Toward adaptive and intelligent electroadhesives for robotic material handling

An autonomous, adaptive, and intelligent electroadhesive material handling system has been presented in this paper. The system has been proposed and defined based on the identification of a system need through a comprehensive literature review and laboratory-based experimental tests. The proof of the proposed concept has been implemented by a low cost and novel electroadhesive pad design and manufacture process, and a mechatronic and reconfigurable platform, where force, humidity, and capacitive sensors have been employed. This provides a solution to an autonomous elelctroadhesive material handling system that is environmentally and substrate material adaptive. The results have shown that the minimum voltage can be applied to robustly grasp different materials under different environment conditions. The proposed system is particularly useful for pick-and-place applications where various types of materials and changing environments exist such as robotic material handling applications in the textile and waste recycling industry

A two-wheeled machine with a handling mechanism in two different directions

Despite the fact that there are various configurations of self-balanced two-wheeled machines (TWMs), the workspace of such systems is restricted by their current configurations and designs. In this work, the dynamic analysis of a novel configuration of TWMs is introduced that enables handling a payload attached to the intermediate body (IB) in two mutually perpendicular directions. This configuration will enlarge the workspace of the vehicle and increase its flexibility in material handling, objects assembly and similar industrial and service robot applications. The proposed configuration gains advantages of the design of serial arms while occupying a minimum space which is unique feature of TWMs. The proposed machine has five degrees of freedoms (DOFs) that can be useful for industrial applications such as pick and place, material handling and packaging. This machine will provide an advantage over other TWMs in terms of the wider workspace and the increased flexibility in service and industrial applications. Furthermore, the proposed design will add additional challenge of controlling the system to compensate for the change of the location of the COM due to performing tasks of handling in multiple directions

Retrieving relevant parts from large environmental-related documents

When attempting to consider the environment, a large quantity of information is available. Historically, librarians have provided a facility for both sorting this information into storage, and guiding users to the material relevant to their queries. With the steady increase in volume, detail and character of this information, existing methods of handling cannot cope. This thesis addresses this problem by developing a novel information system framework and applying it to the environmental domain. A brief study was made of information retrieval systems. An information system. framework was developed through the project. It covers the areas of query augmentation and search execution. In particular, the framework considers the issues of: using a domain model to help in specifying queries; and assessing and retrieving sub-parts of large documents. In order to test the novel concepts, a case study, which covers many steps in the information retrieval process, was designed and carried out with supportive results

SELECTION OF FORKLIFT UNIT FOR TRANSPORT HANDLING USING INTEGRATED MCDM UNDER NEUTROSOPHIC ENVIRONMENT

In material handling, warehousing, manufacturing and construction applications, forklifts are vital equipment, which are used to engage, lift and move palletized items. So, selection of the most appropriate forklift is an essential task for transportation of materials in warehouses for optimal use of the equipment. The present treatise introduces a well-known multi-criteria decision making (MCDM) technique, namely fully consistent method (FUCOM) under neutrosophic environment (NE) to model and solve the problem of selecting the best forklift for warehouse. In this regard, the linguistic assessments of the criteria have been represented in terms of single valued triangular neutrosophic numbers (SVTNNs). A novel triangular neutrosphic score function and ranking function are also proposed. To calculate criteria weights, a novel SVTN linear programming problem (SVTNLPP) has been developed. The alternatives have been ranked through multi-objective optimization on the basis of ratio analysis (MOORA). The robustness, consistency and reliability of the proposed integrated method have been checked through comparative and sensitivity analyses. This study makes a significant contribution by developing an original integrated model which provides warehousing system managers a quantifiable analysis, based on which they may make future decisions in order to improve the overall efficiency of the organization in transport handling

Inventory Allocation in Robotic Mobile Fulfillment Systems

A Robotic Mobile Fulfillment System is a recently developed automated, parts-to- picker material handling system. Robots can move storage shelves, also known as inventory pods, between the storage area and the workstations and can continually reposition them during operations. This paper shows how to optimize three key decision variables: (1) the number of pods per product (2) the ratio of the number of pick stations to replenishment stations, and (3) the replenishment level per pod. Our results show that throughput performance improves substantially when inventory is spread across multiple pods, when an optimum ratio between the number of pick stations to replenishment stations is achieved and when a pod is replenished before it is completely empty. This paper contributes methodologically by introducing a new type of Semi-Open Queueing Networks (SOQN): cross-class matching multi- class SOQN, by deriving necessary stability conditions, and by introducing a novel interpretation of the classes

Modeling a teacher in a tutorial-like system using Learning Automata

The goal of this paper is to present a novel approach to model the behavior of a Teacher in a Tutorial- like system. In this model, the Teacher is capable of presenting teaching material from a Socratic-type Domain model via multiple-choice questions. Since this knowledge is stored in the Domain model in chapters with different levels of complexity, the Teacher is able to present learning material of varying degrees of difficulty to the Students. In our model, we propose that the Teacher will be able to assist the Students to learn the more difficult material. In order to achieve this, he provides them with hints that are relative to the difficulty of the learning material presented. This enables the Students to cope with the process of handling more complex knowledge, and to be able to learn it appropriately. To our knowledge, the findings of this study are novel to the field of intelligent adaptation using Learning Automata (LA). The novelty lies in the fact that the learning system has a strategy by which it can deal with increasingly more complex/difficult Environments (or domains from which the learning as to be achieved). In our approach, the convergence of the Student models (represented by LA) is driven not only by the response of the Environment (Teacher), but also by the hints that are provided by the latter. Our proposed Teacher model has been tested against different benchmark Environments, and the results of these simulations have demonstrated the salient aspects of our model. The main conclusion is that Normal and Below-Normal learners benefited significantly from the hints provided by the Teacher, while the benefits to (brilliant) Fast learners were marginal. This seems to be in-line with our subjective understanding of the behavior of real-life Students

