Safety Program for the assembly and disassembly processes of Trópika, habitation module, in the Solar Decathlon 2014 competition

Proyecto de Graduación (Bachillerato en Ingeniería en Seguridad Laboral e Higiene Ambiental) Instituto Tecnológico de Costa Rica, Escuela de Ingeniería en Seguridad Laboral e Higiene Ambiental, 2014.This project was made for the participation of Team Tec (Tech Team Costa Rica) in intercollegiate competition, Solar Decathlon Europe (SDE), France 2014. In this competition 20 universities from around the world must design, build and test a housing module that works with solar energy and must be sustainable. The organization of the SDE requires compliance with European safety standards, which have a higher level than the ones in Costa Rica. To meet the level of security that should be, was defined as a general objective to propose a Safety Program for the assembly and disassembly process of the Trópika, habitation module proposed by Tec Team for the competition. In order not only to meet the requirements of the organization, but also to strengthen the safety of team members. Among the main results are the following: During assembly the members of the team will be exposed to activities that involve risks with extreme level. Any team member has experience about construction works, which increase the risk of accident or incident. The knowledge of the team members in construction safety matters is deficient. SDE organization requires higher level of safety during all the stages of the project but especially during the assembly and disassembly process. In response to the above a Safety Program for the assembly and disassembly of Trópika was developed, incorporating safety aspects that should be followed during these processes, safe work procedures in order to guide the team members in the work was prepared to be conducted. It also contains a training plan and an emergency plan. With this tool Tec Team is benefited mainly to have a guide document to perform the work of more securely way which helps to protect and care for the integrity of the team members.Instituto Tecnológico de Costa Ric

Results on geometric networks and data structures

This thesis discusses four problems in computational geometry. In traditional colored range-searching problems, one wants to store a set of n objects with m distinct colors for the following queries: report all colors such that there is at least one object of that color intersecting the query range. Such an object, however, could be an `outlier' in its color class. We consider a variant of this problem where one has to report only those colors such that at least a fraction t of the objects of that color intersects the query range, for some parameter t. Our main results are on an approximate version of this problem, where we are also allowed to report those colors for which a fraction (1-epsilon)t intersects the query range, for some fixed epsilon > 0. We present efficient data structures for such queries with orthogonal query ranges in sets of colored points, and for point stabbing queries in sets of colored rectangles. A box-tree is a bounding-volume hierarchy that uses axis-aligned boxes as bounding volumes. R-trees are box-trees with nodes of high degree. The query complexity of a box-tree with respect to a given type of query is the maximum number of nodes visited when answering such a query. We describe several new algorithms for constructing box-trees with small worst-case query complexity with respect to queries with axis-parallel boxes and with points. We also prove lower bounds on the worst-case query complexity for box-trees, which show that our results are optimal or close to optimal. The geometric minimum-diameter spanning tree (MDST) of a set of n points is a tree that spans the set and minimizes the Euclidian length of the longest path in the tree. So far, the MDST can only be found in slightly subcubic time. We give two fast approximation schemes for the MDST, i.e. factor-(1+epsilon) approximation algorithms. One algorithm uses a grid and takes time O*(1/epsilon^(5 2/3) + n), where the O*-notation hides terms of type O(log^O(1) 1/epsilon). The other uses the well-separated pair decomposition and takes O(1/epsilon^3 n + (1/epsilon) n log n) time. A combination of the two approaches runs in O*(1/epsilon^5 + n) time. The dilation of a geometric graph is the maximum, over all pairs of points in the graph, of the ratio of the Euclidean length of the shortest path between them in the graph and their Euclidean distance. We consider a generalized version of this notion, where the nodes of the graph are not points but axis-parallel rectangles in the plane. The arcs in the graph are horizontal or vertical segments connecting a pair of rectangles, and the distance measure we use is the L1-distance. We study the following problem: given n non-intersecting rectangles and a graph describing which pairs of rectangles are to be connected, we wish to place the connecting segments such that the dilation is minimized. We obtain the following results: for arbitrary graphs, the problem is NP-hard; for trees, we can solve the problem by linear programming on O(n^2) variables and constraints; for paths, we can solve the problem in time O(n^3 log n); for rectangles sorted vertically along a path, the problem can be solved in O(n^2) time

Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2

In many modern automation solutions, manual off-line programming is being replaced by online algorithms that dynamically perform tasks based on the state of the environment. Complexities of such systems are pushed even further with collaboration among robots and humans, where intelligent machines and learning algorithms are replacing more traditional automation solutions. This chapter describes the development of an industrial demonstrator using a control infrastructure called Sequence Planner (SP), and presents some lessons learned during development. SP is based on ROS2 and it is designed to aid in handling the increased complexity of these new systems using formal models and online planning algorithms to coordinate the actions of robots and other devices. During development, SP can auto generate ROS nodes and message types as well as support continuous validation and testing. SP is also designed with the aim to handle traditional challenges of automation software development such as safety, reliability and efficiency. In this chapter, it is argued that ROS2 together with SP could be an enabler of intelligent automation for the next industrial revolution