Application of the Robai 1500 Robotics Arm

Import 02/11/2016Diplomová práce se zabývá tvorbou ovládací aplikace pro robotické rameno Robai Gamma 1500. V úvodu práce je popsané robotické rameno. V práci je pospaná ovládací aplikace dodávaná výrobcem. V programovacím jazyce C# byly vytvořeny vlastní třídy pro ovládání jednotlivých článků ramene a celého ramene. Pro možnost demonstrace funkčnosti třídy byla vytvořena jednoduchá ovládací aplikace. V práci jsou popsány jednotlivé funkce obou tříd.Master thesis is dealing with creating a controlling application of the Robai Gamma 1500 Robotics Arm. The introduction describes the Robotics Arm. In the thesis is described controlling application from the manufacturer. In programming language C# was created classes for controlling each joint and whole Robotics Arm. For Demonstration purpose was created simply an application for controlling a robotic arm. In thesis are described functions in both classes.354 - Katedra robotikydobř

Hypermobility of the first metatarsal bone in patients with Rheumatoid arthritis treated by lapidus procedure

BACKGROUND: Foot deformities and related problems of the forefoot are very common in patients with rheumatoid arthritis. The laxity of the medial cuneometatarsal joint and its synovitis are important factors in the development of forefoot deformity. The impaired joint causes the first metatarsal bone to become unstable in the frontal and sagittal planes. In this retrospective study we evaluated data of patients with rheumatoid arthritis who underwent Lapidus procedure. We evaluated the role of the instability in a group of patients, focusing mainly on the clinical symptoms and X-ray signs of the instability. METHODS: The study group included 125 patients with rheumatoid arthritis. The indications of the Lapidus procedure were a hallux valgus deformity greater than 15 degrees and varus deformity of the first metatarsal bone with the intermetatarsal angle greater than 15 degrees on anterio-posterior weight-bearing X-ray. RESULTS: Data of 143 Lapidus procedures of 125 patients with rheumatoid arthritis, who underwent surgery between 2004 and 2010 was evaluated. Signs and symptoms of the first metatarsal bone instability was found in 92 feet (64.3%) in our group. The AOFAS score was 48.6 before and 87.6 six months after the foot reconstruction. Nonunion of the medial cuneometatarsal joint arthrodesis on X-rays occurred in seven feet (4.9%). CONCLUSION: The Lapidus procedure provides the possibility to correct the first metatarsal bone varus position and its instability, as well as providing the possibility to achieve a painless foot for walking. We recommend using the procedure as a preventive surgery in poorly symptomatic patients with rheumatoid arthritis in case of the first metatarsal bone hypermobility

Isolated talonavicular arthrodesis in patients with rheumatoid arthritis of the foot and tibialis posterior tendon dysfunction

<p>Abstract</p> <p>Background</p> <p>The foot is often affected in patients with rheumatoid arthritis. Subtalar joints are involved more frequently than ankle joints. Deformities of subtalar joints often lead to painful flatfoot and valgus deformity of the heel. Major contributors to the early development of foot deformities include talonavicular joint destruction and tibialis posterior tendon dysfunction, mainly due to its rupture.</p> <p>Methods</p> <p>Between 2002 and 2005 we performed isolated talonavicular arthrodesis in 26 patients; twenty women and six men. Tibialis posterior tendon dysfunction was diagnosed preoperatively by physical examination and by MRI. Talonavicular fusion was achieved via screws in eight patients, memory staples in twelve patients and a combination of screws and memory staples in six cases. The average duration of immobilization after the surgery was four weeks, followed by rehabilitation. Full weight bearing was allowed two to three months after surgery.</p> <p>Results</p> <p>The mean age of the group at the time of the surgery was 43.6 years. MRI examination revealed a torn tendon in nine cases with no significant destruction of the talonavicular joint seen on X-rays. Mean of postoperative followup was 4.5 years (3 to 7 years). The mean of AOFAS Hindfoot score improved from 48.2 preoperatively to 88.6 points at the last postoperative followup. Eighteen patients had excellent results (none, mild occasional pain), six patients had moderate pain of the foot and two patients had severe pain in evaluation with the score. Complications included superficial wound infections in two patients and a nonunion developed in one case.</p> <p>Conclusions</p> <p>Early isolated talonavicular arthrodesis provides excellent pain relief and prevents further progression of the foot deformities in patients with rheumatoid arthritis and tibialis posterior tendon dysfunction.</p

Modification of Existing Mobile Robot Undercarriage

Import 26/06/2013Bakalářská práce se zabývá dokumentací stávajícího mobilního podvozku. Byla provedena rešerše mobilních robotů a používaných elektrických komponentů. Dále bylo provedeno rozebrání a opětovné složení mobilního robotu. Díly byly změřeny a narýsovány pomocí CAD systému Creo Parametric 2.0. Byly navrženy varianty řešení uspořádání vnitřní elektroniky a rozmístění senzorického subsystému. Vybraná varianta byla podrobně vymodelovaná ve 3D.Bachelor Thesis deals with the documentation of the existing mobile chassis. The exploration of mobile robots and electrical components was performed. The disassembly and reassembly mobile robot has been done. The components were measured and drawn using the CAD system Creo Parametric 2.0. There are several options of arrangement of internal electronics and sensor subsystem designed. Optimal variant is modeled into detailed 3D model.354 - Katedra robototechnikydobř

Structure and Properties of High-Strength Ti Grade 4 Prepared by Severe Plastic Deformation and Subsequent Heat Treatment

Severe plastic deformation represented by three passes in Conform SPD and subsequent rotary swaging was applied on Ti grade 4. This process caused extreme strengthening of material, accompanied by reduction of ductility. Mechanical properties of such material were then tuned by a suitable heat treatment. Measurements of in situ electrical resistance, in situ XRD and hardness indicated the appropriate temperature to be 450 &deg;C for the heat treatment required to obtain desired mechanical properties. The optimal duration of annealing was stated to be 3 h. As was verified by neutron diffraction, SEM and TEM microstructure observation, the material underwent recrystallization during this heat treatment. That was documented by changes of the grain shape and evaluation of crystallite size, as well as of the reduction of internal stresses. In annealed state, the yield stress and ultimate tensile stress decreased form 1205 to 871 MPa and 1224 to 950 MPa, respectively, while the ductility increased from 7.8% to 25.1%. This study also shows that mechanical properties of Ti grade 4 processed by continual industrially applicable process (Conform SPD) are comparable with those obtained by ECAP