scholarly journals Autonomous dry stone

2020 ◽  
Vol 4 (3-4) ◽  
pp. 127-140 ◽  
Author(s):  
Ryan Luke Johns ◽  
Martin Wermelinger ◽  
Ruben Mascaro ◽  
Dominic Jud ◽  
Fabio Gramazio ◽  
...  
Keyword(s):  
Error Propagation ◽  
Planning Process ◽  
Embodied Energy ◽  
Average Weight ◽  
Terrain Mapping ◽  
Planning Algorithm ◽  
Context Specific ◽  
Robotic Construction ◽  
Stone Walls

AbstractOn-site robotic construction not only has the potential to enable architectural assemblies that exceed the size and complexity practical with laboratory-based prefabrication methods, but also offers the opportunity to leverage context-specific, locally sourced materials that are inexpensive, abundant, and low in embodied energy. We introduce a process for constructing dry stone walls in situ, facilitated by a customized autonomous hydraulic excavator. Cabin-mounted LiDAR sensors provide for terrain mapping, stone localization and digitization, and a planning algorithm determines the placement position of each stone. As the properties of the materials are unknown at the beginning of construction, and because error propagation can hinder the efficacy of pre-planned assemblies with non-uniform components, the structure is planned on-the-fly: the desired position of each stone is computed immediately before it is placed, and any settling or unexpected deviations are accounted for. We present the first result of this geometric- and motion-planning process: a 3-m-tall wall composed of 40 stones with an average weight of 760 kg.

scholarly journals A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142199858
Author(s):  
Gianpaolo Gulletta ◽  
Eliana Costa e Silva ◽  
Wolfram Erlhagen ◽  
Ruud Meulenbroek ◽  
Maria Fernanda Pires Costa ◽  
...  
Keyword(s):  
Motor Control ◽  
Upper Limb ◽  
Planning Process ◽  
Computational Cost ◽  
Humanoid Robots ◽  
Efficient Manner ◽  
Daily Lives ◽  
Human Motor Control ◽  
Planning Algorithm ◽  
Human Motor

As robots are starting to become part of our daily lives, they must be able to cooperate in a natural and efficient manner with humans to be socially accepted. Human-like morphology and motion are often considered key features for intuitive human–robot interactions because they allow human peers to easily predict the final intention of a robotic movement. Here, we present a novel motion planning algorithm, the Human-like Upper-limb Motion Planner, for the upper limb of anthropomorphic robots, that generates collision-free trajectories with human-like characteristics. Mainly inspired from established theories of human motor control, the planning process takes into account a task-dependent hierarchy of spatial and postural constraints modelled as cost functions. For experimental validation, we generate arm-hand trajectories in a series of tasks including simple point-to-point reaching movements and sequential object-manipulation paradigms. Being a major contribution to the current literature, specific focus is on the kinematics of naturalistic arm movements during the avoidance of obstacles. To evaluate human-likeness, we observe kinematic regularities and adopt smoothness measures that are applied in human motor control studies to distinguish between well-coordinated and impaired movements. The results of this study show that the proposed algorithm is capable of planning arm-hand movements with human-like kinematic features at a computational cost that allows fluent and efficient human–robot interactions.

scholarly journals Agro morphological characterization of cashew trees (Anacardium occidental L.), in improvement for the high yield and high quality of raw nuts in Burkina Faso

2021 ◽  
Vol 14 (9) ◽  
pp. 3188-3199
Author(s):  
Windpouiré Vianney Tarpaga ◽  
Larbouga Bourgou ◽  
Moussa Guira ◽  
Albert Rouamba
Keyword(s):  
Burkina Faso ◽  
Core Collection ◽  
Morphological Diversity ◽  
Morphological Characterization ◽  
High Yield ◽  
Morphological Description ◽  
Average Weight ◽  
In Situ Collection

