Senior management model applied to micro, small and medium business

Siendo Colombia un país cuya economía se soporta en empresas de pequeña escala, donde las MIPYMES en conjunto representando el 90%, sector que genera el 73% de empleos y el 53% de la producción bruta en los diferentes sectores industriales, comerciales y de los servicios. No obstante de la importancia de este sector en la economía, muchas de ellas enfrentan una problemática que interrumpen su crecimiento y desarrollo. Este trabajo de investigación tiene como finalidad estructurar un modelo gerencial, el cual recoge aspectos importantes y valiosos a tener en cuenta por los dueños, gerentes y administradores; producto de identificar las debilidades que han impedido su crecimiento y desarrollo de manera efectiva en el campo empresarial moderno. Por lo anterior se analizó como debilidades más sentidas el desconocimiento y aplicación de teorías actuales en materia gerencial, que pueden actuar en miras de un mayor crecimiento y diversificación de sus ofertas de bienes y servicios, en este caso en el campo de los cosméticos; Soportado en los conocimientos adquiridos durante la Especialización en Alta Gerencia, se define desde un punto de vista particular pero responsable, los temas que deberían ser revisados por este tipo de empresas, para lograr la mejor comprensión y aplicación de temas tan importantes como Pensamiento Complejo, Análisis y Estudios de Competencias, Planeamiento Estratégico y Financiero, Gerencia de Mercado y Talento Humano.Colombia is a country whose economy is supported in small scale enterprises, where MIPYMES altogether representing 90%, sector that generates 73% of jobs and 53% of gross in the various sectors of industrial, commercial production and services. But the importance of this sector in the economy, many of them face problems that disrupt their growth and development. This research paper aims to structure a management model, which collects valuable and important aspects to be considered by owners and managers; product identify the weaknesses that have prevented its growth and development effectively in the modern business field. Therefore analyzed as most pressing weaknesses lack of knowledge and application of current theories in the management field, which may act in view of further growth and diversification of its offers of goods and services, in this case in the field of cosmetics; Supported the knowledge gained during the specialization in senior management, defined from a point of view responsible, but particular issues that should be reviewed by this kind of companies, to achieve better understanding and application of such important topics as complex thought, analysis and studies of competencies, strategic planning and financial, market and human resource managemen

Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables

International audienceFinding the workspace of cable driven parallel robots (CDPR) with sagging cables (i.e. elastic and deformable cables) is a problem that has never been fully addressed in the literature as this is a complex issue: the inverse kinematics may have multiple solutions and the equations that describe the problem are non-linear and non algebraic. We address here the problem of determining an approximation of the border of horizontal cross-sections of the workspace for CDPR with 6 cables. We present an algorithm that give an outline of this border but also rises several theoretical issues. We then propose another algorithm that allow to determine a polygonal approximation of the workspace border induced by a specific constraint. All these algorithms are illustrated on a very large CDPR

Cable-driven parallel robot for curtain wall module installation

A cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed the question of whether the CDPR was capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order to develop and test such a system, a conceptual framework that consisted of three sub-systems was defined. The tests, carried out in two close-to-real demonstration buildings, revealed an absolute accuracy of the CWM installation of 4 to 23 mm. The working time for installing a CWM was reduced to 0.51 h. The results also show that the system is competitive for a workspace greater than 96 m2 compared to conventional manual methods. However, improvements such as reducing the hours for setting up the CDPR on the one hand and achieving a faster and more robust MEE on the other hand will be still necessary in the future.This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No. 73251

Analysis and verification of cable pretension effect on the buckling load of a single-link flexible mechanism

This paper utilizes the extended Hamilton's principle to develop a dynamic model of a single-link flexible mechanism with two cables involving the cable pretensions. The effect of cable pretension is considered by introducing the von Kármán nonlinearity into the dynamical modelling. Before implementing the modal analysis, buckling of the flexible beam is investigated with the goal of analyzing structural stability for the single-link flexible system with two pre-tensioned cables. Based on the proposed dynamical model, a transcendental equation for determining the critical buckling load on the beam is derived. Several typical cable and beam materials are included to investigate their influence on the buckling load. An alternative approach to predict the buckling load for the flexible beam braced by cables is applied using the concept of lateral stiffness at the tip, which leads to the same stability equation as that from the presented dynamical model. Finite element simulations are accomplished in ANSYS. The buckling loads obtained from ANSYS are compared with the analytical values based on the proposed method, which demonstrates the effectiveness of the modelling. In addition, an approximate procedure for estimating the critical buckling load is also performed in ANSYS on the basis of a linear relationship between lateral stiffness and buckling load. Finally, an experimental testbench is built and the buckling phenomenon is identified with increasing cable pretensions

