Improved Kinematics Calibration of Industrial Robots by Neural Networks

The paper presents a preliminary study on the feasibility of a Neural Networks based methodology for the calibration of Industrial Manipulators to improve their accuracy. A Neural Network is used to predict the pose inaccuracy due to general sources of error in the robot (e.g. geometrical inaccuracy, load deflection, stiffness and backlash of the mechanical members, etc. . . ). The network is trained comparing the ideal model of the robot with measures of the actual poses reached by the robot. A back-propagation learning algorithm is applied. The Neural Network output can be used by the robot controller to compensate for the errors in the pose. The proposed calibration technique appears extremely simple. It does not need any information on the pose errors nature, but only the ideal robot kinematics and a set of experimental pose measures. Different schemes of calibration procedures are applied to a simulated SCARA robot and to a Stewart Platform and compared, in order to select the most suitable. Results of the simulations are presented and discussed

Gain scheduling for hybrid force/velocity control in contour tracking task

In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique

Calibration of Parallel Kinematic Machines: theory and applications

Introduction As already stated in the chapter addressing the calibration of serial manipulators, kinematic calibration is a procedure for the identification and the consequent compensation of the geometrical pose errors of a robot. This chapter extends the discussion to Parallel Manipulators (also called PKM Parallel Kinematic Machines). As described in the following (Section 2) this extension is not obvious but requires special care. Although for serial manipulators some procedures for the calibration based on automatic generation of a MCPC (Minimum Complete Parametrically Continuos) model exist, for PKMs only methodologies for individual manipulators have been proposed but a general strategy has not been presented since now. A few examples of the numerous approaches for the calibration of individual PKMs are proposed in (Parenti-Castelli & Di Gregorio, 1995), (Jokiel et al., 2000) for direct calibration and (Neugebauer et al., 1999), (Smollett, 1996) for indirect or self calibration techniques. This paper makes one significant step integrating available results with new ones and reordering them in simple rules that can be automatically applied to any PKM with general kinematic chains. In all the cases a MCPC kinematic model for geometrical calibration is automatically obtained. In Section 2 the main features of PKMs calibration is pointed out and the total number of the necessary parameters is determined; this is an original contribution. In Sections 3 and 4 two novel approaches for the generation of a MCPC model are described. Sections 5 and 6 are dedicated to the analysis of the singular cases and to the procedure for the elimination of the redundant parameters respectively; actual cases are discussed. Section 7 presents several examples of application of the two proposed procedures to many existing PKMs. Section 8 eventually draws the conclusions

Manipulation of micro-components using vacuum grippers.

SUMMARY. During the past decades several microproducts have been fabricated for a great variety of applications in the traditional fields, including the medical and biomedical sectors, automotive, aeronautics and aerospace, Information Technology and telecommunication as well as in more innovative areas, such as household appliances, entertainment and sport equipment. Nevertheless, hybrid three dimensional micro products have still great difficulty in penetrating the market, mainly due to the limits of the fabrication processes that require manipulation and final assembly of microcomponents. These processes, being not yet automated, strongly affect the cost of products. Therefore, new market perspectives can be reached automating the assembly phase. The main challenge is due to the new physical scenario that appears when dealing with the assembly of millimetric and sub-millimetric parts. Indeed, at the microscale the high surface to volume ratio leads to the predominance of the superficial forces (e.g. electrostatic, van der Waals and surface tension forces) over the gravitational force; this results in an unpredictable behaviour of the traditional manipulating mechanisms, whereas an efficient and precise control of the grasp and release of thousands of microscopic and fragile parts is required. For this reason the downscaling of traditional handling strategies and the development of new handling techniques require further studies. Several solutions can be found in literature, with their advantages and limitations, i.e.: friction and jaw microgrippers, magnetic and electrical fields used to levitate objects, adhesive grippers exploiting capillary force. Also vacuum grippers can be miniaturized. Due to their intrinsic simplicity, vacuum grippers are very cheap and appear a promising solution for industrial applications, if some improvements are carried out. In this context, an experimental setup for the automatic manipulation of microcomponents through some vacuum grippers was developed. Moreover, an innovative design of a nozzle for a vacuum gripper was fabricated and tested, comparing its performance with traditional needles. The design was conceived in order to reduce the frequency of occlusions of the nozzle and handle a wide range of particles. The tests described in this paper concern mainly the success and the precision of the release of objects from the gripper. Indeed, this is one the crucial aspect of micromanipulation because microparts tend to stick to the gripper preventing the successful performance of manipulation tasks

Risk assessment of a bulk cryogenic tank: Beyond the Leak-Before-Break criterion

International audienceThe increase in the size and production capacity of air separation plants has boosted the need of developing methodologies to properly assess the risk related to major releases of liquefied gas. In this respect, the Leak-Before-Break (LBB) assessment is currently adopted to demonstrate the safety of the structures containing liquefied gas, under the assumption that the tank is always operated in nominal conditions. This assumption is questioned in this paper, which proposes a new methodology for the assessment of the risks related to cryogenic tank catastrophic rupture. The methodology provides a comprehensive understanding of the issues associated to the worst case rupture scenario: from the investigation of the causes of the undesirable operating conditions up to the analysis of the associated structural consequences, within a probabilistic framewo