The cashew sector has taken a great economic interest, due to the strong global demand for raw nuts. However, in Burkina Faso, the productivity of orchards still remains low, a consequence of a lack of breeding program on the species. In order to increase yields and improve the quality of the raw nut, efficient clones must be developed. Surveys were carried out and a primary in situ collection was made from which a core collection of 15 trees was extracted. An agro-morphological description of the selected trees and an analysis of the structuration of the variability within them were carried out. The study revealed appreciable agro-morphological diversity through shape, size and color of apple, type of inflorescence, fruiting period and the health of trees. A structure of diversity based on agronomic criteria led to identify 5 groups of trees, characterized by an average weight of the nut between 6.64 and 8.32 g, a kernel rate between 28.10 and 31.26% and a yield per tree between 34.27 and 104.42 kg. Performing trees will be erected as heads of clones for the production of grafted plants. La filière anacarde a pris un grand intérêt économique, suite à la forte demande mondiale en noix brutes. Cependant, au Burkina Faso, la productivité des vergers demeure encore faible, conséquence d’une absence de sélection variétale du matériel végétal. En vue d’accroître les rendements et d’améliorer la qualité de la noix brute, une recherche de clones performants était indispensable. Des prospections ont été conduites et une collection primaire in situ a été constituée dont une core collection de 15 arbres a été extraite. Une description agro-morphologique des arbres sélectionnés et une analyse de la structuration de la variabilité en son sein ont été conduites. L’étude a révélé une diversité agro morphologique appréciable à travers la forme, le calibre et la couleur de la pomme, le type d’inflorescence, la période de fructification et l’état sanitaire des arbres. Une structuration de la diversité basée sur les critères agronomiques a permis d’identifier 5 groupes d’arbres, caractérisés par un poids moyen de la noix compris entre 6,64 et 8,32 g, un taux d’amande compris entre 28,10 et 31,26% et un rendement par arbre compris entre 34,27 et 104,42 kg. Les arbres les plus performants constitueront des têtes de clones pour la production de plants par greffage.

scholarly journals Rapid trajectory planning of a reusable launch vehicle for airdrop with geographic constraints

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141881797 ◽  
Author(s):  
Xing Wei ◽  
Xuejing Lan ◽  
Lei Liu ◽  
Yongji Wang
Keyword(s):  
Trajectory Planning ◽  
Planning Process ◽  
Launch Vehicle ◽  
Search Problem ◽  
Quasi Equilibrium ◽  
Bank Angle ◽  
Weighted Interpolation ◽  
Reusable Launch Vehicle ◽  
Terminal Constraints ◽  
Planning Algorithm

Online feasible trajectory generation for an airdrop unpowered reusable launch vehicle is addressed in this article. A rapid trajectory planning algorithm is proposed to satisfy not only the multiple path and terminal constraints but also the complex geographic constraints of waypoints and no-fly zones. Firstly, the lower and upper boundaries of the bank angle that implement all the path constraints are obtained based on the quasi-equilibrium glide condition. To determine the bank angle directly, a weighted interpolation of the boundaries is then developed, which provides an effective approach to simplify the planning process as a one-parameter search problem. Subsequently, three types of lateral planning algorithms are designed to determine the sign of the bank angle according to the requirements of waypoints passage, no-fly-zones avoidance, and terminal constraints in the airdrop process, and the convergence of these methods for passing over the waypoints and meeting the terminal conditions has been clarified and formally demonstrated. Considering the constraints in the actual airdrop flight missions, the planning trajectory is divided into several subphases to facilitate the application of corresponding algorithms. Finally, the performance of the proposed algorithm is assessed through three airdrop missions of reusable launch vehicle with different geographic constraints. Besides, the effectiveness of the algorithm is demonstrated by the Monte Carlo simulation results.

scholarly journals Determining UAV Flight Trajectory for Target Recognition Using EO/IR and SAR

Sensors ◽  
2020 ◽  
Vol 20 (19) ◽  
pp. 5712
Author(s):  
Wojciech Stecz ◽  
Krzysztof Gromada
Keyword(s):  
Planning Process ◽  
Route Planning ◽  
Mixed Integer ◽  
Military Operations ◽  
Flight Trajectory ◽  
Planning Algorithm ◽  
Aerial Vehicle ◽  
Milp Model ◽  
Flight Trajectories ◽  
Synthetic Aperture Radars

The paper presents the concept of planning the optimal trajectory of fixed-wing unmanned aerial vehicle (UAV) of a short-range tactical class, whose task is to recognize a set of ground objects as a part of a reconnaissance mission. Tasks carried out by such systems are mainly associated with an aerial reconnaissance using Electro-Optical/Infrared (EO/IR) systems and Synthetic Aperture Radars (SARs) to support military operations. Execution of a professional reconnaissance of the indicated objects requires determining the UAV flight trajectory in the close neighborhood of the target, in order to collect as much interesting information as possible. The paper describes the algorithm for determining UAV flight trajectories, which is tasked with identifying the indicated objectives using the sensors specified in the order. The presence of UAV threatening objects is taken into account. The task of determining the UAV flight trajectory for recognition of the target is a component of the planning process of the tactical class UAV mission, which is also presented in the article. The problem of determining the optimal UAV trajectory has been decomposed into several subproblems: determining the reconnaissance flight method in the vicinity of the currently recognized target depending on the sensor used and the required parameters of the recognition product (photo, film, or SAR scan), determining the initial possible flight trajectory that takes into account potential UAV threats, and planning detailed flight trajectory considering the parameters of the air platform based on the maneuver planning algorithm designed for tactical class platforms. UAV route planning algorithms with time constraints imposed on the implementation of individual tasks were used to solve the task of determining UAV flight trajectories. The problem was formulated in the form of a Mixed Integer Linear Problem (MILP) model. For determining the flight path in the neighborhood of the target, the optimal control algorithm was also presented in the form of a MILP model. The determined trajectory is then corrected based on the construction algorithm for determining real UAV flight segments based on Dubin curves.

