757 research outputs found
A Multi-Objective Optimization Approach for Multi-Head Beam-Type Placement Machines
This paper addresses a highly challenging scheduling problem in the field of printed circuit board (PCB) assembly systems using Surface Mounting Devices (SMD). After describing some challenging optimization sub-problems relating to the heads of multi-head surface mounting placement machines, we formulate an integrated multi-objective mathematical model considering of two main sub-problems simultaneously. The proposed model is a mixed integer nonlinear programming one which is very complex to be solved optimally. Therefore, it is first converted into a linearized model and then solved using an efficient multi-objective approach, i.e., the augmented epsilon constraint method. An illustrative example is also provided to show the usefulness and applicability of the proposed model and solution method.PCB assembly. Multi-head beam-type placement machine. Multi-objective mathematical programming. Augmented epsilon-constraint method
Algorithmic Solutions for Combinatorial Problems in Resource Management of Manufacturing Environments
This thesis studies the use of heuristic algorithms in a number of combinatorial problems that occur in various resource constrained environments. Such problems occur, for example, in manufacturing, where a restricted number of resources (tools, machines, feeder slots) are needed to perform some operations. Many of these problems turn out to be computationally intractable, and heuristic algorithms are used to provide efficient, yet sub-optimal solutions. The main goal of the present study is to build upon existing methods to create new heuristics that provide improved solutions for some of these problems. All of these problems occur in practice, and one of the motivations of our study was the request for improvements from industrial sources. We approach three different resource constrained problems. The first is the tool switching and loading problem, and occurs especially in the assembly of printed circuit boards. This problem has to be solved when an efficient, yet small primary storage is used to access resources (tools) from a less efficient (but unlimited) secondary storage area. We study various forms of the problem and provide improved heuristics for its solution. Second, the nozzle assignment problem is concerned with selecting a suitable set of vacuum nozzles for the arms of a robotic assembly machine. It turns out that this is a specialized formulation of the MINMAX resource allocation formulation of the apportionment problem and it can be solved efficiently and optimally. We construct an exact algorithm specialized for the nozzle selection and provide a proof of its optimality. Third, the problem of feeder assignment and component tape construction occurs when electronic components are inserted and certain component types cause tape movement delays that can significantly impact the efficiency of printed circuit board assembly. Here, careful selection of component slots in the feeder improves the tape movement speed. We provide a formal proof that this problem is of the same complexity as the turnpike problem (a well studied geometric optimization problem), and provide a heuristic algorithm for this problem.Siirretty Doriast
An Aggregated Optimization Model for Multi-Head SMD Placements
In this article we propose an aggregate optimization approach by formulating the multi-head SMD placement optimization problem into a mixed integer program (MIP) with the variables based on batches of components. This MIP is tractable and effective in balancing workload among placement heads, minimizing the number of nozzle exchanges, and improving handling class. The handling class which specifies the traveling speed of the robot arm, to the best of our knowledge, has been for the first time incorporated in an optimization model. While the MIP produces an optimal planning for batches of components, a new sequencing heuristics is developed in order to determine the final sequence of component placements based on the outputs of the MIP. This two-stage approach guarantees a good feasible solution to the multi-head SMD placement optimization problem. The computational performance is examined using real industrial data.Multi-head surface mounting device;Component placement;Variable placement speed
Field-in-field breast planning for a jawless, double-stack MLC LINAC using flattening-filter-free beams
BACKGROUND: This study intends to develop an efficient field-in-field (FiF) planning technique with the Eclipse treatment planning system (TPS) to determine the feasibility of using the Halcyon treatment delivery system for 3D treatment of breast cancer.
METHODS: Ten treatment plans were prepared on the Halcyon treatment planning system and compared to the same patients\u27 clinically delivered TrueBeam plans which used flattened 6 MV and 10 MV beams. Patients selected for this study were treated via simple, tangential breast irradiation and did not receive radiotherapy of the supraclavicular or internal mammary lymph nodes. Planning target volumes (PTV) volumes ranged from 519 cc to 1211 cc with a mean target volume of 877 cc. Several planning techniques involving collimator, gantry rotation, and number of FiF segments were investigated as well as the use of the dynamically flattened beam (DFB) - a predefined MLC pattern that is designed to provide a flattened beam profile at 10 cm depth on a standard water phantom. For comparison, the clinically delivered TrueBeam plans remained unaltered except for normalization of the target coverage to more readily compare the two treatment delivery techniques.
