Distributed Control with Web-based 3D Visualization using Kinematics Analysis for IoRT

The use of graphical user interface in web platform has been increasing in the recent decades. The concept of Internet of Robotic Things (IoRT) integrates heterogenous intelligent devices into a distributed architecture of platforms. This research is conducted to deliver proof of concept of distributed control of 2 DOF robot manipulator with web-based 3D visualization. The 3D modeling was developed using Three.js and the WebGL library. Synchronization was made using WebSocket communication on TCP network layer. This protocol allowed 3D mesh data broadcasted from web interface to manipulator with average response 7.86 ms. Moreover, using Denavit-Hartenberg convention, kinematic model facilitates the convention of end-effector position data into angular form and vice versa. The error percentage at a joint 1 is 4% and joint 2 of 2.96%. The error occurs because of the characteristic of inverse function called singularity in which the application value in each joint has the input values of and respectively to get the end-effector position on the 2 DoF Manipulator Robot

Distributed Path Planning Classification with Web-based 3D Visualization using Deep Neural Network for Internet of Robotic Things

Internet of Robotic Things (IoRT) distributes heterogeneous intelligences among devices and platforms. A distributed control of a three-degree-of-freedom (3-DOF) robot manipulator is integrated with web-based 3D visualization. An asynchronous protocol was utilized to broadcast kinematic data of a 3-DOF robot manipulator between platforms. However, kinematic data computed using inverse kinematic equations directly cannot identify the singularity issue of robot manipulator. Singularity avoidance required to prevent robot component or joint from damage. Therefore, this study proposed a deep neural network approach as a classification-based of manipulator robot path planning to avoid singularity issues. Deep neural network (DNN) was trained in 12 minutes, 52 seconds in 500 iterations. Training accuracy measured with value 96,23 percent, validation accuracy measured with value 96,13 percent, and testing accuracy measured with value 96,48 percent Additionally, 3 DOF manipulator robot web-based 3D visualization was made using Web Graphics Library (WebGL). The distributed platform was tested successfully and can distribute and classify 2352 motions per second

Instrumentation and Analysis Miscellanea Regarding the Cosmology Large Angular Scale Surveyor

The Cosmology Large Angular Scale Surveyor (CLASS) is an array of polarization-sensitive millimeter-wave telescopes that observes ~70% of the sky in frequency bands centered near 40 GHz, 90 GHz, 150 GHz, and 220 GHz from a high-altitude site in the Atacama desert of northern Chile. It seeks to measure polarization anisotropy in the cosmic microwave background (CMB), with a particular emphasis on measuring the optical depth due to reionization via large-angular-scale polarization E-modes, as well as searching for primordial polarization B-modes, a detection of which would provide strong evidence for cosmological inflation. This dissertation starts by providing an overview of physical cosmology, before describing the science goals and instrument design of CLASS. It then describes various instrument components that were developed, describes a novel 3D-printed millimeter-wave absorber, and describes the control and systems software used to operate the telescopes. Analysis efforts are then covered, specifically the modeling and detection of atmospheric circular polarization due to Zeeman-splitting of molecular oxygen emission lines in the geomagnetic field and a method of cleaning CMB foregrounds from full-sky maps that utilizes machine learning techniques

