Search results for "OPERATION"
showing 10 items of 2969 documents
Teleoperation of industrial robot manipulators based on augmented reality
2020
[EN] This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant…
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
2020
Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedb…
Experimental results on the economic management of a smart microgrid
2020
The aim of this paper is to assess economic benefits deriving from the adoption of a smart microgrid. To this end, a case study consisting of 250 houses connected to the distribution network through a MV/LV transformer substation has been investigated and implemented in the experimental microgrid built at the Polytechnic University of Bari, Italy. The analysis has been performed by comparing three different energy providers: the utility grid, the utility grid with the inclusion of non-programmable renewables generators, and the inclusion of such residential loads into a smart microgrid. The obtained results demonstrated that with the adoption of a smart microgrid significant costs savings c…
TIME-MINIMAL CONTROL OF DISSIPATIVE TWO-LEVEL QUANTUM SYSTEMS: THE INTEGRABLE CASE
2009
The objective of this article is to apply recent developments in geometric optimal control to analyze the time minimum control problem of dissipative two-level quantum systems whose dynamics is governed by the Lindblad equation. We focus our analysis on the case where the extremal Hamiltonian is integrable.
Physical Load Among Construction Workers and Analysis with Objective Ergonomics Research Method
2016
There is growing number of work related musculoskeletal disorders among workers in construction industry. Employees in construction professions admit physical load and discomfort in various body parts after the work. Accordingly to Eurostat statistical data 60 % of total work related diseases are attributed to musculoskeletal disorders in Latvia. The aim of this study was to determine physical load of construction auxiliary workers and bricklayers using objective ergonomics research method HR monitoring and subjective ergonomic risk assessment methods. The research involved full time 8 auxiliary construction workers and 7 bricklayers. Analysis of the heart rate monitoring data proved that o…
Single point incremental forming: An assessment of the progress and technology trends from 2005 to 2015
2017
The last decade has seen considerable interest in flexible forming processes. Among the upcoming flexible forming techniques, one that has captured a lot of interest is single point incremental forming (SPIF), where a flat sheet is incrementally deformed into a desired shape by the action of a tool that follows a defined toolpath conforming to the final part geometry. Research on SPIF in the last ten years has focused on defining the limits of this process, understanding the deformation mechanics and material behaviour and extending the process limits using various strategies. This paper captures the developments that have taken place over the last decade in academia and industry to highlig…
A simulated annealing-based approach for the joint optimization of production/inventory and preventive maintenance policies
2017
Even if more reliable than the past, the performance of modern manufacturing systems is still affected by machine’s deteriorations and breakdowns. As a consequence, adequate maintenance programs must be implemented to adequately satisfy demands during manufacturing stops due to unexpected failures or preventive maintenance (PM) actions. Despite production and maintenance are closely related issues, their joint optimization has become an important research topic just during the last decade. Therefore, the present paper proposes a model for the combined optimization of production/inventory control and PM policies with the aim of minimizing the total expected cost per unit time. The model is f…
The ARROWS project: adapting and developing robotics technologies for underwater archaeology
2015
4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2015; Girona; Spain; 28 April 2015 through 30 April 2015
Smart factory in the context of 4th industrial revolution: challenges and opportunities for Romania
2017
Manufacturing companies, independent of operation sector and size, must be able to produce lot size one products, just-in-time at a competitive cost. Coping with this high adaptability and short reaction times proves to be very challenging. New approaches must be taken into consideration for designing modular, intelligent and cooperative production systems which are easy to integrate with the entire factory. The coined term for this network of intelligent interacting artefacts system is cyber-physical systems (CPS). CPS is often used in the context of Industry 4.0 – or what many consider the forth industrial revolution. The paper presents an overview of key technological and social requirem…
Process mechanics in Friction Stir Extrusion of magnesium alloys chips through experiments and numerical simulation
2017
Abstract Friction Stir Extrusion (FSE) is a novel process designed to directly recycle machining chips. An experimental campaign was carried out on AZ31 milling chips using variations in extrusion ratio, force and tool rotation rate. The process mechanics were studied and correlated to the material flow, which was elucidated through use of a copper marker. A 3D, Lagrangian, thermo-mechanically coupled dedicated numerical model was set up and validated through temperature measurements. The combination of experimental and numerical results permitted to reconstruct the complex 3D material flow induced by tool rotation and plunge into the extrusion billet chamber.