Task-Oriented Direct Synthesis of Serial Manipulators Using Moment Invariants

1996 ◽  
Author(s):  
Jian S. Dai ◽  
Neil Holland ◽  
David R. Kerr
Keyword(s):  
Direct Synthesis ◽  
Design Procedure ◽  
Graphical Analysis ◽  
Moment Invariants ◽  
Regional Structure ◽  
New Approach ◽  
Serial Manipulators ◽  
Twist Mapping ◽  
Task Oriented ◽  
And Task

Abstract This paper applies the finite twist mapping to spatial manipulators and gives a new approach for the direct synthesis of serial manipulators by using moment invariants and task decomposition. The task is represented in an image space as a cluster of a large number of points and is related to the finite twist of the manipulator. For a given task, the new approach applies a series of analysis to the data, and produces a set of invariant criteria. The type and disposition of the proximal joint are identified, and the remaining regional structure may then be designed. The approach is based upon the numerical analysis of a task without recourse to graphical analysis and is computer programmable. This new design procedure is illustrated with a flowchart and a numerical example is given.

scholarly journals An Innovative Optimization Design Procedure for Mechatronic Systems with a Multi-Criteria Formulation

2021 ◽  
Vol 11 (19) ◽  
pp. 8900
Author(s):  
Cuauhtémoc Morales-Cruz ◽  
Marco Ceccarelli ◽  
Edgar Alfredo Portilla-Flores
Keyword(s):  
Optimization Design ◽  
Optimization Problem ◽  
Heuristic Algorithms ◽  
Design Procedure ◽  
Concurrent Design ◽  
Mechatronic Systems ◽  
Design Variables ◽  
One Step ◽  
Task Oriented ◽  
And Task

This paper presents an innovative Mechatronic Concurrent Design procedure to address multidisciplinary issues in Mechatronics systems that can concurrently include traditional and new aspects. This approach considers multiple criteria and design variables such as mechanical aspects, control issues, and task-oriented features to formulate a concurrent design optimization problem that is solved using but not limited to heuristic algorithms. Furthermore, as an innovation, this procedure address all considered aspects in one step instead of multiple sequential stages. Finally, this work discusses an example referring to Mechatronic Design to show the procedure performed and the results show its capability.

Architecture for Decision-Making and Task-Oriented Reasoning for the Web of Trust

2009 ◽  
Author(s):  
Stanislav Ustymenko ◽  
Daniel G. Schwartz ◽  
George Maroulis ◽  
Theodore E. Simos
Keyword(s):  
Decision Making ◽  
Web Of Trust ◽  
Task Oriented ◽  
The Web ◽  
And Task

Optimal design of 6-DOF eclipse mechanism based on task-oriented workspace

Robotica ◽  
2011 ◽  
Vol 30 (7) ◽  
pp. 1041-1048 ◽  
Author(s):  
Donghun Lee ◽  
Jongwon Kim ◽  
TaeWon Seo
Keyword(s):  
Optimal Design ◽  
Unit Length ◽  
Numerical Procedure ◽  
Design Procedure ◽  
Mass Reduction ◽  
Objective Functions ◽  
Design Efficiency ◽  
Task Oriented ◽  
Structural Mass ◽  
Optimal Set

SUMMARYWe present a new numerical optimal design for a redundant parallel manipulator, the eclipse, which has a geometrically symmetric workspace shape. We simultaneously consider the structural mass and design efficiency as objective functions to maximize the mass reduction and minimize the loss of design efficiency. The task-oriented workspace (TOW) and its partial workspace (PW) are considered in efficiently obtaining an optimal design by excluding useless orientations of the end-effector and by including just one cross-sectional area of the TOW. The proposed numerical procedure is composed of coarse and fine search steps. In the coarse search step, we find the feasible parameter regions (FPR) in which the set of parameters only satisfy the marginal constraints. In the fine search step, we consider the multiobjective function in the FPR to find the optimal set of parameters. In this step, fine search will be kept until it reaches the optimal set of parameters that minimize the proposed objective functions by continuously updating the PW in every iteration. By applying the proposed approach to an eclipse-rapid prototyping machine, the structural mass of the machine can be reduced by 8.79% while the design efficiency is increased by 6.2%. This can be physically interpreted as a mass reduction of 49 kg (the initial structural mass was 554.7 kg) and a loss of 496 mm3/mm in the workspace volume per unit length. The proposed optimal design procedure could be applied to other serial or parallel mechanism platforms that have geometrically symmetric workspace shapes.

scholarly journals The Impact of Relationship-Oriented and Task-Oriented Management Styles on Organizational Climate in Tehran's High Schools

