On adaptive robot systems for manufacturing applications

System adaptability is very important to current manufacturing practices due to frequent changes in the customer needs. Two basic concepts that can be employed to achieve system adaptability are flexible systems and modular systems. Flexible systems are fixed integral systems with some adjustable components. Adjustable components have limited ranges of parameter changes that can be made, thus restricting the adaptability of systems. Modular systems are composed of a set of pre-existing modules. Usually, the parameters of modules in modular systems are fixed, and thus increased system adaptability is realized only by increasing the number of modules. Increasing the number of modules could result in higher costs, poor positioning accuracy, and low system stiffness in the context of manufacturing applications. In this thesis, a new idea was formulated: a combination of the flexible system and modular system concepts. Systems developed based on this new idea are called adaptive systems. This thesis is focused on adaptive robot systems. An adaptive robot system is such that adaptive components or adjustable parameters are introduced upon the modular architecture of a robot system. This implies that there are two levels to achieve system adaptability: the level where a set of modules is appropriately assembled and the level where adjustable components or parameters are specified. Four main contributions were developed in this thesis study. First, a General Architecture of Modular Robots (GAMR) was developed. The starting point was to define the architecture of adaptive robot systems to have as many configuration variations as possible. A novel application of the Axiomatic Design Theory (ADT) was applied to GAMR development. It was found that GAMR was the one with the most coverage, and with a judicious definition of adjustable parameters. Second, a system called Automatic Kinematic and Dynamic Analysis (AKDA) was developed. This system was a foundation for synthesis of adaptive robot configurations. In comparison with the existing approach, the proposed approach has achieved systemization, generality, flexibility, and completeness. Third, this thesis research has developed a finding that in modular system design, simultaneous consideration of both kinematic and dynamic behaviors is a necessary step, owing to a strong coupling between design variables and system behaviors. Based on this finding, a method for simultaneous consideration of type synthesis, number synthesis, and dimension synthesis was developed. Fourth, an adaptive modular Parallel Kinematic Machine (PKM) was developed to demonstrate the benefits of adaptive robot systems in parallel kinematic machines, which have found many applications in machine tool industries. In this architecture, actuators and limbs were modularized, while the platforms were adjustable in such a way that both the joint positions and orientations on the platforms can be changed

Examples of finite element mesh generation using SDRC IDEAS

IDEAS (Integrated Design Engineering Analysis Software) offers a comprehensive package for mechanical design engineers. Due to its multifaceted capabilities, however, it can be manipulated to serve the needs of electrical engineers, also. IDEAS can be used to perform the following tasks: system modeling, system assembly, kinematics, finite element pre/post processing, finite element solution, system dynamics, drafting, test data analysis, and project relational database

Functional restructuring of CAD models for FEA purposes

International audienceDigital Mock-ups (DMUs) are widespread and stand as reference model for product description. However, DMUs produced by industrial CAD systems essentially contain geometric models and their exploitation often requires user's input data to derive finite element models (FEMs). Here, analysis and reasoning approaches are developed to automatically enrich DMUs with functional and kinematic properties. Indeed, geometric interfaces between components form a key starting point to analyse their behaviours under reference states. This is a first stage in a reasoning process to progressively identify mechanical, kinematic as well as functional properties of the components. Inferred semantics adds up to the pure geometric representation provided by a DMU and produce also geometrically structured components and assemblies. Functional information connected to a structured geometric model of a component significantly improves the preparation of FEMs and increases its robustness because idealizations can take place using components' functions and components' structure helps defining sub-domains of FEMs

Fashionably Late? Building up the Milky Way's Inner Halo

Using a sample of 248 metal-poor stars (RR Lyraes, red giants and RHB stars) which is remarkable for the accuracy of its 6-D kinematical data, we find a new component for the local halo which has an axial ratio c/a ~ 0.2, a similar flattening to the thick disk. It has a small prograde rotation but is supported by velocity anisotropy, and contains more intermediate-metallicity stars (with -1.5 < [Fe/H] < -1.0) than the rest of our sample. We suggest that this component was formed quite late, during or after the formation of the disk. It formed either from the gas that was accreted by the last major mergers experienced by the Galaxy, or by dynamical friction of massive infalling satellite(s) with the halo and possibly the stellar disk or thick disk. The remainder of the stars in our sample exhibit a clumpy distribution in energy and angular momentum, suggesting that the early, chaotic conditions under which the inner halo formed were not violent enough to erase the record of their origins. The clumpy structure suggests that a relatively small number of progenitors were responsible for building up the inner halo, in line with theoretical expectations. We find a difference in mean binding energy between the RR Lyrae variables and the red giants in our sample, suggesting that more of the RR Lyraes in the sample belong to the outer halo, and that the outer halo may be somewhat younger, as first suggested by Searle and Zinn (1978). We also find that the RR Lyrae mean rotation is more negative than the red giants, which is consistent with the recent result of Carollo et al.(2007) that the outer halo has a retrograde rotation and with the difference in kinematics seen between RR Lyraes and BHB stars by Kinman et al.(2007).Comment: 16 pages, 10 figures, this version accepted by Ap

