2021-6-4-23-35.
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Intra-articular and periarticular use of drugs for the purpose of relieving inflammation of the synovial membrane or periarthritis is an integral part of the complex pathogenetic treatment of joint diseases. Effectiveness of local therapy with glucocorticosteroids (GCS )there is no doubt and depends on a number of factors, which should include the correct assessment of indications and contraindications, the correct choice of the drug, its dosage and technique of manipulation. The use of this method can significantly reduce the time of industrial and/or household disability in this extensive category of patients.However, the doctor's ignorance or disregard of the mandatory conditions and requirements for performing this minor surgical manipulation can lead to undesirable, including severe, discrediting consequences of the valuable method. Postgraduate training of doctors helps to solve the problem of non-professional approach to the appointment and conduct of intra-articular and periarticular manipulations using GCS.
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Safreni Candra Sari. "Modelling a Brushless DC Motor Power Source Based Two-Finger Gripper". Jurnal Teknik: Media Pengembangan Ilmu dan Aplikasi Teknik 8, nr 1 (16.09.2020): 15–24. http://dx.doi.org/10.26874/jt.vol8no1.326.
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In industrial automation system and robotic fields, men use gripper as end manipulator to do simple manipulation tasks as grasping, screwing, pulling, etc. In order to obtain stability in manipulating an object, the gripper has to receive the proper current to produce proper gripper force. Therefore the modelling the gripper, hence, plays an important role. The gripper being modelled has two state: open and close. The finger is open, when finger moves away from each other, and close when the finger moves to each other. Opening the gripper can be done by sending voltage 0 to +5 V to the gripper, and close by sending -5 V to 0 V. The voltage magnitude determines the acceleration of the finger movement, hence, the gripforce is determined by the dynamic of the current sent to the brushless dc motor in the gripper. This paper discuss the modelling process of the gripper. At the end, we will have a mathematical model of the gripper.
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Eichhorn, Kristin. "Selecting the Electorate". Politikon: The IAPSS Journal of Political Science 55 (2.10.2023): 63–83. http://dx.doi.org/10.22151/politikon.55.4.
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Autocrats utilize (nominally) democratic elections, to claim procedural legitimation. To secure their political survival in these elections, they have an extensive menu of manipulation at their disposal. These manipulations are not only addressed at contestation but also inclusiveness of the elections. Although autocrats formally claim universal suffrage, informal restrictions and practices are implemented. Analyzing elections held between 1970 and 2020 in electoral autocracies, I find empiric evidence for strategic adjustments of suffrage rights as a response to electoral contexts.
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Engemann, Heiko, Shengzhi Du, Stephan Kallweit, Patrick Cönen i Harshal Dawar. "OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production". Sensors 20, nr 24 (17.12.2020): 7249. http://dx.doi.org/10.3390/s20247249.
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Flexible production is a key element in modern industrial manufacturing. Autonomous mobile manipulators can be used to execute various tasks: from logistics, to pick and place, or handling. Therefore, autonomous robotic systems can even increase the flexibility of existing production environments. However, the application of robotic systems is challenging due to their complexity and safety concerns. This paper addresses the design and implementation of the autonomous mobile manipulator OMNIVIL. A holonomic kinematic design provides high maneuverability and the implemented sensor setup with the underlying localization strategies are robust against typical static and dynamic uncertainties in industrial environments. For a safe and efficient human–robot collaboration (HRC), a novel workspace monitoring system (WMS) is developed to detect human co-workers and other objects in the workspace. The multilayer sensor setup and the parallel data analyzing capability provide superior accuracy and reliability. An intuitive zone-based navigation concept is implemented, based on the workspace monitoring system. Preventive behaviors are predefined for a conflict-free interaction with human co-workers. A workspace analyzing tool is implemented for adaptive manipulation, which significantly simplifies the determination of suitable platform positions for a manipulation task.
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Russell, I., i G. G. Stewart. "Valuable Techniques in the Genetic Manipulation of Industrial Yeast Strains". Journal of the American Society of Brewing Chemists 43, nr 2 (kwiecień 1985): 84–90. http://dx.doi.org/10.1094/asbcj-43-0084.
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Su, Yu-Hsuan, i Kuu-Young Young. "Effective manipulation for industrial robot manipulators based on tablet PC". Journal of the Chinese Institute of Engineers 41, nr 4 (19.05.2018): 286–96. http://dx.doi.org/10.1080/02533839.2018.1473800.
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Arana-Arexolaleiba, N., N. Urrestilla-Anguiozar, D. Chrysostomou i S. Bøgh. "Transferring Human Manipulation Knowledge to Industrial Robots Using Reinforcement Learning". Procedia Manufacturing 38 (2019): 1508–15. http://dx.doi.org/10.1016/j.promfg.2020.01.136.
