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Wyświetlanie 1-15 z 154
Tytuł:
Integration of navigation, vision, and arm manipulation towards elevator operation for laboratory transportation system using mobile robots
Autorzy:
Abdulla, A. A.
Ali, M. M.
Stoll, N.
Thurow, K.
Powiązania:
https://bibliotekanauki.pl/articles/384579.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
multi-floor
elevator handler
floor estimation
labware transportation system
kinematic analysis
robotic arm control
object detection
localization
Intel Real sense F200 sensor
Opis:
In the automated environments, mobile robots play an important role to perform different tasks such as objects transportation and material handling. In this paper, a new method for a glassy elevator handling system based on H20 mobile robots is presented to connect distributed life science laboratories in multiple floors. Various labware and tube racks have to be transported to different workstations. Locating of elevator door, entry button detection, internal buttons recognition, robot arm manipulation, current floor estimation, and elevator door status checking are the main operations to realize a successful elevator handling system. The H20 mobile robot has dual arms where each arm consists of 6 revolute joints and a gripper. The gripper has two degrees of freedom. Different sensors have been employed with the robot to handle these operations such as Intel RealSense F200 vision sensor for entry and internal buttons detection with position estimation. A pressure sensor is used for current floor estimation inside the elevator. Also, an ultrasonic proximity distance sensor is utilized for checking the elevator door status. Different strategies including HSL color representation, adaptive binary threshold, optical character recognition, and FIR smoothing filter have been employed for the elevator operations. For pressing operation, a hand camera base and a new elevator finger model are designed. The elevator finger is resolved in a way to fit the arm gripper which is used also to manipulate the labware containers. The Kinematic solution is utilized for controlling the arms’ joints. A server/client socket architecture with TCP/IP command protocol is used for data exchange between Multi-Floor System and the H20 robot arms. Many experiments were conducted in life science laboratories to validate the developed systems. Experimental results prove an efficient performance with high success rate under different lightening condition.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 4; 34-50
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Development of anthropomorphic dual arm robot with distinct degrees of freedom for coordinated operations
Autorzy:
Abhaykrishna, K. M.
Parayil, Nidhi Homey
Reghunandan, Ibin Menon
Sudheerx, Sudheer A. P.
Powiązania:
https://bibliotekanauki.pl/articles/385000.pdf
Data publikacji:
2019
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
dual arm robot
anthropomorphic ratio
distinct degrees of freedom
coordination
object detection
Opis:
Development of assistive robots for helping the disabled is a field of research that has gathered attention recently. According to surveys, about one billion people in the world population have some kind of disability. Dual arm robots are a suitable solution for helping people with mobility impairments. The current development in the field of dual-arm robots is focused mainly in the industrial field to carry out cyclic tasks. This includes activities such as pick and place, assembling parts and doing other industrial operations. Unlike human arms, these dual arm robots lack versatility in doing a wide variety of tasks with adequate coordination between the arms. Due to these constraints, industrial dual arm robots cannot be directly implemented for assisting the disabled. This paper focuses on designing a compact dual arm robot which closely mimics human arms to do coordinated tasks with lesser Degrees of Freedom (DoF). Therefore, the developed robot extends its capabilities from industrial applications to daily life activities. Closed loop control is used in actuating the proposed 9 DoF dual arm robot with distinct DoF. Target position is acquired using image processing. Hand to hand coordination in various operations such as pick and place, transferring objects, serving food, etc. has successfully experimented.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 4; 52-64
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Effect of Titanium Addition on the Pro-Eutectic and Eutectic Phases of AlSi9 Cast Alloy
Autorzy:
Ait El Haj, Badiâ
Bouayad, Aboubakr
Alami, Mohammed
Powiązania:
https://bibliotekanauki.pl/articles/353725.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
AlSi9 cast alloy
grain refinement
thermal analysis
eutectic phase
Secondary Dendrite Arm Spacing
SDAS
Opis:
In this study, the effects of grain size refiner addition and various pre-heating mold temperatures on AlSi9 cast alloy microstructure and solidification have been evaluated. For different process conditions, thermal analysis was performed for all samples and cooling curves were established. Important parameters in liquidus and eutectic Si-phase regions have been calculated usingthe first derivative cooling curves. Secondary Dendrite Arm Spacing (SDAS) variation was also determined. Experimental results question the effectiveness of cooling curve parameters in providing the microstructure data as a function of refinement. The present work shows that the effect of grain refiner addition on the value of SDAS was higher when the solidification time was lower. It indicated that the solidification parameters such as nucleation temperatures of α-Al phase, undercooling temperature and total solidification time were affected by grain refinement. It has been found that the addition of grain refiner affect the eutectic phase formation time. However, it has no effect on the eutectic phase morphology.