A novel architecture for a reconfigurable micro machining cell

There is a growing demand for machine tools that are specifically designed for the manufacture of micro-scale components. Such machine tools are integrated into flexible micro-manufacturing systems. Design objectives for such tools include energy efficiency, small footprint and importantly flexibility, with the ability to easily reconfigure the manufacturing system in response to process requirements and product demands. Such systems find application in medical, photonics, automotive and electronic industries. In this paper, a new architecture for a reconfigurable micro manufacturing system is presented. The proposed architecture comprises a micro manufacturing cell with the key design feature being a hexagonal-base on which three tool heads can be attached to three of its sides. Each such machine-tool head, or processing module, is able to perform a different manufacturing process. These tool heads are interchangeable, enabling the cell to be configured to process a wide range of components with different materials, dimensions, tolerances and specification. Additional components of the cell include manipulation robots and an automated buffer unit. Such cells can be integrated into a manufacturing system via a modular conveyor belt to transfer parts from one cell to another and into assembly. A key consideration of the architecture is a control system that is also modular and reconfigurable; such that when new processing modules are introduced the control system is aware of the change and adjusts accordingly. Further to this coordination, issues between modules and machining cells are also considered. Other design considerations include work-piece holding and manipulation. This paper provides an overview of the architecture, the key design and implementation challenges as well as a high level operational performance assessment by means of a discrete event simulation model of the micro factory cell

Simulation in Automated Guided Vehicle System Design

The intense global competition that manufacturing companies face today results in an increase of product variety and shorter product life cycles. One response to this threat is agile manufacturing concepts. This requires materials handling systems that are agile and capable of reconfiguration. As competition in the world marketplace becomes increasingly customer-driven, manufacturing environments must be highly reconfigurable and responsive to accommodate product and process changes, with rigid, static automation systems giving way to more flexible types. Automated Guided Vehicle Systems (AGVS) have such capabilities and AGV functionality has been developed to improve flexibility and diminish the traditional disadvantages of AGV-systems. The AGV-system design is however a multi-faceted problem with a large number of design factors of which many are correlating and interdependent. Available methods and techniques exhibit problems in supporting the whole design process. A research review of the work reported on AGVS development in combination with simulation revealed that of 39 papers only four were industrially related. Most work was on the conceptual design phase, but little has been reported on the detailed simulation of AGVS. Semi-autonomous vehicles (SA V) are an innovative concept to overcome the problems of inflexible -systems and to improve materials handling functionality. The SA V concept introduces a higher degree of autonomy in industrial AGV -systems with the man-in-the-Ioop. The introduction of autonomy in industrial applications is approached by explicitly controlling the level of autonomy at different occasions. The SA V s are easy to program and easily reconfigurable regarding navigation systems and material handling equipment. Novel approaches to materials handling like the SA V -concept place new requirements on the AGVS development and the use of simulation as a part of the process. Traditional AGV -system simulation approaches do not fully meet these requirements and the improved functionality of AGVs is not used to its full power. There is a considerflble potential in shortening the AGV -system design-cycle, and thus the manufacturing system design-cycle, and still achieve more accurate solutions well suited for MRS tasks. Recent developments in simulation tools for manufacturing have improved production engineering development and the tools are being adopted more widely in industry. For the development of AGV -systems this has not fully been exploited. Previous research has focused on the conceptual part of the design process and many simulation approaches to AGV -system design lack in validity. In this thesis a methodology is proposed for the structured development of AGV -systems using simulation. Elements of this methodology address the development of novel functionality. The objective of the first research case of this research study was to identify factors for industrial AGV -system simulation. The second research case focuses on simulation in the design of Semi-autonomous vehicles, and the third case evaluates a simulation based design framework. This research study has advanced development by offering a framework for developing testing and evaluating AGV -systems, based on concurrent development using a virtual environment. The ability to exploit unique or novel features of AGVs based on a virtual environment improves the potential of AGV-systems considerably.University of Skovde. European Commission for funding the INCO/COPERNICUS Projec

Gas diffusion liquid storage bag and method of use for storing blood

The shelf life of stored whole blood may be doubled by adding a buffer which maintains a desired pH level. However, this buffer causes the generation of CO2 which, if not removed at a controlled rate, causes the pH value of the blood to decrease, which shortens the useful life of the blood. A blood storage bag is described which permits the CO2 to be diffused out at a controlled rate into the atmosphere, thereby maintaining the desired pH value and providing a bag strong enough to permit handling

Granular flow characterization during sampling operation for Enceladus surface acquisition

4siA potential future mission landing on the surface of Saturn’s moon Enceladus would represent a unique opportunity to probe the content of an extra-terrestrial ocean potentially hosting life beyond Earth. The content of the subsurface ocean is continuously ejected by plumes, and some of that material settles on the surface, as observed by the Cassini mission. The goal of a potential landing mission would be of collecting and analyzing samples from the upper 1 cm of the surface, made of most recently deposited material from plume fallback. However, the low surface gravity of Enceladus (1% of Earth’s) represents a unique challenge for sample handling. This study focuses on the analysis of the novel Dual-Rasp sampling system enabling rapid sampling and collection of surface material into receptacles via momentum transfer. A numerical model based on the Discrete Element Method (DEM) was developed to investigate the tool-soil interaction and the resulting granular material flow while performing surface sample acquisition. A systematic process for validating the DEM simulation model is presented, including an experimental test campaign expected to be conducted in a vacuum chamber in both 1g and low-g environment.partially_openopenDario Riccobono, Scott Moreland, Paul Backes, Giancarlo GentaRiccobono, Dario; Moreland, Scott; Backes, Paul; Genta, Giancarl