2016 ◽  
Vol 6 (3) ◽  
Author(s):  
Zahra Gholami
Keyword(s):  
High Schools ◽  
Data Collection ◽  
Organizational Climate ◽  
Management Style ◽  
Equation Modeling ◽  
Management Styles ◽  
Statistical Population ◽  
Task Oriented ◽  
The Impact ◽  
And Task

<p>The present study was aimed to examine the effect of relationship-oriented and task-oriented management styles on organizational atmosphere in Tehran's high schools in 2016. Research method was practical in terms of objective; and it was survey-descriptive in terms of data collection. The statistical population consisted of all high school managers in Tehran, from which 322 individuals were selected as sample size, using Cochran Formula and Stratified Cluster Sampling Method. Data collection was done based on Halpin and Croft's Organizational Climate questionnaire, and Bardtz and Matenkas's management Style questionnaire. After collecting the questionnaires, data were examined and analyzed using Structural Equation Modeling method and Smart PLS software in two sections: 1) measurement model and 2) structural section. In the first section, technical features of the questionnaires included reliability, convergent validity, divergent validity, which were examined through PLS. In the second section, the software's significance coefficients were used for examining research hypotheses. Finally, findings approved of the effect of relationship-oriented and task-oriented management styles on organizational climate in Tehran's high schools. </p>

scholarly journals Burnout in COVID-19 era - a literature review

2021 ◽  
Vol 11 (8) ◽  
pp. 236-246
Author(s):  
Magdalena Leśniewska ◽  
Ilona Kozioł ◽  
Julia Budzyńska ◽  
Joanna Milanowska
Keyword(s):  
Healthcare Workers ◽  
Young Female ◽  
Database Search ◽  
Occupational Group ◽  
Vulnerable Group ◽  
Global Pandemic ◽  
New Challenges ◽  
Female Nurses ◽  
Task Oriented ◽  
And Task

BACKGROUND:  The COVID-19 pandemic brought changes to daily life of many people. One of those affected by the global pandemic arena was work life. One of the results is burnout due to new challenges and stress associated with them. The most exposed occupational group were healthcare workers as the frontline in the fight against the virus, but not only this group could experience burnout due to the pandemic. AIM OF THE STUDY: The aim of this study was to review the most recent available literature on burnout associated with COVID-19. PubMed, SCOPUS, and Google Scholar databases were reviewed. The Phrase "burnout and covid" was used to search the database. Search criteria were: all open access, 2020 and 2021, psychology and English. After Screening titles and abstracts 21 articles were analyzed in detail.RESULTS:  Many studies have shown that healthcare workers experienced burnout. The most vulnerable group were young, female nurses working with COVID-19 patients.  Burnout was also observed among parents, who started working remotely from home or who had to commute to their workplace despite the pandemic. Remote schooling also contributed to burnout among students and teachers.SUMMARY AND CONCLUSIONS: To reduce the possibility of experiencing burnout there are several actions that could be taken. First of all a positive attitude and task oriented actions are helpful in coping in new, stressful situations. Other solutions are social support and psychotherapy.

scholarly journals Political Correlates of Apophatic and Cataphatic Listening Styles

2018 ◽  
Author(s):  
Eike Mark Rinke ◽  
Patricia Moy
Keyword(s):  
Empirical Test ◽  
National Sample ◽  
Point Of View ◽  
Sample Survey ◽  
Normative Concepts ◽  
Political Outcomes ◽  
Critical Error ◽  
Using Data ◽  
Task Oriented ◽  
And Task

While it is a truism that political voice is a cornerstone of democratic theory, less theorizing has focused on its counterpart, political listening. Drawing upon research related to listening practices, this study operationalizes for empirical study Dobson’s (2014) normative concepts of apophatic listening, which is dialogic and facilitates discussion across lines of difference, and cataphatic listening, which is monologic and disruptive in nature. Using data from a national sample survey of Latinos fielded shortly after the 2016 U.S. presidential election (N = 720), we provide an empirical test of these listening practices’ democratic value by examining how relational and analytical listening (dimensions of apophatic practices) and task-oriented and critical listening (dimensions of cataphatic practices) are associated with various political outcomes, including political interest, knowledge, trust, and participation. Findings indicate that, from a normative point of view, task-oriented listening was unrelated or negatively related to political outcomes while relational listening had ambivalent relations. However, the two cognitive-epistemic dimensions of both types of listening – analytical listening and critical (error-seeking) listening – were both strongly and positively related to most studied political outcomes. These findings offer nuanced evidence that apophatic and cataphatic listening might not necessarily be at odds with each other where democratically desirable outcomes are concerned.

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