scholarly journals A Grammar for Transformative Urbanism

2021 ◽  
pp. 247-277
Author(s):  
Sony Pellissery ◽  
Juliana Gómez Aristizábal
Keyword(s):  
Urban Planning ◽  
Urban Space ◽  
Social Order ◽  
Planning Process ◽  
Communication Process ◽  
Natural Order ◽  
Communication Model ◽  
Societal Norms ◽  
Sociocultural Practices ◽  
Context Specific

AbstractThe problems that engulf Southern cities are huge. There is a tendency towards solutions based on models encountered elsewhere emerging as deeper problems when only the symptoms are treated. Therefore, in this concluding chapter, we propose a model that transforms urban development as a process from within. Our arguments are on two levels. On the first level, we propose a grammarian alternative—primarily since it has the potential to challenge the rational models that are overemphasized in urban-planning practice. We also consider that such a grammarian approach could suit the search for a non-deductive model of multiple centres. On the second level, we propose a communication model whereby this grammarian alternative could be operationalized. We show that an autopoietic reproduction of urban space takes place through interaction between social order and natural order. Space for intervention, towards transformative urbanism, can be found in this communication process. There is a need to direct this autopoietic process by picking up on the codes from societal norms. In Southern urbanism, these codes are the experiences of suffering, violence, in-betweenness, social identity, harmony, and context-specific sociocultural practices. Transformative urbanism depends on the ways in which these codes are leveraged by collectives of citizens in the urban-planning process.

In-Situ Calibrated Digital Process Twin Models for Resource Efficient Manufacturing

2021 ◽  
Author(s):  
David Adeniji ◽  
Julius Schoop
Keyword(s):  
Process Improvement ◽  
Titanium Aluminide ◽  
Machine Learning Algorithms ◽  
Embodied Energy ◽  
Empirical Modeling ◽  
Optimization Approach ◽  
Gamma Titanium Aluminide ◽  
Process Characterization ◽  
Novel Approach

Abstract The chief objective of manufacturing process improvement efforts is to significantly minimize process resources such as time, cost, waste, and consumed energy while improving product quality and process productivity. This paper presents a novel physics-informed optimization approach based on artificial intelligence (AI) to generate digital process twins (DPTs). The utility of the DPT approach is demonstrated for the case of finish machining of aerospace components made from gamma titanium aluminide alloy (γ-TiAl). This particular component has been plagued with persistent quality defects, including surface and sub-surface cracks, which adversely affect resource efficiency. Previous process improvement efforts have been restricted to anecdotal post-mortem investigation and empirical modeling, which fail to address the fundamental issue of how and when cracks occur during cutting. In this work, the integration of in-situ process characterization with modular physics-based models is presented, and machine learning algorithms are used to create a DPT capable of reducing environmental and energy impacts while significantly increasing yield and profitability. Based on the preliminary results presented here, an improvement in the overall embodied energy efficiency of over 84%, 93% in process queuing time, 2% in scrap cost, and 93% in queuing cost has been realized for γ-TiAl machining using our novel approach.

scholarly journals Biocidal Activity of Phyto-Derivative Products Used on Phototrophic Biofilms Growing on Stone Surfaces of the Domus Aurea in Rome (Italy)

2020 ◽  
Vol 10 (18) ◽  
pp. 6584
Author(s):  
Lorenza Rugnini ◽  
Giada Migliore ◽  
Flavia Tasso ◽  
Neil Thomas William Ellwood ◽  
Anna Rosa Sprocati ◽  
...  
Keyword(s):  
Fluorescence Analysis ◽  
Mixed Solution ◽  
Heritage Sites ◽  
Phototrophic Biofilms ◽  
16S Gene ◽  
Glycyrrhiza Glabra L ◽  
Stone Walls ◽  
Derivative Products ◽  
Photosynthetic Activities

Hypogean or enclosed monuments are important cultural heritage sites that can suffer biodegradation. Many of the stone walls of the prestigious Domus Aurea are overwhelmed by dense biofilms and so need intervention. Room 93 was chosen as a study site with the aim to test the efficacy of phyto-derivatives as new biocides. Laboratory studies were performed comparing the effects of liquorice leaf extract (Glycyrrhiza glabra L.), lavender essential oil (Lavandula angustifolia Mill.) and a combination of both. In situ studies were also performed to test the effect of liquorice. The results were compared with those of the commonly used synthetic biocide benzalkonium chloride. The effects on the biofilms were assessed by microscopy along with chlorophyll fluorescence analysis. The phototrophs in the biofilms were identified morphologically, while the heterotrophs were identified with culture analysis and 16S gene sequencing. Results showed that the mixed solution liquorice/lavender was the most effective in inhibiting the photosynthetic activities of biofilms in the laboratory tests; while, in situ, the effect of liquorice was particularly encouraging as an efficient and low-invasive biocide. The results demonstrate a high potential biocidal efficacy of the phyto-derivatives, but also highlight the need to develop an efficient application regime.

