Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis

1994 ◽  
Vol 116 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Kuo-Chiang Shao ◽  
Kuu-young Young
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Practical Application ◽  
Kinematic Constraints ◽  
Workspace Analysis ◽  
Task Requirements ◽  
The Given ◽  
The Relationship ◽  
Robot Workspace

Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.

Determination of the Significance of Tolerance Parameters on Robot Performance Using Taguchi’s Tolerance Design Experiment

2012 ◽  
Vol 229-231 ◽  
pp. 2100-2105
Author(s):  
Son Duy Dao ◽  
Kazem Abhary
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Statistical Significance ◽  
Design Experiment ◽  
Tolerance Design ◽  
Robot Accuracy ◽  
Robot Performance ◽  
The Given

Tolerance parameters have different effects on robot accuracy. Therefore, it is better to tighten the tolerances of the factors that have statistically significant effect on robot accuracy and widen the tolerances of insignificant ones. By doing so, one not only achieves the given robot accuracy but also reduces manufacturing costs. Objective of this paper is to present an approach used to determine statistical significance of each tolerance parameter of robot manipulator on robot accuracy which can assist robot designers in making decisions regarding tolerance design. In this paper, a comprehensive model of industrial robot manipulator capable of carrying out various applications is developed and computer simulated. Then Taguchi’s Tolerance Design Experiment is applied to determine the statistical significances of the tolerances on robot accuracy. The approach is illustrated by a case study dealing with 6-DOF PUMA 560 robot manipulator.

scholarly journals Changing socio-spatialities in Kadiköy, Istanbul: A case study

Spatium ◽  
2021 ◽  
pp. 9-20
Author(s):  
Hamurcu Ulubaş ◽  
Fatih Terzi
Keyword(s):  
Social Structure ◽  
Urban Space ◽  
Physical Environment ◽  
Morphological Character ◽  
The Social ◽  
Urban Pattern ◽  
External Forces ◽  
The Given ◽  
The Relationship

This study aims to reveal the relationship between the social structure and urban pattern in a specified urban area by means of the socio-spatial dialectic. To understand the circumstances behind this dichotomy, analyses were conducted on two intertwined subjects - social structure and morphology - as part of a case study of the historical core of the Kad?k?y district in Istanbul, Turkey. Based on the findings, some inferences, depending on the predefined social and morphological components, are made about changing socio-spatialities in the given place by means of time-spacesociety relations. The results show that each socio-cultural group brought their own culture and adapted their physical environment according to their basic needs, and that culture has a restrictive and explanatory effect on the formation of space. In addition, population growth and the adaptive capacity of society to external forces demanding change in the urban space also turn out to unavoidably affect the development scheme of the morphological character of the area.

scholarly journals Success factors for e-learning in a developing country: A case study of Serbia

2014 ◽  
Vol 15 (3) ◽  
Author(s):  
Miroslava Raspopovic ◽  
Aleksandar Jankulovic ◽  
Jovana Runic ◽  
Vanja Lucic
Keyword(s):  
Success Factors ◽  
Learning System ◽  
Transitional Country ◽  
Learning Evaluation ◽  
E Learning ◽  
Subject Areas ◽  
The Given ◽  
The Relationship ◽  
Students Satisfaction

<p>In this paper, DeLone and McLean’s updated information system model was used to evaluate the success of an e-Learning system and its courses in a transitional country like Serbia. In order to adapt this model to an e-Learning system, suitable success metrics were chosen for each of the evaluation stages. Furthermore, the success metrics for e-Learning evaluation are expanded by providing several systems for quantifying the given success metrics. The results presented in this paper are based on courses that were taught both online and traditionally in three different subject areas: graphic design, information technology, and management. Of particular interest were success metrics which can be determined using quantifiable data from the e-Learning system itself, in order to evaluate and find the relationship between students’ academic achievement, usage of learning materials, and students’ satisfaction. The results from different courses were used to illustrate the implementation and evaluation of these success metrics for both online and traditional students.</p>

scholarly journals Risk Assessment of Housing Market Segments: The Lender’s Perspective

2018 ◽  
Vol 11 (4) ◽  
pp. 69 ◽  
Author(s):  
Mats Wilhelmsson ◽  
Jianyu Zhao
Keyword(s):  
Risk Assessment ◽  
Housing Market ◽  
Systems Engineering ◽  
Risk Control ◽  
Quantitative Model ◽  
Market Segments ◽  
Investment Portfolios ◽  
The Given ◽  
The Relationship