RESULTS: Using the physician defined PTV, normalized such that 98% of the volume was covered by 95% of the prescribed dose, the Halcyon plans were deemed clinically acceptable and comparable to the TrueBeam plans by the radiation oncologist. Resulting average global maximum doses in the test patients were identical between the TrueBeam and Halcyon plans (108% of Rx) and a mean PTV dose of 102.5% vs 101.6%, respectively.
CONCLUSIONS: From this study a practical and efficient planning method for delivering 3D conformal breast radiotherapy using the Halcyon linear accelerator has been developed. When normalized to the clinically desired coverage, hot spots were maintained to acceptable levels and overall plan quality was comparable to plans delivered on conventional C-arm LINACs
HAAS AUTOMATION UMC750 5AXIS MILL ASSEMBLY PROCESS IMPROVEMENT
The improvement of the current assembly of the motor and casting components for the Haas UMC-750 5-Axis vertical CNC mill includes the evaluation, development and proposal of a new pair of material handling carts. To meet these deliverables, a student team began by assessing the assembly workstation, defining the problem to be solved, researching ergonomics in material handling equipment and drafting the final design of the improved cart models using SolidWorks. The final design considered the initial improvement request from the client, as well as better ergonomic features to enhance the safety of the operators. It was estimated that the new design can provide Haas Automation with savings in material cost and production of the cart. At the same time, by improving the design, the new carts reduce risk of employee injury by decreasing the use of an overhead crane for assembling the motor components. The SolidWorks models and engineering drawings will be presented to Haas Automation in the hope of a future implementation
Advanced tracking and image registration techniques for intraoperative radiation therapy
Mención Internacional en el título de doctorIntraoperative electron radiation therapy (IOERT) is a technique used to
deliver radiation to the surgically opened tumor bed without irradiating healthy
tissue. Treatment planning systems and mobile linear accelerators enable
clinicians to optimize the procedure, minimize stress in the operating room (OR)
and avoid transferring the patient to a dedicated radiation room. However,
placement of the radiation collimator over the tumor bed requires a validation
methodology to ensure correct delivery of the dose prescribed in the treatment
planning system. In this dissertation, we address three well-known limitations of
IOERT: applicator positioning over the tumor bed, docking of the mobile linear
accelerator gantry with the applicator and validation of the dose delivery
prescribed. This thesis demonstrates that these limitations can be overcome by
positioning the applicator appropriately with respect to the patient’s anatomy.
The main objective of the study was to assess technological and procedural
alternatives for improvement of IOERT performance and resolution of
problems of uncertainty. Image-to-world registration, multicamera optical
trackers, multimodal imaging techniques and mobile linear accelerator docking
are addressed in the context of IOERT.
IOERT is carried out by a multidisciplinary team in a highly complex
environment that has special tracking needs owing to the characteristics of its
working volume (i.e., large and prone to occlusions), in addition to the requisites
of accuracy. The first part of this dissertation presents the validation of a
commercial multicamera optical tracker in terms of accuracy, sensitivity to
miscalibration, camera occlusions and detection of tools using a feasible surgical
setup. It also proposes an automatic miscalibration detection protocol that
satisfies the IOERT requirements of automaticity and speed. We show that the
multicamera tracker is suitable for IOERT navigation and demonstrate the
feasibility of the miscalibration detection protocol in clinical setups.
Image-to-world registration is one of the main issues during image-guided
applications where the field of interest and/or the number of possible
anatomical localizations is large, such as IOERT. In the second part of this
dissertation, a registration algorithm for image-guided surgery based on lineshaped
fiducials (line-based registration) is proposed and validated. Line-based registration decreases acquisition time during surgery and enables better
registration accuracy than other published algorithms.