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K, Keerthika, Amudhasurabhi P, Balamurali V i Beryl Georgina. "Industrial Environmental Monitoring With Wireless Data Storage and Manipulation System". IOSR Journal of Electronics and Communication Engineering 11, nr 04 (kwiecień 2016): 37–40. http://dx.doi.org/10.9790/2834-1104043740.
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Tajboš, J., i T. Lukáč. "New technique and technology of industrial splitting of stacked wood – log-splitter WS 800". Research in Agricultural Engineering 51, No. 1 (7.02.2012): 20–27. http://dx.doi.org/10.17221/4897-rae.
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Wood splitting, manual as well as mechanized one is a heavy work. It follows from the fact that usually the wood of the least quality, knot wood with scroll fibres, directed for less valuable assortments from the point of view of the price. Present technique on the contrary is relatively price demanding, requesting besides 2–4 members of operating personnel also adequate concentration of wood mass for the reason of the complete process economic efficiency. We submit in this paper technology analysis of the splitter WS 800 performance with the original concept for the wood manipulation and splitting process as well. Essential advantages of the mentioned splitter comparing with the stationary equipments are operational and interoperational wood manipulation, physical effort and operating personnel elimination, while the efficiency and work safety is increasing.
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Madsen, Ole, Simon Bøgh, Casper Schou, Rasmus Skovgaard Andersen, Jens Skov Damgaard, Mikkel Rath Pedersen i Volker Krüger. "Integration of mobile manipulators in an industrial production". Industrial Robot: An International Journal 42, nr 1 (19.01.2015): 11–18. http://dx.doi.org/10.1108/ir-09-2014-0390.
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Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing the technology to a level of readiness suitable for industry. Despite much research within the topic of industrial mobile manipulation, the technology has not yet found its way to the industry. To mature the technology to a level of readiness suitable for industry real-world experience is crucial. This paper reports from such a real-world industrial experiment with two mobile manipulators. Design/methodology/approach – In the experiment, autonomous industrial mobile manipulators are integrated into the actual manufacturing environment of the pump manufacturer Grundfos. The two robots together solve the task of producing rotors; a task constituted by several sub-tasks ranging from logistics to complex assembly. With a total duration of 10 days, the experiment includes workspace adaptation, safety regulations, rapid robot instruction and running production. Findings – With a setup time of less than one day, it was possible to program both robots to perform the production scenario in collaboration. Despite the success, the experiment clearly demonstrated several topics in need of further research before the technology can be made available to the industry: robustness and cycle time, safety investigations and possibly standardization, and robot and workstation re-configurability. Originality/value – Despite the attention of research around the world, the topic of industrial mobile manipulation has only seen a limited number of real-world integrations. This work reports from a comprehensive integration into a real-world running production and thus reports on the key challenges identified from this integration.
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Ganesh, Shankar, Y. Seetha Rama Rao, G. Kumar Raja i Sanjay Kumar. "Design, Analysis and Optimization of Four Degrees of Freedom of Parallel Gripper Mechanism for Industrial Automation". Indian Journal Of Science And Technology 17, nr 26 (31.07.2024): 2737–46. http://dx.doi.org/10.17485/ijst/v17i26.475.
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Objectives: To obtain the positions, velocities, and acceleration of actuators of the 4-DOF of the parallel gripper, and optimization of the mechanism is carried out to find the optimal dimensions of the mechanism. Methods: Kinematic analysis is carried out to find the positions and velocities of the gripper of the mechanism. The method used to solve the position of the mechanism is inverse kinematics. A source code is written in MATLAB software to find the positions and velocities of the gripper. This software is a computing platform which can solve large size matrices easily which is most suitable for robots. A model of the mechanism is created in CATIA with constraints. The developed CATIA model is used in ANSYS software for structural analysis. The method used for finding optimal dimensions is Genetic algorithms. Optimization is carried out using Genetic Algorithms (GA’s) using the Energy Manipulation Index as an objective for obtaining the optimal dimensions of the parallel gripper mechanism. Finally, ADAMs software is used to simulate the mechanism. Findings: using inverse kinematic equations the results of displacements, velocities, and accelerations obtained for in-plane horizontal motion, and in-plane vertical motion s plotted. After checking the gripper performance, It is observed that the in-plane vertical transmission is better than the in-plane horizontal transmission. Based on the Energy Manipulation Index (EMI), the performance-to-effort ratio of the gripper object is calculated. It tells about the physical significance of energy transfer efficiency. If the energy occupied by the end-effector is higher than the 4-DOF Parallel Gripper achieves higher efficiency and possesses better manipulability performance. Maximum EMI is taken as an objective for optimization using GA. Simulation is carried out using ADAMS software to determine the driving forces or torques. Novelty/improvement: In this paper the performance index EMI is taken as objective to find the optimal dimensions of the 4-DOF of parallel gripper. Keywords: DOF parallel gripper, Inhand manipulation, Inhand twisting, Driving force, Energy Manipulation Index (EMI)