Constraint Definition for Gripper Selection and Grasp Planning for Robotic Assembly Using Product Manufacturing Information from STEP AP242Ed2 Files

This article uses the Product Manufacturing Information (PMI) from STEP AP242 neutral files for gripper selection and grasp planning in a robotic assembly operation. The PMI, along with the part geometry and dimensions, are used in identifying various handling features of the parts and selecting an appropriate gripper. The required PMI, like material, volume, surface finish, threading and coating information, are added to the STEP AP242 files. The PMI is semantically included in the STEP files following the Model Based Definition (MBD) methodology. Two methods are described to add the PMI to the STEP files, one using a custom string and another using the standard entities defined in ISO 10303 AP242: 2020 standard. The entire process is demonstrated in a use case.publishedVersio

Generating dialogical practices in mental health : experiences from southern Norway, 1998-2008

Published version of an article in the journal: Administration and Policy in Mental Health and Mental Health Services Research. Also available from the publisher at: http://dx.doi.org/10.1007/s10488-013-0479-3In Norway and many other countries, political guidelines prescribe the development of mental health strategies with both a service user's perspective and a treatment system established by the local authority. The development of new strategies frequently involves challenges regarding procedures and treatment as well as a view of knowledge and humanity. Dialogical practices might provide a solution for these challenges not only because of its procedures but also due to its attitudes toward service users. The aim is to explore the implementation of three dialogical practice programs in Southern Norway from 1998 to 2008 and to critically analyze and discuss the authors' experiences during the implementation process. Three different programs of dialogical practices were initiated, established, and evaluated within the framework of participatory action research. Sustainable changes succeed individually and organizationally when all participants engage as partners during the implementation of new mental health practices. Generating dialogic practice requires shared understanding of the Open Dialogue Approach (ODA) and collaboration between professional networks and among the leaders. Developing a collaboration area that includes service users in all stages of the projects was one of the essential implementation factors. Other factors involved a common vision of ODA by the leaders and the actors, similar experiences, and a culture of collaboration. However, ODA challenged traditional medical therapy and encountered obstacles to collaboration. Perhaps the best way of surmounting those obstacles is to practice ODA itself during the implementation process