In the third part of this dissertation, we integrate a commercial low-cost
ultrasound transducer and a cone beam CT C-arm with an optical tracker for
image-guided interventions to enable surgical navigation and explore image based
registration techniques for both modalities.
In the fourth part of the dissertation, a navigation system based on optical
tracking for the docking of the mobile linear accelerator to the radiation
applicator is assessed. This system improves safety and reduces procedure time.
The system tracks the prescribed collimator location to solve the movements
that the linear accelerator should perform to reach the docking position and
warns the user about potentially unachievable arrangements before the actual
procedure. A software application was implemented to use this system in the
OR, where it was also evaluated to assess the improvement in docking speed.
Finally, in the last part of the dissertation, we present and assess the
installation setup for a navigation system in a dedicated IOERT OR, determine
the steps necessary for the IOERT process, identify workflow limitations and
evaluate the feasibility of the integration of the system in a real OR. The
navigation system safeguards the sterile conditions of the OR, clears the space
available for surgeons and is suitable for any similar dedicated IOERT OR.La Radioterapia Intraoperatoria por electrones (RIO) consiste en la
aplicación de radiación de alta energía directamente sobre el lecho tumoral,
accesible durante la cirugía, evitando radiar los tejidos sanos. Hoy en día, avances
como los sistemas de planificación (TPS) y la aparición de aceleradores lineales
móviles permiten optimizar el procedimiento, minimizar el estrés clínico en el
entorno quirúrgico y evitar el desplazamiento del paciente durante la cirugía a
otra sala para ser radiado. La aplicación de la radiación se realiza mediante un
colimador del haz de radiación (aplicador) que se coloca sobre el lecho tumoral
de forma manual por el oncólogo radioterápico. Sin embargo, para asegurar una
correcta deposición de la dosis prescrita y planificada en el TPS, es necesaria una
adecuada validación de la colocación del colimador. En esta Tesis se abordan
tres limitaciones conocidas del procedimiento RIO: el correcto posicionamiento
del aplicador sobre el lecho tumoral, acoplamiento del acelerador lineal con el
aplicador y validación de la dosis de radiación prescrita. Esta Tesis demuestra
que estas limitaciones pueden ser abordadas mediante el posicionamiento del
aplicador de radiación en relación con la anatomía del paciente.
El objetivo principal de este trabajo es la evaluación de alternativas
tecnológicas y procedimentales para la mejora de la práctica de la RIO y resolver
los problemas de incertidumbre descritos anteriormente. Concretamente se
revisan en el contexto de la radioterapia intraoperatoria los siguientes temas: el
registro de la imagen y el paciente, sistemas de posicionamiento multicámara,
técnicas de imagen multimodal y el acoplamiento del acelerador lineal móvil.
El entorno complejo y multidisciplinar de la RIO precisa de necesidades
especiales para el empleo de sistemas de posicionamiento como una alta
precisión y un volumen de trabajo grande y propenso a las oclusiones de los
sensores de posición. La primera parte de esta Tesis presenta una exhaustiva
evaluación de un sistema de posicionamiento óptico multicámara comercial.
Estudiamos la precisión del sistema, su sensibilidad a errores cometidos en la
calibración, robustez frente a posibles oclusiones de las cámaras y precisión en
el seguimiento de herramientas en un entorno quirúrgico real. Además,
proponemos un protocolo para la detección automática de errores por calibración que satisface los requisitos de automaticidad y velocidad para la RIO
demostrando la viabilidad del empleo de este sistema para la navegación en RIO.
Uno de los problemas principales de la cirugía guiada por imagen es el
correcto registro de la imagen médica y la anatomía del paciente en el quirófano.
En el caso de la RIO, donde el número de posibles localizaciones anatómicas es
bastante amplio, así como el campo de trabajo es grande se hace necesario
abordar este problema para una correcta navegación. Por ello, en la segunda
parte de esta Tesis, proponemos y validamos un nuevo algoritmo de registro
(LBR) para la cirugía guiada por imagen basado en marcadores lineales. El
método propuesto reduce el tiempo de la adquisición de la posición de los
marcadores durante la cirugía y supera en precisión a otros algoritmos de registro
establecidos y estudiados en la literatura.