HapticHead - Augmenting Reality via Tactile Cues

Information overload is increasingly becoming a challenge in today's world. Humans have only a limited amount of attention to allocate between sensory channels and tend to miss or misjudge critical sensory information when multiple activities are going on at the same time. For example, people may miss the sound of an approaching car when walking across the street while looking at their smartphones. Some sensory channels may also be impaired due to congenital or acquired conditions. Among sensory channels, touch is often experienced as obtrusive, especially when it occurs unexpectedly. Since tactile actuators can simulate touch, targeted tactile stimuli can provide users of virtual reality and augmented reality environments with important information for navigation, guidance, alerts, and notifications. In this dissertation, a tactile user interface around the head is presented to relieve or replace a potentially impaired visual channel, called \emph{HapticHead}. It is a high-resolution, omnidirectional, vibrotactile display that presents general, 3D directional, and distance information through dynamic tactile patterns. The head is well suited for tactile feedback because it is sensitive to mechanical stimuli and provides a large spherical surface area that enables the display of precise 3D information and allows the user to intuitively rotate the head in the direction of a stimulus based on natural mapping. Basic research on tactile perception on the head and studies on various use cases of head-based tactile feedback are presented in this thesis. Several investigations and user studies have been conducted on (a) the funneling illusion and localization accuracy of tactile stimuli around the head, (b) the ability of people to discriminate between different tactile patterns on the head, (c) approaches to designing tactile patterns for complex arrays of actuators, (d) increasing the immersion and presence level of virtual reality applications, and (e) assisting people with visual impairments in guidance and micro-navigation. In summary, tactile feedback around the head was found to be highly valuable as an additional information channel in various application scenarios. Most notable is the navigation of visually impaired individuals through a micro-navigation obstacle course, which is an order of magnitude more accurate than the previous state-of-the-art, which used a tactile belt as a feedback modality. The HapticHead tactile user interface's ability to safely navigate people with visual impairments around obstacles and on stairs with a mean deviation from the optimal path of less than 6~cm may ultimately improve the quality of life for many people with visual impairments.Die Informationsüberlastung wird in der heutigen Welt zunehmend zu einer Herausforderung. Der Mensch hat nur eine begrenzte Menge an Aufmerksamkeit, die er zwischen den Sinneskanälen aufteilen kann, und neigt dazu, kritische Sinnesinformationen zu verpassen oder falsch einzuschätzen, wenn mehrere Aktivitäten gleichzeitig ablaufen. Zum Beispiel können Menschen das Geräusch eines herannahenden Autos überhören, wenn sie über die Straße gehen und dabei auf ihr Smartphone schauen. Einige Sinneskanäle können auch aufgrund von angeborenen oder erworbenen Erkrankungen beeinträchtigt sein. Unter den Sinneskanälen wird Berührung oft als aufdringlich empfunden, besonders wenn sie unerwartet auftritt. Da taktile Aktoren Berührungen simulieren können, können gezielte taktile Reize den Benutzern von Virtual- und Augmented Reality Anwendungen wichtige Informationen für die Navigation, Führung, Warnungen und Benachrichtigungen liefern. In dieser Dissertation wird eine taktile Benutzeroberfläche um den Kopf herum präsentiert, um einen möglicherweise beeinträchtigten visuellen Kanal zu entlasten oder zu ersetzen, genannt \emph{HapticHead}. Es handelt sich um ein hochauflösendes, omnidirektionales, vibrotaktiles Display, das allgemeine, 3D-Richtungs- und Entfernungsinformationen durch dynamische taktile Muster darstellt. Der Kopf eignet sich gut für taktiles Feedback, da er empfindlich auf mechanische Reize reagiert und eine große sphärische Oberfläche bietet, die die Darstellung präziser 3D-Informationen ermöglicht und es dem Benutzer erlaubt, den Kopf aufgrund der natürlichen Zuordnung intuitiv in die Richtung eines Reizes zu drehen. Grundlagenforschung zur taktilen Wahrnehmung am Kopf und Studien zu verschiedenen Anwendungsfällen von kopfbasiertem taktilem Feedback werden in dieser Arbeit vorgestellt. Mehrere Untersuchungen und Nutzerstudien wurden durchgeführt zu (a) der Funneling Illusion und der Lokalisierungsgenauigkeit von taktilen Reizen am Kopf, (b) der Fähigkeit von Menschen, zwischen verschiedenen taktilen Mustern am Kopf zu unterscheiden, (c) Ansätzen zur Gestaltung taktiler Muster für komplexe Arrays von Aktoren, (d) der Erhöhung des Immersions- und Präsenzgrades von Virtual-Reality-Anwendungen und (e) der Unterstützung von Menschen mit Sehbehinderungen bei der Führung und Mikronavigation. Zusammenfassend wurde festgestellt, dass taktiles Feedback um den Kopf herum als zusätzlicher Informationskanal in verschiedenen Anwendungsszenarien sehr wertvoll ist. Am interessantesten ist die Navigation von sehbehinderten Personen durch einen Mikronavigations-Hindernisparcours, welche um eine Größenordnung präziser ist als der bisherige Stand der Technik, der einen taktilen Gürtel als Feedback-Modalität verwendete. Die Fähigkeit der taktilen Benutzerschnittstelle HapticHead, Menschen mit Sehbehinderungen mit einer mittleren Abweichung vom optimalen Pfad von weniger als 6~cm sicher um Hindernisse und auf Treppen zu navigieren, kann letztendlich die Lebensqualität vieler Menschen mit Sehbehinderungen verbessern

Annual meeting of the Lunar Exploration Analysis Group : October 14-16, 2013, Laurel, Maryland