Źródło:
Archives of Metallurgy and Materials; 2020, 65, 1; 385-391
1733-3490
Pojawia się w:
Archives of Metallurgy and Materials
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Locomotor patterns in the exploring house mouse (Mus musculus)
Autorzy:
Alexander, B.
Powiązania:
https://bibliotekanauki.pl/articles/115538.pdf
Data publikacji:
2011
Wydawca:
Fundacja na Rzecz Młodych Naukowców
Tematy:
spatial exploration
house mouse
locomotor patterns
radial arm maze
Opis:
For animals, home range exploration is a learning process during which the animal uses sensory-motor activity to incrementally map properties of a future home range into long-term memory to be used by the animal subsequently for efficient navigation within the explored range. Most research on home range orientation focuses on the navigational performance of the animal with pre-existing knowledge–after exploration. Typically, exploration behavior appears random, but there must be some systematic component to result in the animal acquiring spatial knowledge. Few studies have looked at the spatiotemporal pattern of exploration for any part that is not random. Using the house mouse as the model species, we study exploration behavior in a radial arm maze, with the nest box in the center. With these spatial constraints, it is easier to separate the random and systematic components of exploration. We found that the mice tend to avoid exploring an arm of the maze previously visited one or two times earlier, yet the choices among any other arms not previously visited are almost indistinguishable from random.
Źródło:
Challenges of Modern Technology; 2011, 2, 1; 55-59
2082-2863
2353-4419
Pojawia się w:
Challenges of Modern Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematic Analysis of 6-DOF Arms for H20 Mobile Robots and Labware Manipulation for Transportation in Life Science Labs
Autorzy:
Ali, M. M.
Liu, H.
Stoll, N.
Thurow, K.
Powiązania:
https://bibliotekanauki.pl/articles/384603.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
kinematic analysis 6-DOF robotic arm
validation of kinematic solution
labware localization
labware manipulation
Kinect sensor
Opis:
This paper presents the kinematic analysis of the H20 humanoid mobile robot. The kinematic analysis for the robot arms is essential to achieve accurate grasping and placing tasks for object transportation. The H20 robot has dual arms with 6 revolute joints with 6-DOF. For each arm, the forward kinematics is derived and the closed-form solution for the inverse kinematic problem with different cases of singularities is found. A reverse decoupling mechanism method is used to solve the inverse kinematic problem analytically by viewing the arm kinematic chain in reverse order. The kinematics solution is validated using MATLAB with robotics toolbox. A decision method is used to determine the optimal solution within multiple solutions of inverse kinematic depending on the joints’ limits and minimum joints motion. The workspace analysis of the arm is found and simulated. Finally, a verification process was performed on the real H20 arms by applying blind and vision based labware manipulation strategies to achieve the transportation tasks in real life science laboratories.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 40-52
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fractional order based computed torque control of 2-link robotic arm
Autorzy:
Anwaar, Haris
Yixin, Yin
Ijaz, Salman
Ashraf, Muhammad Ammar
Anwaar, Waqas
Powiązania:
https://bibliotekanauki.pl/articles/103321.pdf
Data publikacji:
2018
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
fractional order PID controller
computed torque controller
2-link robotic arm
Nelder-Mead optimization
regulator PID
regulator momentu obrotowego
2-linkowe ramię robota
optymalizacja Neldera-Meada
Opis:
The paper proposes the application of fractional order controller in position tracking control of 2-link nonlinear robotic arm. The nonlinear system dynamics is linearized using inverse dynamics of the model and fractional order PID controller is designed to deal with remaining tracking errors. The optimal values of controller pa-rameters are calculated using Nelder-Mead optimization technique based on desired design criteria. The objective function is designed using weighted sum approach on each performance specification based on transient domain parameters. It can be seen from simulation results that fractional order controller together with computed torque controller improved tracking performance of proposed system as compared to PID controller used in the outer loop. Moreover, the robustness of proposed scheme is checked by applying the disturbance signal at control input channels of 2-link nonlinear robotic arm links.