Book of Abstracts 15th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering and 3rd Conference on Imaging and Visualization

In this edition, the two events will run together as a single conference, highlighting the strong connection with the Taylor & Francis journals: Computer Methods in Biomechanics and Biomedical Engineering (John Middleton and Christopher Jacobs, Eds.) and Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization (JoãoManuel R.S. Tavares, Ed.). The conference has become a major international meeting on computational biomechanics, imaging andvisualization. In this edition, the main program includes 212 presentations. In addition, sixteen renowned researchers will give plenary keynotes, addressing current challenges in computational biomechanics and biomedical imaging. In Lisbon, for the first time, a session dedicated to award the winner of the Best Paper in CMBBE Journal will take place. We believe that CMBBE2018 will have a strong impact on the development of computational biomechanics and biomedical imaging and visualization, identifying emerging areas of research and promoting the collaboration and networking between participants. This impact is evidenced through the well-known research groups, commercial companies and scientific organizations, who continue to support and sponsor the CMBBE meeting series. In fact, the conference is enriched with five workshops on specific scientific topics and commercial software.info:eu-repo/semantics/draf

Articulated Statistical Shape Modelling of the Shoulder Joint

The shoulder joint is the most mobile and unstable joint in the human body. This makes it vulnerable to soft tissue pathologies and dislocation. Insight into the kinematics of the joint may enable improved diagnosis and treatment of different shoulder pathologies. Shoulder joint kinematics can be influenced by the articular geometry of the joint. The aim of this project was to develop an analysis framework for shoulder joint kinematics via the use of articulated statistical shape models (ASSMs). Articulated statistical shape models extend conventional statistical shape models by combining the shape variability of anatomical objects collected from different subjects (statistical shape models), with the physical variation of pose between the same objects (articulation). The developed pipeline involved manual annotation of anatomical landmarks selected on 3D surface meshes of scapulae and humeri and establishing dense surface correspondence across these data through a registration process. The registration was performed using a Gaussian process morphable model fitting approach. In order to register two objects separately, while keeping their shape and kinematics relationship intact, one of the objects (scapula) was fixed leaving the other (humerus) to be mobile. All the pairs of registered humeri and scapulae were brought back to their native imaged position using the inverse of the associated registration transformation. The glenohumeral rotational center and local anatomic coordinate system of the humeri and scapulae were determined using the definitions suggested by the International Society of Biomechanics. Three motions (flexion, abduction, and internal rotation) were generated using Euler angle sequences. The ASSM of the model was built using principal component analysis and validated. The validation results show that the model adequately estimated the shape and pose encoded in the training data. Developing ASSM of the shoulder joint helps to define the statistical shape and pose parameters of the gleno humeral articulating surfaces. An ASSM of the shoulder joint has potential applications in the analysis and investigation of population-wide joint posture variation and kinematics. Such analyses may include determining and quantifying abnormal articulation of the joint based on the range of motion; understanding of detailed glenohumeral joint function and internal joint measurement; and diagnosis of shoulder pathologies. Future work will involve developing a protocol for encoding the shoulder ASSM with real, rather than handcrafted, pose variation

Grid simulation services for the medical community

The first part of this paper presents a selection of medical simulation applications, including image reconstruction, near real-time registration for neuro-surgery, enhanced dose distribution calculation for radio-therapy, inhaled drug delivery prediction, plastic surgery planning and cardio-vascular system simulation. The latter two topics are discussed in some detail. In the second part, we show how such services can be made available to the clinical practitioner using Grid technology. We discuss the developments and experience made during the EU project GEMSS, which provides reliable, efficient, secure and lawful medical Grid services

SlicerAstro: a 3-D interactive visual analytics tool for HI data

SKA precursors are capable of detecting hundreds of galaxies in HI in a single 12 hours pointing. In deeper surveys one will probe more easily faint HI structures, typically located in the vicinity of galaxies, such as tails, filaments, and extraplanar gas. The importance of interactive visualization has proven to be fundamental for the exploration of such data as it helps users to receive immediate feedback when manipulating the data. We have developed SlicerAstro, a 3-D interactive viewer with new analysis capabilities, based on traditional 2-D input/output hardware. These capabilities enhance the data inspection, allowing faster analysis of complex sources than with traditional tools. SlicerAstro is an open-source extension of 3DSlicer, a multi-platform open source software package for visualization and medical image processing. We demonstrate the capabilities of the current stable binary release of SlicerAstro, which offers the following features: i) handling of FITS files and astronomical coordinate systems; ii) coupled 2-D/3-D visualization; iii) interactive filtering; iv) interactive 3-D masking; v) and interactive 3-D modeling. In addition, SlicerAstro has been designed with a strong, stable and modular C++ core, and its classes are also accessible via Python scripting, allowing great flexibility for user-customized visualization and analysis tasks.Comment: 18 pages, 11 figures, Accepted by Astronomy and Computing. SlicerAstro link: https://github.com/Punzo/SlicerAstro/wiki#get-slicerastr