Box-Structured Requirement Determination Methods

Requirements determination is an iterative process of eliciting, gathering, modeling, specifying, and analyzing system requirements information. It is the most critical, yet least understood, phase of systems development. This paper presents a rigorous approach for performing requirements determination with box-structured methods. By capturing requirements information in black box transactions and transaction hierarchies, intellectual control is maintained over large amounts of requirements information. The results of the box-structured requirements determination methods provide the basis for formal system design techniques. A concise example of box-structured requirements determination is included in an appendix

Design for Wire + Arc Additive Manufacture: design rules and build orientation selection

Wire + Arc Additive Manufacture (WAAM) is an additive manufacturing technology that can produce near net-shape parts layer by layer in an automated manner using welding technology controlled by a robot or CNC machine. WAAM has been shown to produce parts with good structural integrity in a range of materials including titanium, steel and aluminium and has the potential to produce high value structural parts at lower cost with much less waste material and shorter lead times that conventional manufacturing processes. This paper provides an initial set of design rules for WAAM and presents a methodology for build orientation selection for WAAM parts. The paper begins with a comparison between the design requirements and capabilities of WAAM and other additive manufacturing technologies, design guidelines for WAAM are then presented based on experimental work. A methodology to select the most appropriate build orientation for WAAM parts is then presented using a multi attribute decision matrix approach to compare different design alternatives. Two aerospace case study parts are provided to illustrate the methodology

Methods and Tools for Objective Assessment of Psychomotor Skills in Laparoscopic Surgery

Training and assessment paradigms for laparoscopic surgical skills are evolving from traditional mentor–trainee tutorship towards structured, more objective and safer programs. Accreditation of surgeons requires reaching a consensus on metrics and tasks used to assess surgeons’ psychomotor skills. Ongoing development of tracking systems and software solutions has allowed for the expansion of novel training and assessment means in laparoscopy. The current challenge is to adapt and include these systems within training programs, and to exploit their possibilities for evaluation purposes. This paper describes the state of the art in research on measuring and assessing psychomotor laparoscopic skills. It gives an overview on tracking systems as well as on metrics and advanced statistical and machine learning techniques employed for evaluation purposes. The later ones have a potential to be used as an aid in deciding on the surgical competence level, which is an important aspect when accreditation of the surgeons in particular, and patient safety in general, are considered. The prospective of these methods and tools make them complementary means for surgical assessment of motor skills, especially in the early stages of training. Successful examples such as the Fundamentals of Laparoscopic Surgery should help drive a paradigm change to structured curricula based on objective parameters. These may improve the accreditation of new surgeons, as well as optimize their already overloaded training schedules

Quality measurement of semantic standards

Quality of semantic standards is unadressed in current research while there is an explicit need from standard developers. The business importance is evident since quality of standards will have impact on its diffusion and achieved interoperability in practice. An instrument to measure the quality of semantic standards is designed to contribute to the knowledge domain, standards developers and might ultimo lead to improved interoperability. This instrument is iteratively designed with multiple case studies. This paper describes the rationale and research design, just as current status and future plans