Źródło:
Advances in Science and Technology. Research Journal; 2018, 12, 1; 273-284
2299-8624
Pojawia się w:
Advances in Science and Technology. Research Journal
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Investigation of Click Reactionat an Oil-Water Interface Using Hydrophobic and Hydrophilic Polymers
Autorzy:
Ashaduzzaman, Md.
Kai, S.
Kunitake, M.
Powiązania:
https://bibliotekanauki.pl/articles/412120.pdf
Data publikacji:
2013
Wydawca:
Przedsiębiorstwo Wydawnictw Naukowych Darwin / Scientific Publishing House DARWIN
Tematy:
click reaction
hollow-capsules
oil-water interface
tri-arm polystyrene
copolymer
Opis:
Cu(I)-catalyzed Huisgen click reactions between lipophilic polymer (tri-arm azidofunctionalized polystyrene) and hydrophilic polymer (copolymer of styrene sulfonate sodium and propargyl methacrylate) were investigated and hollow capsules, consisting of composite polymer nanofilms were obtained in chloroform-water biphasic solution. Since the lipophilic polymer, or hydrophilic polymer and copper catalyst were present in the oil or aqueous phase, respectively, the cross-linking reaction proceeded only at the phase interface. The combination of lipophilic and hydrophilic polymers produced hollow capsules consisting of nanofilms with lipophilic core and hydrophilic shell.
Źródło:
International Letters of Chemistry, Physics and Astronomy; 2013, 6; 31-39
2299-3843
Pojawia się w:
International Letters of Chemistry, Physics and Astronomy
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The dynamics of the human arm with an observer for the capture of body motion parameters
Autorzy:
Babiarz, A.
Bieda, R.
Jaskot, K.
Klamka, J.
Powiązania:
https://bibliotekanauki.pl/articles/201899.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
human arm
observability
Kalman filter
particle filter
Opis:
The paper presents an analysis of a mathematical model of the human arm dynamics in terms of observability. The purpose of the performed experiments is the selection of an observer for the possibility of arm tracking. The arm model is based on the two-link manipulator moving horizontally and vertically. For the study a model was linearized and the model part responsible for the work of human muscles was omitted. The experimental part involved simulated measurements of the motion parameters that imitate real-IMU (Inertial Measurement Unit) measurements. Finally, the simulation results using the observer in the form of a Kalman filter and the particle filter have been presented.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 955-971
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Experimental investigation of ied interrogation arm during normal operation
Autorzy:
Barnat, W.
Gotowicki, P.
Kiczko, A.
Dybcio, P.
Szczepaniak, M.
Jasiński, W.
Powiązania:
https://bibliotekanauki.pl/articles/243002.pdf
Data publikacji:
2012
Wydawca:
Instytut Techniczny Wojsk Lotniczych
Tematy:
IED
improvised explosive device
interrogation arm
Opis:
The paper presents experimental static tests of IED interrogation arm for Shiba special vehicle. The test was performed by Military University of Technology and Military Institute of Engineer Technology. A number of strain gauges and camera markers were placed on the arm to allow recording strains and movements of specific construction points. The arm's motion was recorded using high speed camera. The equipment used were Vishay EA 06 120LZ 120 strain gauges with ESAM Traveller bridge. The sampling rate was 1000 Hz. The test was to pick up maximum design weight, move it to maximum overhang and then drop it on the ground. During the test, signal from gauges and video capture was recorded. The data was then processed using Thema 3D software to obtain markers displacements and angular changes of both arm parts. Afterwards, the test was repeated for different weight. The analysis showed, that maximum stresses in examined construction parts did not exceed yield stress of material. As well as that, in-depth motion analysis of the arm was conducted. Further works are twofold. Firstly, there will be tests concerning arm under dynamic load occurring during normal maintenance During this test only strains in specific construction parts will be recorded. Secondly, numerical model of an arm will be developed and validated using data obtained during both tests. This will help visualize stress distribution in each arm's part.
Źródło:
Journal of KONES; 2012, 19, 4; 571-575
1231-4005
2354-0133
Pojawia się w:
Journal of KONES
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Komunikacja ze sprzętowym akceleratorem haszowania n-gramów dla procesora ARM z wykorzystaniem portu ACP
Communication with an n-gram hashing hardware accelerator for the ARM using ACP
Autorzy:
Barszczowski, M.
