A unified robotic kinematic simulation interface.

Robotic controller and application programming have evolved along with the application of computer technologies. A PC-based, open architecture controller, off-line programming and simulation system integrated in one-box solution presents the latest advancement in robotics. Open architecture controllers have been proven essential for all aspects of reconfiguration in future manufacturing systems. A Unified Reconfigurable Open Control Architecture (UROCA) research project is under way within the Intelligent Manufacturing Systems (IMS) Centre at the University of Windsor. Applications are for industrial robotic, CNC, and automotive control systems. The UROCA proposed architecture is a reconfigurable system that takes the advantages of different control structure types, thereby integrating them in a way to enhance the controller architecture design. This research develops a graphical robotic simulation platform by creating an optimized object-oriented design. (Abstract shortened by UMI.) Paper copy at Leddy Library: Theses & Major Papers - Basement, West Bldg. / Call Number: Thesis2005 .D56. Source: Masters Abstracts International, Volume: 44-03, page: 1474. Thesis (M.A.Sc.)--University of Windsor (Canada), 2005

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure

Návrh řídicího systému pomocí virtuálního dvojčete

There is a need of drastic changes in the field of production from traditional manufacturing to smart manufacturing. Digital twin is the concept which is used for digital representation of a physical system. Digital twin is the key asset for smart factory production line. Production control and planning can be made precise with the help of digital twin in manufacturing process. In this project it is detailed more about how a digital twin system is designed as a parallel process in a production factory by doing palletization of products and transporting out on a conveyor using robotic arm and testing it under laboratory conditions and to specify workplace for the design.Je potřeba drastických změn v oblasti výroby od tradiční výroby až po inteligentní výrobu. Digitální dvojče je koncept, který se používá pro digitální reprezentaci fyzického systému. Digitální dvojče je klíčovým aktivem pro inteligentní výrobní linku. Výrobní řízení a plánování lze pomocí digitálního twin ve výrobním procesu zpřesnit. V tomto projektu je podrobně popsáno, jak je digitální dvojitý systém navržen jako paralelní proces ve výrobním závodě tím, že se provádí paletizace výrobků a transportuje se na dopravníku pomocí robotického ramene a testuje se v laboratorních podmínkách a specifikuje pracoviště pro návrh .450 - Katedra kybernetiky a biomedicínského inženýrstvívýborn

Robot graphic simulation testbed

The objective of this research was twofold. First, the basic capabilities of ROBOSIM (graphical simulation system) were improved and extended by taking advantage of advanced graphic workstation technology and artificial intelligence programming techniques. Second, the scope of the graphic simulation testbed was extended to include general problems of Space Station automation. Hardware support for 3-D graphics and high processing performance make high resolution solid modeling, collision detection, and simulation of structural dynamics computationally feasible. The Space Station is a complex system with many interacting subsystems. Design and testing of automation concepts demand modeling of the affected processes, their interactions, and that of the proposed control systems. The automation testbed was designed to facilitate studies in Space Station automation concepts

Corrupted MP4 carving using MP4-karver

The usage of digital video is rapidly increasing recently. The analog CCTV systems are replaced by digital systems. Moreover, digital cameras and smartphones are increasingly popular and becoming affordable. The criminals use these digital devices; particularly smartphones to record crimes such as child pornography and other violent activities. Many at times, these videos are altered or deleted by the criminals in order to avoid persecution by the law enforcement. In digital forensic, carvings of deleted, damaged video files have an important role in searching for evidence. Therefore, many existing tools and techniques such as Scalpel’s, PhotoRec, Bi-Fragment Gap Carving (BGC), Smart Carving and Frame Based Carving attempt to carve the videos files, but some of the carved videos files are usually corrupted or damaged and not playable. However, there is still room for improvement in repair corrupted MP4 videos to make it playable. In this research, MP4-Karver tool is proposed to carve and repair the corrupted MP4 videos. MP4-Karver is developed by using visual studio platform in C# programming language. The proposed MP4-Karver tool focuses on carving, repair corrupted MP4 videos and getting a higher successful rate of playable MP4 video file format. The experimental result shows that the proposed MP4-Karver tool increases the restoration carving and repairing of MP4 corrupted videos with average of 97% improvement as compared to PhotoRec and Scalpel. The MP4-Karver tool is a good alternative for MP4 videos restoration and repairing damaged videos as compared to other tools and techniques