Feasibility of remotely manipulated welding in space. A step in the development of novel joining technologies

In order to establish permanent human presence in space technologies of constructing and repairing space stations and other space structures must be developed. Most construction jobs are performed on earth and the fabricated modules will then be delivered to space by the Space Shuttle. Only limited final assembly jobs, which are primarily mechanical fastening, will be performed on site in space. Such fabrication plans, however, limit the designs of these structures, because each module must fit inside the transport vehicle and must withstand launching stresses which are considerably high. Large-scale utilization of space necessitates more extensive construction work on site. Furthermore, continuous operations of space stations and other structures require maintenance and repairs of structural components as well as of tools and equipment on these space structures. Metal joining technologies, and especially high-quality welding, in space need developing

A Single-Query Manipulation Planner

In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex structure of such a "Composite Configuration Space" that makes manipulation planning particularly challenging. Previous works approximate the connectivity of the Composite Configuration Space by means of discretization or by creating random roadmaps. Such approaches involve an extensive pre-processing phase, which furthermore has to be re-done each time the environment changes. In this paper, we propose a high-level Grasp-Placement Table similar to that proposed by Tournassoud et al. (1987), but which does not require any discretization or heavy pre-processing. The table captures the potential connectivity of the Composite Configuration Space while being specific only to the movable object: in particular, it does not require to be re-computed when the environment changes. During the query phase, the table is used to guide a tree-based planner that explores the space systematically. Our simulations and experiments show that the proposed method enables improvements in both running time and trajectory quality as compared to existing approaches.Comment: 8 pages, 7 figures, 1 tabl

Exploring Artistic Learning Through the Creation of Tunnel Books

This paper discusses the results of an autoethnographic, arts-based study that explored artistic learning through the creation of tunnel books. The researcher, an art teacher at a private Catholic school, chose the Painted Churches of Schulenburg, TX as the subject of the tunnel books. During the study, the researcher toured four historic churches to obtain information that guided design decisions for the tunnel books. Documentation of the tour was done through photography, video recording, and note taking. Interviews with Katherine Ruffin, book arts professor, and Rand Huebsch, printmaker, book artist, and teacher were conducted to obtain information about construction techniques, materials, and adhesives. Four tunnel books were created. During the process, materials for the tunnel books, media, adhesives, and different assembly approaches were explored. Upon completion, the books were viewed by several individuals who attended the tour of the churches, and Dr. Ann Waltz, Director of the Art School for Children and Young Adults at the University of Houston in Clear Lake, TX. The study was designed to expand artistic learning and gain information that could later be shared with middle school students at St. Clare of Assisi Catholic School. The outcomes revealed new approaches to constructing tunnel books, and applications for new and familiar media. The paper concludes with future plans for the knowledge gained, along with advice for art educators, and the field of art education

A virtual environment for the design and simulated construction of prefabricated buildings

The construction industry has acknowledged that its current working practices are in need of substantial improvements in quality and efficiency and has identified that computer modelling techniques and the use of prefabricated components can help reduce times, costs, and minimise defects and problems of on-site construction. This paper describes a virtual environment to support the design and construction processes of buildings from prefabricated components and the simulation of their construction sequence according to a project schedule. The design environment can import a library of 3-D models of prefabricated modules that can be used to interactively design a building. Using Microsoft Project, the construction schedule of the designed building can be altered, with this information feeding back to the construction simulation environment. Within this environment the order of construction can be visualised using virtual machines. Novel aspects of the system are that it provides a single 3-D environment where the user can construct their design with minimal user interaction through automatic constraint recognition and view the real-time simulation of the construction process within the environment. This takes this area of research a step forward from other systems that only allow the planner to view the construction at certain stages, and do not provide an animated view of the construction process

Automatic generation of robot and manual assembly plans using octrees

This paper aims to investigate automatic assembly planning for robot and manual assembly. The octree decomposition technique is applied to approximate CAD models with an octree representation which are then used to generate robot and manual assembly plans. An assembly planning system able to generate assembly plans was developed to build these prototype models. Octree decomposition is an effective assembly planning tool. Assembly plans can automatically be generated for robot and manual assembly using octree models. Research limitations/implications - One disadvantage of the octree decomposition technique is that it approximates a part model with cubes instead of using the actual model. This limits its use and applications when complex assemblies must be planned, but in the context of prototyping can allow a rough component to be formed which can later be finished by hand. Assembly plans can be generated using octree decomposition, however, new algorithms must be developed to overcome its limitations

Political modernisation and the weakening of sustainable development in Britain

Article 28 of Agenda 21 placed elected local authorities at the heart of achieving sustainable development. This required a new balance of environmental, social and economic policies co-ordinated by revitalised democratic local government. However, the context within which this would have to be delivered in the UK was the extensive and ongoing restructuring of sub-national government (i.e. both local and regional government) – a restructuring which has continued apace since then, not least with devolution in Scotland and Wales; the extension of unelected regional government in England; and centrally imposed changes to the local government committee system. In addition a further raft of so-called ‘modernisation’ polices have been implemented with broader social concerns such as ‘well-being’ and ‘community strategies’ within which the core environmental concerns of sustainable development are sidelined - viewed as generally desirable, but, ultimately, as ancillary and not essential. This chapter assesses the cumulative impact of these changes in the nature of sub-national government in Britain on the form and effectiveness of policies for sustainable development

Sandy Regional Assembly SIRR Analysis

The NYC Mayor's Special Initiative for Rebuilding and Resiliency (SIRR) is a comprehensive effort to formulate recommendations guiding the rebuilding of neighborhoods impacted by Superstorm Sandy, and increase the resiliency of New York City as a whole. The plan combines citywide proposals with neighborhood-specific interventions in various neighborhoods. The federal Hurricane Sandy Rebuilding Task Force administered by HUD is responsible for overseeing the rebuilding and allocation of funds for all post-Sandy projects funded by the federal government; the Task Force is also charged with preparing a Hurricane Sandy Rebuilding Strategy to present to President Obama by August 2nd. Recommendations in the SIRR Report include plans to allocate the $294 million in HUD funding already provided to New York City and must comply with the Hurricane Sandy Rebuilding Task Force guidelines. After the Mayor's SIRR Report was released in June 2013, the Sandy Regional Assembly met to assess whether community-defined priorities and recommendations had made it into the Mayor's recovery plans. The following assessment reviews the SIRR Report from the context of the Sandy Regional Assembly Recovery Agenda, including both areas where there is synergy with the goals and recommendations of the Agenda and areas where the SIRR failed to address critical community priorities

Governance of the London 2012 Olympic Games legacy

© The Author(s) 2011. This is the author's accepted manuscript. The final published article is available from the link below.This study addresses the governance of the London 2012 Olympics legacy. It presents legacy not as a retrospective but a prospective concept concerned with shaping the future through interactions between the state, market and society. This entails designing systems of governance to guide and steer collective actions towards a consensus amongst various parties concerned. Four modes of governance and a range of policy instruments were examined in the delivery of sustainable London Olympics sport legacy including coercive, voluntarism, targeting and framework regulation. The British government actively created a new policy space and promoted institutional conduct consistent with its legacy visions. The current global legacy framework is lacking the governance dimension and its logic needs to be reconsidered. A meaningful sport legacy requires not top-down approaches but locally informed strategies supported by a developmental design of the Olympic Games informed by sustainable principles