Koryciak, S.
Dąbrowska-Boruch, A.
Wiatr, K.
Powiązania:
https://bibliotekanauki.pl/articles/152364.pdf
Data publikacji:
2014
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
ACP
akceleracja sprzętowa
ARM
Zynq
acceleration
Opis:
Artykuł opisuje uruchomienie portu ACP w układzie EPP firmy Xilinx przy użyciu CDMA zarządzającego transmisją pomiędzy akceleratorem, a rdzeniami procesora. Głównym celem badań było utworzenie modułu dokonującego tak zwanego haszowania zbiorów danych. Do wykonania tej operacji wykorzystany został układ Zynq 7000 posiadający zasoby logiki programowalnej oraz dwa rdzenie ARM A9. Powstały dwie koncepcje realizacji akceleratora. Pierwsza wersja zakładała bezpośredni przepływ danych ze źródła do akceleratora, a następnie do rdzeni ARM. Drugie rozwiązanie zakłada wykorzystanie portu ACP.
This paper introduces a new approach to hardware acceleration using the ACP(Acceleration Coherency Port) in Xilinx Zynq-7000 EPP XC7Z020. The first prototype allocated BRAM memory and transferred data through the ACP. The second one used a hardware hashing module to process data outside the CPU. The module received and returned data through the ACP port. The main task of the system is to replace a set of data with its shorter representative of constant length without interference of the processing unit. The main benefit of hashing data lies within the constant length of function outcome, which leads to data compression. Compression is highly desirable while comparing large subsets of data, especially in data mining. The execution of a hashing function requires high performance of the CPU due to the computational complexity of the algorithm. Two concepts where established. The first one assumed transferring data directly do the hardware accelerator and later to ARM cores. This solution is attractive due to its simplicity and relatively fast. Unfortunately, the data cannot be processed before hashing with the same CPU without significant speed reduction. The second approach used the ACP port which can transfer data very fast between L2/L3 cache memory without flushing of validating cache. The data can be processed by the software driven CPU, sent to the accelerator and then sent back to CPU for further processing. To accomplish the established task, the Zynq 7000 EPP with double ARM A9 core and programmable logic in one chip was used.
Źródło:
Pomiary Automatyka Kontrola; 2014, R. 60, nr 7, 7; 486-488
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analiza ryzyka w transakcjach kontrolowanych w sektorze motoryzacyjnym
Risk analysis in controlled transactions in the automotive sector
Autorzy:
Bartosik, Rafał
Powiązania:
https://bibliotekanauki.pl/articles/28762912.pdf
Data publikacji:
2023-08-28
Wydawca:
Instytut Studiów Podatkowych Modzelewski i wspólnicy
Tematy:
ceny transferowe
zasada ceny rynkowej
OECD
transfer pricing
arm’s length principle
Opis:
W artykule przedstawiono problematykę stosowania procedury analizy ryzyka w transakcjach kontrolowanych zaproponowanej w Wytycznych OECD w sprawie cen transferowych dla przedsiębiorstw wielonarodowych oraz administracji podatkowych. Celem powyższej analizy jest weryfikacja, która strona transakcji kontroluje istotne ryzyka biznesowe i komu w związku z tym powinny zostać przypisane zysk lub strata. W artykule omówiono orzeczenia sądowe z Polski, Czech i Szwecji dotyczące transakcji realizowanych w sektorze motoryzacyjnym. Porównanie wskazuje, że Wytyczne OECD w wersji z 2010 i 2017 r. umożliwiają administracjom podatkowym skuteczne podważanie modeli cen transferowych, w których umowna alokacja ryzyk między podmiotami powiązanymi różni się od rzeczywistego przebiegu transakcji. Ponadto takie porównanie prowadzi do wniosku, że modele, w których lokalny podmiot produkcyjny lub dystrybutor o ograniczonych funkcjach i ryzykach ponosi stratę, mogą być kwestionowane, jeżeli podmiot ten obsługuje klientów wskazanych przez grupę i jednocześnie nie ma rzeczywistego wpływu na budowę bazy klientów, zakupy surowców czy rozwój produktów. Taki podmiot nie może zostać uznany za przedsiębiorcę kontrolującego ryzyko rynkowe. Organy podatkowe i sądy stosują Wytyczne OECD wskazujące, że prosty podmiot powinien być traktowany jako usługodawca prowadzący produkcję lub sprzedaż na zlecenie pryncypała (ang. principal) i uzyskiwać niewielki, ale stały zysk.