A Novel Extended Desired Compensation Adaptive Law for High-Speed Pick-and-Throw with PKMs

Publisher Copyright: © 2022 Elsevier B.V.. All rights reserved.This paper focuses on the development of a new revised Desired Compensation Adaptive Law (DCAL). DCAL is a model-based adaptive control strategy consisting of three main parts: (i) an adaptive feedforward term, (ii) a linear PD feedback term, and (iii) a nonlinear compensation term. In order to deal with highly nonlinear dynamic systems characterized by their abundant uncertainties and parameters variations, we propose to revise the original DCAL control law by adopting adaptive feedback gains depending on the system state errors. Besides, DCAL controller is known for its robustness against measurement noise thanks to its desired compensation design, but a large amount of external disturbances are still not compensated by such a design. Therefore, the proposed DCAL with adaptive gains (DCAL-AG) is extended with a sliding-based term to further improve its robustness and the overall performance. A model-based robust adaptive feedback controller appropriate to the control of nonlinear systems in real-time applications is thereby obtained. To demonstrate the improvements brought by the proposed control strategy, numerical simulations have been conducted on a Delta-link parallel robot named T3KR in a "Pick-and-Throw" application task at different operating conditions.This work is supported by Tecnalia ”Pick-and-Throw” research project. The corresponding author acknowledged the Lebanese University and the social foundation AZM and SAADE for financial support.Peer reviewe

A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs

Publisher Copyright: Copyright © 2022 The Authors.Most of the current industrial applications (like food packaging, waste sorting, machining, etc.) use parallel kinematic manipulators (PKMs) owing to their high speed and accuracy. However, parallel robots are exposed to highly nonlinear dynamics, time-varying parameters and uncertainties, especially in those applications. Considering all these issues, the synthesis of advanced and robust control schemes for PKMs is considered a challenging task. A new control scheme based on the Robust Integral of the Sign of the Error (RISE) control scheme is proposed in this work. A revision of the standard RISE control law is proposed by considering, in the control loop, a compensation term computed from the dynamic model of the robot, the measured and the desired trajectories, and the tracking error. In addition, we propose to extend the resulting controller with a nonlinear feedback function to compensate for the errors resulting from using the desired trajectories instead of the measured ones in the dynamic compensation term. The proposed control contribution can compensate for PKM parameter uncertainties and high nonlinearities as well as improve the robustness of the standard RISE controller. Numerical simulations have been conducted on a parallel robot, called T3KR, in a pick- and-throw task under different operating conditions to confirm the effectiveness of the proposed control scheme.This work is supported by Tecnalia ”Pick-and-Throw” research project. The corresponding author acknowledged the Lebanese University and the social foundation AZM and SAADE for financial support.Peer reviewe

On the Improvements of a Cable-Driven Parallel Robot for Achieving Additive Manufacturing for Construction

Generalization of additive manufacturing has led to consider this technological solution for more and more challenging use cases. Porting this technology to construction industry is a major step to overcome. Most of the recent research deal with materials, construction and extrusion techniques. Positioning of the extruder or material handler is mostly carried out by standard anthropomorphic robots or large-scale gantries. Cable-driven parallel robots (CDPR) can be an efficient alternative to these positioning solutions, being capable of automated motions in six degrees of freedom and easily relocated. The combination of the Cogiro CDPR (Tecnalia, LIRMM-CNRS, 2010) with the extruder and material of the Pylos project (IAAC, 2013), open the opportunity to a 3D printing machine with a workspace of 13.6 × 9.4 × 3.3 m. Two prints, with different patterns, have been achieved with the Pylos extruder mounted on Cogiro, drawing a wire of material of 11 m in width and 3 mm in height: the first spanning 3.5 m in length, the second, reaching a height of 0.86 m. The motivation of this paper is to give an insight to the necessary technical implementations on a CDPR for dealing with additive manufacturing process relevant for construction, in particular acute modelling of the cable and its extension under load, and to showcase the experimental prints carried out by the authors

Kinetostatic characterization of a loading system based on a partially-decoupled parallel manipulator

The paper deals with the kinetostatic characterization of a knee loading test-rig with cable-driven parallel mechanism architecture. The system is supposed to work close to a nominal pose where it shows a partially-decoupled behavior. The scope of the study is the determination of the maximum deviations between the wrench components at the nominal and actual platform pose for a generic loading condition. Moreover, the peculiar cable-based actuation system leads to non-linearity issues: a specific procedure is then presented to perform the kinetostatic analysis and to handle such non-linearities

Computing cross-sections of the workspace of a cable-driven parallel robot with 6 sagging cables having limited lengths

International audienc