Data from an array of international lunar missions have significantly changed our understanding of many lunar processes and revealed the complex nature of the lunar poles and the distribution of volatiles on the surface. While answering many questions, those data have raised many more. The focus of the 2013 LEAG Annual Meeting will be developing an understanding of the scientific questions, measurement techniques, and options for exploring the Moon with Discovery-class missions or with payloads flown on international or commercial missions.institutional support NASA Lunar Exploration Analysis Group ... [and others] ; conveners, Jeffrey Plescia ... [and others] ; scientific organizing committee, Jeffrey Plescia ... [and others]PARTIAL CONTENTS: Overview of Results from the Lunar Reconnaissance Orbiter (LRO) Lunar Exploration Neutron Detector (LEND) Instrument / R.Z. Sagdeev, W.V. Boynton, G. Chin, M. Litvak, T.A. Livengood, T.P. McClanahan, I.G. Mitrofanov, and A.B. Sanin--Lunar Polar ISRU as a Stepping Stone for Human Exploration / G.B. Sanders--Dose Spectra from Energetic Particles and Neutrons (DoSEN) / S. Smith, N.A. Schwadron, C. Bancroft, P. Bloser, J. Legere, J. Ryan, H. Spence, J. Mazur, and C. Zeitlin

Maker discourses and invisible labour: talking about the 3-D printer

A dissertation submitted to the Faculty of Arts, University of the Witwatersrand, Johannesburg, in fulfilment of the requirements for the degree of Master of Arts May 2016The technology of 3-D Printing is afforded extensive coverage in the media. Discourses surrounding this technology are charged with ideas of revolutions in manufacturing, democratisation of technology, and the potential to change the face of consumption and production. This technology is being marketed to the consumer and hobbyist. The consumer-grade 3-D printer is a result of the labour of a loose-knit worldwide community of hobbyists known as the "Maker movement". This movement, a convergence of the traditional "Hacker" culture and Do It Yourself (DIY) is constructed around ideas of affective labour. That is, labour performed for the sole purpose of enjoyment of doing so, and for a sense of well-being and community. The explosion of "affordable" 3-D printing as a technology is a result of this affective labour, yet little mention is made of any forms of labour in popular media discourses surrounding this technology. In this paper I construct a history of the Maker movement while theorising the forms of labour inherent to this movement using the Autonomist Marxism of Michael Hardt and Antonio Negri as a framework. Then, working within the field of Cultural Studies, and drawing on Actor-Network Theory (ANT), I perform Multimodal Critical Discourse Analysis (MCDA) on a small sample of texts to illustrate the occlusion and obfuscation of labour within these discourses of the consumer 3-D printe

Never Too Old To Learn: On-line Evolution of Controllers in Swarm- and Modular Robotics

Eiben, A.E. [Promotor

The Impact of Additive Manufacturing on Supply Chains and Business Models: Qualitative Analyses of Supply Chain Design, Governance Structure, and Business Model Change