The article presents an analysis of the application of the risk analysis procedure proposed by the OECD Transfer Pricing Guidelines in controlled transactions. The purpose of risk analysis is to determine which party to the transaction controls economically significant risks and to whom the profit or loss should be allocated. The article presents an analysis of court decisions from Poland, the Czech Republic, and Sweden regarding transactions carried out in the automotive sector. The comparison shows that the OECD Guidelines enable tax administrations to effectively challenge transfer pricing models in which the contractual allocation of risks between related parties deviates from the actual course of the transaction. The comparison shows that models in which a local production entity or distributor incurs a loss may be questioned if this entity serves customers indicated by the group and simultaneously has no real influence on building a customer base, purchasing raw materials, or product development. Such an entity cannot be considered an entrepreneur controlling market risk. Tax authorities and courts apply the OECD Guidelines, indicating that such an entity should be treated as a service provider carrying out production or sales on behalf of the principal and earn a small but constant profit.
Źródło:
Doradztwo Podatkowe Biuletyn Instytutu Studiów Podatkowych; 2023, 8(324); 38-45
1427-2008
2449-7584
Pojawia się w:
Doradztwo Podatkowe Biuletyn Instytutu Studiów Podatkowych
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Structural design and strength analysis of parts of the hydraulic arm intended to be mounted on light truck chassis
Autorzy:
Blatnický, M.
Dižo, J.
Powiązania:
https://bibliotekanauki.pl/articles/328798.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
Tematy:
hydraulic arm
strength calculation
dimensioning
FEM analysis
stability
ramię hydrauliczne
obliczenia wytrzymałościowe
wymiarowanie
analiza MES
stateczność
Opis:
The paper deals with the structural design and strength calculations using analytical and numerical method for a hydraulic arm to be mounted on the light truck chassis. The whole arm is made up of three parts of the steel structure, namely a cranking arm, a lifting arm, and a slewing column. We approached to strength calculations of these three parts of the hydraulic arm individually, using two methods to verify the safety of the designed structure. Loading of the arm will be induced by a burden of the total maximum weight = 300 kg.
Źródło:
Diagnostyka; 2016, 17, 4; 39-48
1641-6414
2449-5220
Pojawia się w:
Diagnostyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Evaluation of different probing systems used in articulated arm coordinate measuring machines
Autorzy:
Brau, A.
Valenzuela, M.
Santolaria, J.
Aguilar, J. J.
Powiązania:
https://bibliotekanauki.pl/articles/221100.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
articulated arm coordinate measuring machine
probing systems
self-centering active probe
Opis:
This paper presents a comparison of different techniques to capture nominal data for its use in later verification and kinematic parameter identification procedures for articulated arm coordinate measuring machines (AACMM). By using four different probing systems (passive spherical probe, active spherical probe, self-centering passive probe and self-centering active probe) the accuracy and repeatability of captured points has been evaluated by comparing these points to nominal points materialized by a ball-bar gauge distributed in several positions of the measurement volume. Then, by comparing these systems it is possible to characterize the influence of the force over the final results for each of the gauge and probing system configurations. The results with each of the systems studied show the advantages and original accuracy obtained by active probes, and thus their suitability in verification (active probes) and kinematic parameter identification (self-centering active probes) procedures.
Źródło:
Metrology and Measurement Systems; 2014, 21, 2; 233-246
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Experimental validation of numerical static calculations for a monolithic rectangular tank with walls of trapezoidal cross-section
Autorzy:
Buczkowski, W.
Szymczak-Graczyk, A.
Walczak, Z.
Powiązania:
https://bibliotekanauki.pl/articles/199784.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
rectangular tank
walls of trapezoidal cross-section
finite difference method
coordinate measurement arm
zbiornik prostokątny
przekrój trapezowy
metoda różnic skończonych
Opis:
The article presents the results of validation of static calculations carried out for a monolithic rectangular tank with walls of trapezoidal cross-section. Static calculations were made with the use of software based on the finite element method (FEM) and the finite difference method (FDM) in terms of energy (including spatial static work of the tank). Validation of the results was conducted on a concrete tank model using an innovative measurement tool, i.e. a coordinate measuring arm with a touch probe.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 6; 799-804
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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