Search results for "Workspace"
showing 10 items of 31 documents
Virtual temporal bone: an interactive 3-dimensional learning aid for cranial base surgery.
2009
OBJECTIVE: We have developed an interactive virtual model of the temporal bone for the training and teaching of cranial base surgery. METHODS: The virtual model was based on the tomographic data of the Visible Human Project. The male Visible Human's computed tomographic data were volumetrically reconstructed as virtual bone tissue, and the individual photographic slices provided the basis for segmentation of the middle and inner ear structures, cranial nerves, vessels, and brainstem. These structures were created by using outlining and tube editing tools, allowing structural modeling either directly on the basis of the photographic data or according to information from textbooks and cadaver…
Visibility in Open Workspaces : Implications for Organizational Identification
2022
This study takes an affordance perspective to examine visibility in open workspaces and its relationship to organizational identification. Spatial visibility—the possibility for members’ behaviors to be visible to others in organizational space—was investigated in a Finnish organization following a transition to open workspace. Interview and survey data revealed that spatial visibility highlighted similarities among workers’ facilities and enhanced exposure and company branding, making attachment to the organization more salient. Visibility also afforded perceptions of inequality by exposing some workers’ space limitations and other constraints in the sociomaterial context, diminishing thei…
Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS 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, ANFIS 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.
Learning high-level manipulative tasks through imitation
2006
This paper presents ConSCIS, Conceptual Space based Cognitive Imitation System, which tightly links low-level data processing with knowledge representation in the context of robot imitation. Our focus is on the program-level imitation: we are interested in the final effects of actions on objects, and not on the particular kinematic or dynamic properties of the motion. The same architecture is used both to analyze and represent the task to be imitated, and to perform the imitation by generalizing in novel and different circumstances. The implemented experimental scenario is a two dimensional world populated with various objects in which observation/imitation takes place. To validate our appr…
Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming
2010
Pulished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9404-y This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of th…
An Auto-Operated Telepresence System for the Nao Humanoid Robot
2013
International audience; This paper presents the development process of an auto-operated telepresence system for the Nao humanoid robot with the main functionality of directing the robot autonomously to an operator-defined target location within a static workspace. The workspace is observed by an array of top-view cameras, which are used to localize the robot by means of a color-based marker detection technique. The system is accessible world-wide to the remote operator through any Internet-capable device via a web-based control interface. The web server responsible for coordinating the communication between system and operator is hosted on a cloud-based infrastructure online. The system was…
The inverse kinematics solutions of a 7 DOF robotic arm using Fuzzy Logic
2012
This paper focuses on modeling resolving and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematical model and the kinematics equations of the robotic arm are presented. A method of resolving the redundancy of seven degrees of freedom robotic arm is presented using Fuzzy Logic toolbox from MATLAB®.
Planning in Collaborative Stigmergic Workspaces
2011
The paper investigates how the engineered capabilities of structuring the knowledge encoded in collaborative workspaces affect the collective intelligence of its users. The investigation is made for the particular case of collaborative planning and is grounded on the theoretical framework of stigmergic systems. The knowledge structure encoded in collaborative workspaces in the form of a conceptual hierarchical task network is analysed by building a multi-agent simulation to evaluate the performance of different planning strategies. The results show that different representational complexities of collaborative planning knowledge have a great impact over the collective intelligence when the u…
Implementation Challenges for Supporting Coworking Virtual Enterprises
2013
The creation of co working alliances is usually restricted to the coworkers in the same workspace. However, they might not necessarily be best partners to take advantage of a collaboration opportunity. To break the spatial constrains and find the best partners irrespective of their co working spaces location, our proposal is to represent and manage the co working alliances as virtual enterprises (VEs) and to develop a multi-agent system (MAS) that serves as Virtual Breeding Environment (VBE). In this paper we provide the basis for the future development of this system. Thus, we introduce the co working VEs distinguishing features and the initial proposals on how to implement the MAS to addr…
Motion Cueing Algorithms: A Review
2017
Robotic motion platforms are commonly used in motion-based vehicle simulation. However, the reproduction of realistic accelerations within a reduced workspace is a major challenge. Thus, high-level control strategies commonly referred to as motion cueing algorithms (MCA) are required to convert the simulated vehicle physical state into actual motion for the motion platform. This paper reviews the most important strategies for the generation of motion cues in simulators, listing the advantages and drawbacks of the different solutions. The motion cueing problem, a general scheme and the four most common approaches – classical washout, adaptive washout, optimal control and model predictive con…