En la tercera parte de esta tesis, integramos un transductor de ultrasonido
comercial de bajo coste, un arco en C de rayos X con haz cónico y un sistema
de posicionamiento óptico para intervenciones guiadas por imagen que permite
la navegación quirúrgica y exploramos técnicas de registro de imagen para ambas
modalidades.
En la cuarta parte de esta tesis se evalúa un navegador basado en el sistema
de posicionamiento óptico para el acoplamiento del acelerador lineal móvil con
aplicador de radiación, mejorando la seguridad y reduciendo el tiempo del propio
acoplamiento. El sistema es capaz de localizar el colimador en el espacio y
proporcionar los movimientos que el acelerador lineal debe realizar para alcanzar
la posición de acoplamiento. El sistema propuesto es capaz de advertir al usuario
de aquellos casos donde la posición de acoplamiento sea inalcanzable. El sistema
propuesto de ayuda para el acoplamiento se integró en una aplicación software
que fue evaluada para su uso final en quirófano demostrando su viabilidad y la
reducción de tiempo de acoplamiento mediante su uso.
Por último, presentamos y evaluamos la instalación de un sistema de
navegación en un quirófano RIO dedicado, determinamos las necesidades desde
el punto de vista procedimental, identificamos las limitaciones en el flujo de
trabajo y evaluamos la viabilidad de la integración del sistema en un entorno
quirúrgico real. El sistema propuesto demuestra ser apto para el entorno RIO
manteniendo las condiciones de esterilidad y dejando despejado el campo
quirúrgico además de ser adaptable a cualquier quirófano similar.Programa Oficial de Doctorado en Multimedia y ComunicacionesPresidente: Raúl San José Estépar.- Secretario: María Arrate Muñoz Barrutia.- Vocal: Carlos Ferrer Albiac
Script-based design toolkit for digitally fabricated concrete applied to terrain-responsive retaining wall design
The potential of digitally fabricated concrete (DFC) to produce terrain responsive designs has not been thoroughly investigated. Existing research indicates diverse benefits of DFC, such as the rapid fabrication of customized geometries. This research clarifies the advantages and design processes involved in creating site-specific DFC structures. Existing literature is analyzed to provide an overview of fabrication methods and their impacts and constraints on design. Parametric scripting is used to develop an interactive toolkit that integrates aesthetic, structural, and fabrication considerations into the design process. This toolkit specifically focuses on unreinforced retaining walls with interchangeable modules for terrain analysis, wall form generation, structural analysis, and fabrication analysis. The toolkit provides valuable feedback, such as identifying optimum wall proportions, and enables rapid design explorations. The findings affirm the value of exploratory design tools in managing fabrication complexities. Additionally, by recreating an existing amphitheater, the research indicates that DFC can create site-specific geometries that draw from the surrounding terrain
An automated method for the layup of fiberglass fabric
This dissertation presents an automated composite fabric layup solution based on a new method to deform fiberglass fabric referred to as shifting. A layup system was designed and implemented using a large robotic gantry and custom end-effector for shifting. Layup tests proved that the system can deposit fabric onto two-dimensional and three-dimensional tooling surfaces accurately and repeatedly while avoiding out-of-plane deformation. A process planning method was developed to generate tool paths for the layup system based on a geometric model of the tooling surface. The approach is analogous to Computer Numerical Controlled (CNC) machining, where Numerical Control (NC) code from a Computer-Aided Design (CAD) model is generated to drive the milling machine. Layup experiments utilizing the proposed method were conducted to validate the performance. The results show that the process planning software requires minimal time or human intervention and can generate tool paths leading to accurate composite fabric layups. Fiberglass fabric samples processed with shifting deformation were observed for meso-scale deformation. Tow thinning, bending and spacing was observed and measured. Overall, shifting did not create flaws in amounts that would disqualify the method from use in industry. This suggests that shifting is a viable method for use in automated manufacturing. The work of this dissertation provides a new method for the automated layup of broad width composite fabric that is not possible with any available composite automation systems to date
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