Different cut-off values of quantitative D-dimer methods to predict the risk of venous thromboembolism recurrence : a post-hoc analysis of the PROLONG study

Background: The PROLONG study showed that patients with venous thromboembolism who had qualitatively abnormal results in a D-dimer assay (Clearview Simplify D-dimer) after discontinuation of vitamin K antagonism benefit from resumption of treatment with vitamin K antagonism. The objective of this study was to evaluate the possible advantage of using quantitative D-dimer assays. Design and Methods: VIDAS D-dimer Exclusion (bioMerieux), Innovance D-DIMER (Dade Behring), HemosIL D-dimer HS (Instrumentation Laboratory) and STA Liatest D-dimer (Diagnostica Stago) assays were performed in plasma aliquots sampled 30\ub110 days after cessation of vitamin K antagonism in 321 patients enrolled in the PROLONG study. Results: During the follow-up without vitamin K antagonism, 25 patients had recurrent venous thromboembolism. The cut-off levels of the quantitative assays giving results most comparable with those of the qualitative test were: VIDAS = 800 ng/mL; Innovance = 800 ng/mL; HemosIL HS = 300 ng/mL; STA Liatest = 700 ng/mL. When the effect of the patients' age ( 6470 vs. >70 years) was analyzed, it was found that only in younger patients was the rate of recurrence of venous thromboembolism significantly higher in patients with abnormal D-dimer levels. However, using the quantitative assays and age-specific cut-off levels it was possible to determine statistically significant hazard ratios also in elderly patients (VIDAS = 600 and 1200 ng/mL, Innovance = 500 and 900 ng/mL, HemosIL HS = 250 and 450 ng/mL, STA Liatest = 700 and 1000 ng/mL, in patients aged 6470 and >70 years, respectively). Conclusions: Quantitative D-dimer assays may provide information useful for evaluating the individual risk of recurrent venous thromboembolism. They seem particularly advantageous since they allow the selection of different cut-off levels according to the age or other characteristics of the patients

Photoluminescence, photoabsorption and photoemission studies of hydrazone thin film used as hole transporting material in OLEDs

A fotoluminescência de filmes finos de 1-(3-metilfenil)-1,2,3,4-tetrahidroquinolina-6-carboxialdeído-1,1’-difenilhidrazona foi monitorada em função da irradiação com luz UV. A intensidade da emissão decresce exponencialmente com o tempo de exposição, sugerindo degradação das amostras. Com o objetivo de investigar os mecanismos de degradação e determinar a estrutura eletrônica desse material orgânico usado com sucesso como camada transportadora de buracos na fabricação de diodos orgânicos emissores de luz (OLEDs), foram empregadas as técnicas de fotoabsorção e de fotoemissão nas bordas 1s do carbono e do nitrogênio bem como na banda de valência. A influência da luz solar foi simulada usando radiação síncrotron não-monocromática. Após exposição, todos os espectros apresentam um decréscimo nos sinais de fotoabsorção e de fotoemissão, que é menos acentuado na borda do carbono, apresentando, entretanto, um decréscimo drástico na borda do nitrogênio e na região de valência. O estudo sugere que a perda de nitrogênio é a principal causa para a quebra do sistema π, levando, dessa forma, à falha do dispositivo fabricado com esse composto.Photoluminescence (PL) emission of 1-(3-methylphenyl)-1,2,3,4-tetrahydroquinoline-6-carboxyaldehyde-1,1’-diphenylhydrazone (MTCD) thin films was monitored as a function of UV irradiation, and it was found to decrease exponentially with the exposure time. In order to gain insight into the degradation mechanisms and evaluate the electronic structure of this organic material used with good results as hole transporting layer (HTL) in the fabrication of organic light emitting diodes (OLEDs), synchrotron radiation-based photoabsorption and photoemission techniques at the carbon and nitrogen 1s edges as well as at the valence band were employed. The influence of sunlight was simulated using non-monochromatized synchrotron radiation. After exposure all the spectra show a decrease of the photoabsorption and photoemission signals, however, while it is less accentuated at the carbon edge, at the nitrogen edge and at the valence region it decreases drastically. The loss of nitrogen is suggested to be the main step in the disruption of the π system, leading to the failure of the devices fabricated with this compound as hole transporting layer

Novel peptidomimetics related to Gonadotropin releasing hormone (GnRH)

Novel GnRH I and II analogues were designed and synthesized by Solid Phase Peptides Synthesis (SPPS), since GnRH has antiproliferative property, but poor metabolic stability. To rationalize synthetic difficulties, molecular dynamics simulations were performed, showing the conformational behavior of three derivatives. Among the two peptidomimetics series (Ie,f and IIe,f , GnRH I and GnRH II analogues respectively) several compounds (Id-f and IIc-e) showed a significant binding affinity. In particular, derivative Ie has an increased metabolic stability with respect to the physiological ligand (Ie t1/2= 3.96 h versus GnRH I t1/2 = 2.63 h)