Recent global crises like the COVID-19 pandemic challenge traditional global supply chains (SCs). Their disaggregated, “fine-sliced” character comes with a high risk of disruption, and current supply bottlenecks (e.g., the chip shortage in the automotive industry) demonstrate that there is often no quick fix. Firms are increasingly under pressure to react and (re-)design their SCs to increase their resilience. Additive manufacturing (AM) technologies are acclaimed for their potential to foster the shift from global SCs to shorter, decentralized, and more resilient SCs. The key feature of AM technologies lies in their inherently digital and flexible nature. Their specific characteristics are envisioned to enable location-independent manufacturing close to or even at the point of demand and lead to a commoditization of manufacturing infrastructure for flexible outsourcing to local partners. Moreover, AM technologies are expected to revolutionize the way firms do business and put traditional business models at stake. This doctoral thesis is motivated by the outlined potential of AM and the resulting impact on firms’ supply chain design (SCD) and business model choices. The extant literature raises high expectations for AM. However, concrete and real-world insights from specific application domains are still scarce. This thesis seeks to fill the gap between high-level literature-based visions and currently emerging realistic business models and SCDs for AM. Thereby, AM is understood as a potential intervention emanating from outside firms and requiring them to react by realigning their business models and SC structures to maintain a fit. This thesis aims to build an in-depth understanding of these mechanisms and, hence, of the inner causal processes involved in the AM SCD and business model choices. This concentration on the rationales and underlying behavioral patterns is formalized with primarily exploratory (how and why) research questions that are addressed with qualitative research methodologies, mainly case study research and grounded theory. These methodological practices are applied in the industrial AM context, entailing an embedding of this thesis in challenging industries where AM applications have already started to create value (i.e., in the aerospace, rail, automotive, and machinery and equipment industries). The selected research approaches are mostly inductive and, hence, strongly driven by the data collected from this context (e.g., in interviews, by reviewing documents, and by analyzing websites). Additionally, this thesis relies on grand theories, namely transaction cost economics, the resource-based view, and configuration theory, to discuss the findings in their light and to interpret and distill nuances of these theories for their application in the industrial AM context. This thesis is cumulative, consisting of four studies that form its main body. These studies are organized in two parts, part A and part B, since two domains of strategic decisions are targeted jointly, the business model development (part A) and AM SCD choice (part B) for industrial AM. Different perspectives are associated with the two parts. Logistics service providers (LSPs) are in a critical position to develop AM business models. Based on the expected shift to decentralized, shorter SCs, the traditional business models of LSPs are at risk, and their inherent customer orientation puts them under pressure to adjust to their customers’ needs in AM. In part A, study A.1 applies a process-based perspective to build a broad understanding of how LSPs currently respond to AM and consumer-oriented polymer 3D printing with specific AM activities. It proposes six profiles of how LSPs leverage AM, both as users for their in-house operations and as developers of AM-specific services for external customers. A key finding is that the initiated AM activities are oftentimes strongly based on LSPs’ traditional resources. Only a few LSPs are found whose AM activities are detached from their traditional business models to focus on digital platform-based services for AM. In contrast to the process-based perspective and focus on business model dynamics in study A.1, study A.2 takes an output perspective to propose six generic business model configurations for industrial AM. Each configuration emerges from the perspective of LSPs and is reflected by their potential partners/competitors and industrial customers. Study A.2 explores how the six generic configurations fit specific types of LSPs and how they are embedded in a literature-based service SC for industrial AM. In combination, studies A.1 and A.2 provide a comprehensive understanding of how LSPs are currently reacting to AM and an empirically grounded perspective on “finished” AM business models to evaluate and refine literature-based visions. Part B of this thesis is devoted to the mechanism of (re-)designing SCs for AM, which is investigated from the perspective of focal manufacturing firms based on their dominant position in SCs. Two dimensions are used to characterize AM SCDs, their horizontal scope (geographic dispersion) and vertical scope (governance structure). The combination of both dimensions is ideally suited to capture the literature-based vision of shorter, decentralized AM SCs (horizontal scope) with eased outsourcing to local partners (vertical scope). Study B.1 takes a firm-centric perspective to develop an in-depth understanding for AM make-or-buy decisions of manufacturing firms, the outcomes of which determine the SC governance structure. This study elaborates how the specific (digital and emerging) traits of industrial AM technologies modify arguments of grand theories that explain make-or-buy decisions in the “analog” age. In comparison, study B.2 shifts from a firm-centric to a network perspective to rely on both dimensions for investigating cohesive AM SCD configurations. More specifically, study B.2 explores four polar AM SCD configurations and reveals manufacturing firms’ rationales for selecting them. Thereby, it builds an understanding for why manufacturing firms currently have valid reasons to implement industrial AM in-house or distributed in a secure, firm-owned network. As a result, combining both studies provides an understanding of why manufacturing firms currently select specific governance structures for industrial AM and opt for SCDs that differ from the literature-based vision of decentralized, outsourced AM. Overall, this thesis positions itself as theory-oriented research that also aims at supporting managers of manufacturing firms and LSPs in making informed decisions when implementing AM in their SCs and developing AM-based business models. The three studies A.1, A.2, and B.2 contribute to initial theory building on how and why specific AM business models and SCDs emerge. With their focus on developing an understanding for the causal processes (how and why) and by assuming a process-based and output perspective, they can draw a line from firms’ current reactions to sound reflections on future-oriented, high-level expectations for AM. As a result, the studies significantly enrich and refine the current body of knowledge in the AM business model literature on LSPs and the operations and supply chain management literature on AM SCDs, focusing on their geographic dispersion and governance structure. This thesis further contributes with its context-specificity to building domain knowledge for industrial AM, which can serve as one “puzzle piece” for theorizing on how AM and other digitally dominated (manufacturing) technologies will shape the era of digital business models and SCs. In particular, study B.1 stands out by its focus on theory elaboration and the objective of developing contextual middle-range theory. It reveals that emerging digital AM is a setting where the argumentation of grand theories provides contradicting guidance on whether to develop AM in-house or outsource the manufacturing process. Such findings for industrial AM raise multiple opportunities for future research, among them are the comparison with other industry contexts with similar characteristics and the operationalization of the propositions developed in this thesis in follow-up quantitative decision-support models