scholarly journals Tactical capacity planning in hospital departments

2019 ◽  
Vol 32 (1) ◽  
pp. 233-245
Author(s):  
Agneta Larsson ◽  
Anna Fredriksson
Keyword(s):  
Capacity Planning ◽  
Planning Process ◽  
Multiple Case Study ◽  
Tactical Planning ◽  
Content Type ◽  
Essential Components ◽  
Multiple Case ◽  
Planning Processes ◽  
Context Specific

Purpose The purpose of this paper is to explore tactical planning potential within hospital departments. The study had two objectives: first, to develop a framework for tactical capacity planning in healthcare departments by identifying and structuring essential components for healthcare capacity management; and, second, to identify context-specific requirements and functionality demands on tactical planning processes within healthcare. Design/methodology/approach A framework for tactical capacity planning was developed through a literature review. Additionally, an exploratory multiple-case study was performed, with cases from three Swedish hospital departments, which provide the opportunity to study framework applicability in its natural context. Findings Findings illustrate how an active tactical planning process can facilitate adjustments to capacity. However, the multiple-case study shows that there are contextual differences between departments, depending on available treatments and resources that affect capacity adjustments, and how the planning process activities should be structured. Originality/value This project develops a framework for a tactical capacity-planning process adapted to healthcare provider contexts. By developing the framework, based on the literature and tactical level planning processes within three Swedish hospital case studies, the authors bridge gaps between theory and application regarding healthcare capacity planning.

Components of the menu planning process: the case of five star hotels in Antalya

2017 ◽  
Vol 119 (7) ◽  
pp. 1562-1577 ◽  
Author(s):  
Faruk Seyitoglu
Keyword(s):  
Design Methodology ◽  
Planning Process ◽  
Content Type ◽  
Academic Literature ◽  
Menu Planning ◽  
Food And Beverage ◽  
Key Issues ◽  
The Subject ◽  
Second Category

Purpose The purpose of this paper is to understand how chefs working at five star hotels perceive the menu planning process. Design/methodology/approach Case studies were used to deeply investigate the menu planning process of five star hotels. Data were drawn from in situ interviews and documentation, which were examined via content analysis. After the coding process, themes and categories were extracted and corroborated by direct quotations. Findings The findings revealed that the menu planning process can be classified into five major categories. The first category consists of the prerequisites of planning a menu. The second category is “key issues” and encapsulates the managerial, consumer, gastronomic, marketing and external aspects of menu planning. The third category highlights key actors’ responsibilities in the menu planning process, while the fourth category, “trial and improvement,” elaborates on the iterative process of menu design and the key players and issues involved with it. Finally, the last category outlines the difficulties of menu planning. Originality/value In the existing academic literature, most research conducted about menu planning only provides conceptual framework while empirical information remains unexamined. However, this qualitative study aims to clarify the components of menu planning in more detail in terms of five star hotel firms that offer various food and beverage operations. The present study is an attempt to fill a gap in the existing literature on the subject.

A Novel Distributed Multi Agent System Plan Algorithm

2010 ◽  
Vol 139-141 ◽  
pp. 1732-1735
Author(s):  
Wei Jin Jiang ◽  
Xin Mi Luo ◽  
Li Na Yao
Keyword(s):  
Planning Process ◽  
Conflict Detection ◽  
Causal Chain ◽  
Time Sequence ◽  
Multi Agent System ◽  
Agent System ◽  
High Security ◽  
Planning Algorithm ◽  
Multi Agent

This paper presents One-Distributed-Multi-Agent-Plan. In this system, each agent is planning to carry out their goals and bound by the plan and to determine action steps. Action steps with the routine sequence of steps bound to the time sequence Equivalence of constraints and variables used restraint is not equivalent to not entirely routine steps; Programming is gradually adding and refining constraints on the planning process, algorithm based on the classic UCPOP Planning algorithm; through a special Multi-Agent arrange to check and clear up collision between Agent-Plan, then restriction their action. In this algorithm, The coordination and Conflict-Detection of the Agent-Plan consulted by Multi-Agent I.e.; the bound consistency of Distributed judgment between Agent-Plan; The algorithm is reliable in determining the environment, Since the algorithm is exchanged between agents and actions related to the conflict, and the causal chain bound Therefore it is a small amount of communication and high security advantages.

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