Search results for "End effect"
showing 10 items of 20 documents
A Rough-Terrain Casting Robot for the ESA Lunar Robotics Challenge
2009
This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the…
Adaptive neuro-fuzzy inference system for kinematics solutions of redundant robots
2016
This written paper presents aspects concerning the implementation of the Adaptive Neuro-Fuzzy Inference System (ANFIS) in the resolution of a redundant serial robot kinematics. The kinematics solutions are divided into two categories: direct kinematics solutions and inverse kinematics solutions. To be able to control a robot the most important solutions are the ones for the inverse kinematics since one knows the position and the final orientation of the end effector and needs to determine the relative displacement or movements into the robot couplings. To obtain the optimal solutions for the inverse kinematics of a redundant robot the mathematical equations were based onto the redundancy ci…
Design and control of a novel 3D casting manipulator
2010
This paper focuses on casting manipulation and presents an innovative mechanism that allows objects placed in a three-dimensional space to be reached with a relatively small robot. Casting manipulation is a technique by which a robotic end-effector is thrown and its ballistic flight is controlled through a tether cable so as to reach a target object. Previous work presented a solution that is viable only when the position of the target object is perfectly known or aligned with the throwing plane. Our work extends the technique by use of a novel mechanical design of the arm, and a suitable control scheme for the flight of the end-effector, which makes it applicable for objects placed at gene…
Holidays? Not for all. Eagles have larger home ranges on holidays as a consequence of human disturbance
2019
Human-wildlife conflicts are the object of raising concern in conservation biology. People living in urban areas are rapidly increasing worldwide and consequently the temporal pattern of occupation of natural areas for recreation is changing as well, resulting in an ever-increasing concentration of people during weekends and holidays. This is particularly evident in affluent societies, where more recreationists visit natural areas on holidays and weekends, causing disturbance to wildlife in the so-called “weekend effect”. Here, we tested the response to disturbance of 30 Bonelli's eagles tracked by high-frequency GPS/GSM telemetry. We analysed daily home-range size, a measure of changing be…
Stroke care organization overcomes the deleterious ‘weekend effect’ on 1-month stroke mortality: a population-based study
2013
Background and purpose Suffering a stroke during the weekend is associated with a poorer prognosis. The impact of implementing a dedicated stroke care network in Dijon, France, in 2003 on 30-day mortality in strokes/transient ischaemic attacks (TIA) occurring during weekends/bank holidays was evaluated. Methods All cases of stroke and TIA from 1985 to 2010 were identified from a population-based registry, using multiple overlapping sources of information. Demographics and clinical data were recorded. Cox regression models were used to evaluate associations between day of onset (weekdays versus weekends/bank holidays) and 30-day all-cause mortality. Data were stratified according to time per…
Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing
2016
This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning applica…
PAUT inspection of complex-shaped composite materials through six DOFs robotic manipulators
2015
The requirement to increase inspection speeds for the non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides significant motivation for the use of six-axis robots for the deployment of NDT probes in these inspections. The IntACom project, developed by TWI Technology Centre (Wales) and supported by a number of major aerospace partners and the Welsh government, has produced a prototype robotic NDT system. The prototype system is capable of inspecting complex-geometry composite components with great time savings. Two six-axis robotic arms deploy end effectors carrying phased array ultrasonic…
Experimental validation of a distribution theory based analysis of the effect of manufacturing tolerances on permanent magnet synchronous machines
2017
An experimental study on the effect of permanent magnet tolerances on the performances of a Tubular Linear Ferrite Motor is presented in this paper. The performances that have been investigated are: cogging force, end effect cogging force and generated thrust. It is demonstrated that: 1) the statistical variability of the magnets introduces harmonics in the spectrum of the cogging force; 2) the value of the end effect cogging force is directly linked to the values of then remanence field of the external magnets placed on the slider; 3) the generated thrust and its statistical distribution depend on the remanence field of the magnets placed on the translator.
Holidays, weekends and range-based volatility
2020
Abstract This study analyses the effect of non-trading periods on the forecasting ability of S&P500 index range-based volatility models. We find that volatility significantly diminishes on the first trading day after holidays and weekends, but not after long weekends. Our findings indicate that models that include autoregressive terms that interact with dummies that allow us to capture changes in volatility levels after interrupting periods provide greater explanatory power than simple autoregressive models. Therefore, the shorter the length of the non-trading periods between two trading days, the higher the overestimation of the volatility if this effect is not considered in volatility for…
Winter “weekend effect” in southern Europe and its connections with periodicities in atmospheric dynamics
2008
[1] Winter weekly cycles of different climatic variables have been detected over Spain during the 1961–2004 period. The 13 analyzed series come from stations placed on different climatological and geographical areas with different level of urban influence. Therefore, the weekly cycles can hardly be related with local effects. Contrarily, we suggest that the weekly cycles may be related with changes in the atmospheric circulation over Western Europe, which may be due to some indirect effect of anthropogenic aerosols. Particularly interesting is the observed increase in Sea Level Pressure over Southern Europe during the weekends and consequently a decrease of anticyclonic conditions during th…