Search results for "Workspace"
showing 10 items of 31 documents
Sosiomateriaalinen näkökulma vuorovaikutukseen muuttuvissa työtiloissa
2022
Työelämään ja organisaatioihin ovat viime vuosina vaikuttaneet monet eri muutokset. Yksi voimakkaimmista muutoksista koskee sitä, missä töitä tehdään eli työnteon tiloja. Tutkimuksissa on tarkasteltu muun muassa tilojen roolia ihmisten välisen vuorovaikutuksen edistämisessä, työntekijöiden oppimisen tukemisessa sekä inklusiivisuuden ja monimuotoisuuden vahvistamisessa. Viime aikoina huomiota on kiinnitetty erityisesti siihen, miten tilat vaikuttavat ihmisten toimijuuteen eli kykyyn ja mahdollisuuksiin toimia tai vaikuttaa erilaisiin työhön liittyviin tilanteisiin. Tässä puheenvuorossa keskityn siihen, miten tilojen ja ihmistoimijuuden välistä suhdetta voidaan tutkia niin kutsutusta sosiomat…
Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models
2014
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
In Situ Representations and Access Consciousness in Neural Blackboard or Workspace Architectures
2018
Phenomenal theories of consciousness assert that consciousness is based on specific neural correlates in the brain, which can be separated from all cognitive functions we can perform. If so, the search for robot consciousness seems to be doomed. By contrast, theories of functional or access consciousness assert that consciousness can be studied only with forms of cognitive access, given by cognitive processes. Consequently, consciousness and cognitive access cannot be fully dissociated. Here, the global features of cognitive access of consciousness are discussed based on neural blackboard or (global) workspace architectures, combined with content addressable or "in situ" representations as …
Kinematic synthesis of a new 3D printing solution
2016
Low-cost production of metal parts is a challenge nowadays in the Additive Manufacturing world and new methods are being developed. The MIM technique is an innovative approach for 3D printing. This method requires a machine with suitable kinematics capable of generating the adequate movements. The object of this article is the kinematic synthesis of a 5Dofs robot, based on two PKM machines, for additive manufacturing in order to compliant with the requirements of this new technology. Robot kinematics have been optimized by genetic algorithm in order to cover the required workspace and the design of the robot and outline of the control system are also given.
The Role of Employees’ Work Patterns and Office Type Fit (and Misfit) in the Relationships Between Employee Well-Being and Performance
2018
Nearly half of workers agree that their workspace is unsuitable for their work tasks. Furthermore, it is assumed that happy workers often perform better than unhappy ones. Nevertheless, due to the effect of the emotional-cognitive processes, the misfit between employees’ office type and their work patterns (complexity and interactivity) may hamper this relationship between well-being and performance. This diary study on 83 office workers ( n = 603 time points) combines information about work patterns identified by using cluster analysis with Neufert’s office type classification. Results show that the work pattern–office type (mis)fit moderates the relationship between well-being and perfor…
Contact Estimation in Robot Interaction
2014
In the paper, safety issues are examined in a scenario in which a robot manipulator and a human perform the same task in the same workspace. During the task execution, the human should be able to physically interact with the robot, and in this case an estimation algorithm for both interaction forces and a contact point is proposed in order to guarantee safety conditions. The method, starting from residual joint torque estimation, allows both direct and adaptive computation of the contact point and force, based on a principle of equivalence of the contact forces. At the same time, all the unintended contacts must be avoided, and a suitable post-collision strategy is considered to move the r…
Making Industrial Robots Smarter with Adaptive Reasoning and Autonomous Thinking for Real-Time Tasks in Dynamic Environments: A Case Study
2018
In order to extend the abilities of current robots in industrial applications towards more autonomous and flexible manufacturing, this work presents an integrated system comprising real-time sensing, path-planning and control of industrial robots to provide them with adaptive reasoning, autonomous thinking and environment interaction under dynamic and challenging conditions. The developed system consists of an intelligent motion planner for a 6 degrees-of-freedom robotic manipulator, which performs pick-and-place tasks according to an optimized path computed in real-time while avoiding a moving obstacle in the workspace. This moving obstacle is tracked by a sensing strategy based on ma-chin…
Multi-Objective Design of Optimisation of a Class of PKMs - The 3-DOF Gantry-Tau
2010
The main contribution of this paper is the use of the evolutionary multi-objective methodology based on the com plex search algorithm and geometric approaches to optimise a parallel kinematic structure. The design optimisation scheme includes the kinematic (collisions free workspace), elastostatic (Cartesian stiffness in the Y direction) and elastodynamic (first resonance frequency) properties of the PKM as the objectives. The optimisation constraints are the support frame lengths, actuator positions, end-effector’s kinematic parameters and the robot’s arm lengths. The optimisation results are presented in this paper.
Inverse kinematics of a 7 DOF manipulator using Adaptive Neuro-Fuzzy Inference Systems
2012
This paper was carried out objectively to explore and describe the inverse kinematics solutions of an anthropomorphic redundant robotic structure with seven degrees of freedom and human like workspace. Traditional inverse kinematics methods can have an unacceptably slow pace for the today's extremely redundant systems. The presented method uses the Adaptive Neuro-Fuzzy Inference Systems (ANFIS) editor and the Fuzzy Logic toolbox from MATLAB® which allow the investigation of various kinematical suitable solutions. ANFIS supports the determination of one degree of freedom, remaining therefore only six undetermined degrees. For better understanding of the simulations a CAD model that mimics th…
A Design of Global Workspace Model with Attention: Simulations of Attentional Blink and Lag-1 Sparing
2022
There are many developed theories and implemented artificial systems in the area of machine consciousness, while none has achieved that. For a possible approach, we are interested in implementing a system by integrating different theories. Along this way, this paper proposes a model based on the global workspace theory and attention mechanism, and providing a fundamental framework for our future work. To examine this model, two experiments are conducted. The first one demonstrates the agent’s ability to shift attention over multiple stimuli, which accounts for the dynamics of conscious content. Another experiment of simulations of attentional blink and lag-1 sparing, which are two well-stu…