It is well known that risk factors influence how investment portfolios perform from a lender’s perspective; therefore, a thorough risk assessment of the housing market is vital. The aim of this paper was to analyze the risks from housing apartments in different housing market segments by using the Stockholm, Sweden, owner-occupied apartment market as a case study. By applying quantitative and systems engineering methods, we (1) established the relationship between the overall housing market and several housing market segments, (2) analyzed the results from the quantitative model, and (3) finally provided a feasible portfolio regarding risk control based on the given data. The goal was to determine how different housing segment factors could reveal risk towards the overall market and offer better outlooks for risk management when it comes to housing apartments. The results indicated that the risk could be reduced at the same time as the return increased. From a lender’s perspective, this could reduce the overall risk.

Kämpfe um Bergbau und die Möglichkeiten demokratischer Transformation

2017 ◽  
Vol 47 (189) ◽  
Author(s):  
Kristina Dietz
Keyword(s):  
Direct Democracy ◽  
Social Power ◽  
Political Agenda ◽  
The Political ◽  
Liberal Democratic ◽  
Political Effects ◽  
Mining Project ◽  
National Governments ◽  
The Relationship

The article explores the political effects of popular consultations as a means of direct democracy in struggles over mining. Building on concepts from participatory and materialist democracy theory, it shows the transformative potentials of processes of direct democracy towards democratization and emancipation under, and beyond, capitalist and liberal democratic conditions. Empirically the analysis is based on a case study on the protests against the La Colosa gold mining project in Colombia. The analysis reveals that although processes of direct democracy in conflicts over mining cannot transform existing class inequalities and social power relations fundamentally, they can nevertheless alter elements thereof. These are for example the relationship between local and national governments, changes of the political agenda of mining and the opening of new spaces for political participation, where previously there were none. It is here where it’s emancipatory potential can be found.

Interactive acculturation of Turkish-Belgian parents and children in Flanders: A case study of Beringen

2019 ◽  
Vol 16 (3) ◽  
pp. 417-428
Author(s):  
Özgün Ünver ◽  
Ides Nicaise
Keyword(s):  
Early Childhood ◽  
Maternal Employment ◽  
Domain Specificity ◽  
Specific Context ◽  
Childhood Education ◽  
Parents And Children ◽  
Education And Care ◽  
The Relationship ◽  
The Town

This article tackles the relationship between Turkish-Belgian families with the Flemish society, within the specific context of their experiences with early childhood education and care (ECEC) system in Flanders. Our findings are based on a focus group with mothers in the town of Beringen. The intercultural dimension of the relationships between these families and ECEC services is discussed using the Interactive Acculturation Model (IAM). The acculturation patterns are discussed under three main headlines: language acquisition, social interaction and maternal employment. Within the context of IAM, our findings point to some degree of separationism of Turkish-Belgian families, while they perceive the Flemish majority to have an assimilationist attitude. This combination suggests a conflictual type of interaction. However, both parties also display some traits of integrationism, which points to the domain-specificity of interactive acculturation.

The Relationship between Working Environment and Internship Satisfaction Level: A Case Study Of A 4-Star Hotel Restaurant In Germany

2019 ◽  
Vol 2 (4) ◽  
pp. 276-291
Author(s):  
Chatarina Natalia Putri
Keyword(s):  
Career Development ◽  
Working Hours ◽  
Learning Opportunities ◽  
Working Environment ◽  
The Other ◽  
Satisfaction Level ◽  
Supervisory Support ◽  
Support Organization ◽  
The Relationship

There are many factors that can lead to internship satisfaction. Working environment is one of the factors that will result to such outcome. However, many organizations discarded the fact of its importance. The purpose of this study is to determine whether there is a significant relationship between working environment and internship satisfaction level as well as to determine whether the dimensions of working environment significantly affect internship satisfaction. The said dimensions are, learning opportunities, supervisory support, career development opportunities, co-workers support, organization satisfaction, working hours and esteem needs. A total of 111 questionnaires were distributed to the respondents and were processed by SPSS program to obtain the result of this study. The results reveal that learning opportunities, career development opportunities, organization satisfaction and esteem needs are factors that contribute to internship satisfaction level. In the other hand, supervisory support, co-workers support and working hours are factors that lead to internship dissatisfaction. The result also shows that organization satisfaction is the strongest factor that affects internship satisfaction while co-workers support is the weakest.

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