Navigace mobilních robotů v neznámém prostředí s využitím měření vzdáleností

The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.Schopnost lokalizace a navigace je podmínkou autonomního provozu mobilních robotů. Předmětem této disertační práce jsou navigační metody se zaměřením na metodu pro simultánní lokalizaci a mapování (SLAM) mobilních robotů v šesti stupních volnosti (6DOF). Nedílnou součástí tohoto výzkumu byl vývoj platformy pro sběr 3D vzdálenostních dat s využitím kontinuálně naklápěného laserového řádkového scanneru. Tato platforma byla vyvinuta jako samostatný modul, aby mohla být umístěna na různé šasi mobilních robotů. Úkol lokalizace a mapování je ekvivalentní registraci více 3D obrazů do společného souřadného systému. Pro tyto účely byla vyvinuta metoda založená na algoritmu Iterative Closest Point Algorithm (ICP). Původně implementovaná verze navigační metody využívá ICP s akcelerací pomocí kd-stromů přičemž jsou zhodnoceny její kvalitativní a výkonnostní aspekty. Na základě této analýzy byly vyvinuty rozšíření původní metody založené na ICP. Jednou z hlavních modifikací je faktorizace registračního procesu, kdy tato faktorizace je založena na redukci dat: vytvoření 2D „leveled“ map (ve smyslu jednoúrovňových map) ze 3D vzdálenostních obrazů. Pro tuto redukci je technologicky i algoritmicky zajištěna invariantnost těchto map vůči třem stupňům volnosti. Tyto redukované mapy jsou registrovány pomocí ICP ve zbylých třech stupních volnosti, přičemž získaná transformace je aplikována na 3D data za účelem před-registrace 3D obrazů. Následně je provedena robustní 6DOF registrace. Rozšířená metoda je v disertační práci v popsána spolu se všemi podstatnými modifikacemi. Vyvinutá metoda byla otestována a zhodnocena s využitím skutečných 3D vzdálenostních dat naměřených v různých vnitřních prostředích. Jsou zhodnoceny přínosy faktorizace a jiných modifikací ve srovnání s původní jednofázovou 6DOF registrací, také jsou zmíněny nevýhody implementované metody a navrženy způsoby jejich řešení. Nakonec následuje návrh budoucího výzkumu a diskuse o možnostech dalšího rozvoje.

Occupational mobility in engineering profession (craftman and artisan) in Oyo State, Nigeria.

This paper evaluate occupational mobility in engineering professional in Oyo State of Nigeria with the goal assessing causes and readiness of the professionals to return to the profession when the hindering factors are removed as well as sufficiency of the survey instrument in addressing the research problems. The study was conducted using a well structured questionnaire administered in 20 local government of Oyo State, Nigeria representing the sample space of 0.424. The Cronbach’s alpha of the reliability test of 0.453 was returned for the scale mean statistics of 11516.83 and variance of 0.0000007 showing that the survey instrument was sufficient and could be relied upon. The result of the socio economic analysis showed that 80% of the respondents were married while (15%) were single and the rest (5%) were divorced. The age distribution of the respondents ranged between greater than 50 years groups (12%) and 30 -39 years group (39%).The result of the analysis of job characteristics of the respondents showed that the longer the year of graduation, the lesser the number of graduates still in the business. The cross table analysis of the socio-economic indices with the job status of the respondents showed that marital status and level of education does not have significant effects on the job status of the respondents (whether still practicing or not) because 1.454 and 5.223 returned for both marital status and level of education are not significant (P<0.05). Also, the contingency table analysis of the effects of the skill acquisition methods showed that more of the respondents who acquired their skill via Technical School (70%) are willing to go back to the professions. However, for those who acquired their skill through Learning/artisanship, less than average (32%) of the respondents are ready to return to the profession. Lastly, the establishment of the regression model for the relationship between the proportion of the people wishing to go back to the profession and year of practicing the profession provide a necessary impetus for addressing the Job mobility problem faced by the profession

The ALE-method with triangular elements: direct convection of integration point values

The arbitrary Lagrangian-Eulerian (ALE) finite element method is applied to the simulation of forming processes where material is highly deformed. Here, the split formulation is used: a Lagrangian step is done with an implicit finite element formulation, followed by an explicit (purely convective) Eulerian step. The purpose of this study is to investigate the Eulerian step for quadratic triangular elements. To solve the convection equation for integration point values, a new method inspired by Van Leer is constructed. The new method is based on direct convection of integration point values without intervention of nodal point values.\ud The Molenkamp test and a so-called block test were executed to check the performance and stability of the convection scheme. From these tests it is concluded that the new convection scheme shows accurate results. The scheme is extended to an ALE-algorithm. An extrusion process was simulated to test the applicability of the scheme to engineering problems. It is concluded that direct convection of integration point values with the presented algorithm leads to accurate results and that it can be applied to ALE-simulation