scholarly journals Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources

2021 ◽  
Author(s):  
Philipp Matthias Schäfer ◽  
Franz Steinmetz ◽  
Stefan Schneyer ◽  
Timo Bachmann ◽  
Thomas Eiband ◽  
...  
Keyword(s):  
Practical Method ◽  
Practical Experience ◽  
Robotic Systems ◽  
Robotic Assembly ◽  
Easy Access ◽  
World Model ◽  
Assembly Pipeline ◽  
Robotic Skills ◽  
Factory Of The Future ◽  
Theoretical Considerations

Technology has sufficiently matured to enable, in principle, flexible and autonomous robotic assembly systems. However, in practice, it requires making all the relevant (implicit) knowledge that system engineers and workers have – about products to be assembled, tasks to be performed, as well as robots and their skills – available to the system explicitly. Only then can the planning and execution components of a robotic assembly pipeline communicate with each other in the same language and solve tasks autonomously without human intervention. This is why we have developed the Factory of the Future (FoF) ontology. At its core, this ontology models the tasks that are necessary to assemble a product and the robotic skills that can be employed to complete said tasks. The FoF ontology is based on existing standards. We started with theoretical considerations and iteratively adapted it based on practical experience gained from incorporating more and more components required for automated planning and assembly. Furthermore, we propose tools to extend the ontology for specific scenarios with knowledge about parts, robots, tools, and skills from various sources. The resulting scenario ontology serves us as world model for the robotic systems and other components of the assembly process. A central runtime interface to this world model provides fast and easy access to the knowledge during execution. In this work, we also show the integration of a graphical user front-end, an assembly planner, a workspace reconfigurator, and more components of the assembly pipeline that all communicate with the help of the FoF ontology. Overall, our integration of the FoF ontology with the other components of a robotic assembly pipeline shows that using an ontology is a practical method to establish a common language and understanding between the involved components.

Critical reagents issues & solutions for anti-drug antibody assays

Bioanalysis ◽  
2021 ◽  
Author(s):  
Laurent Vermet
Keyword(s):  
Life Cycle ◽  
Current Literature ◽  
Life Cycle Management ◽  
Practical Experience ◽  
Scientific Understanding ◽  
Pragmatic Approach ◽  
Chemical Reagents ◽  
Antibody Assays ◽  
Theoretical Considerations

Background: Anti-Drug Antibody assays (ADA) are developed and constructed with biological and chemical reagents. Capture and detector reagents as well as ADA standard are considered critical for the performance’s characteristics of a bridging assay. Current literature well describes theoretical considerations to manage critical reagents (CR) life cycle management. Nevertheless, those recommendations must be completed by a pragmatic approach which have to be exemplified. Methodology: This article intends to present and describe two study cases of bioanalytical challenge coming from the practical experience of dealing with ADA CR and offers a concrete explanation of how to solve issues. Conclusion: An appropriate management of ADA CR goes through availability anticipation, characterization and by a scientific understanding process of assay and reagents inconsistency.

Prototyping Robotic Systems

2013 ◽  
pp. 715-760
Author(s):  
Andrew Goldenberg
Keyword(s):  
Project Management ◽  
Faculty Member ◽  
Case Studies ◽  
General Framework ◽  
Technology Development ◽  
Small And Medium Enterprises ◽  
Practical Experience ◽  
Robotic Systems ◽  
Management Technology ◽  
Medium Enterprises

This chapter provides an experience-based framework of prototypes development and commissioning. It introduces elements learned directly from the practice that encompass aspects of project management, technology development process, and commercialization in the context of Small and Medium Enterprises (SMEs). The contents of this chapter are based mainly on the author’s practical experience of leading an SME technology developer. The author is also a faculty member working as a researcher and teacher. Because of the interrelationship between research and technology development, his views and perception of the topic may be unique, and they are personal. The chapter presents a general framework for robotic systems prototyping. To back up the points made in the chapter, three case studies of robotic prototyping are included to help the reader perceive the outlined concepts.

scholarly journals Clustered sparsity and Poisson-gap sampling

2021 ◽  
Author(s):  
Paweł Kasprzak ◽  
Mateusz Urbańczyk ◽  
Krzysztof Kazimierczuk
Keyword(s):  
Nmr Spectra ◽  
Practical Experience ◽  
Apparent Contradiction ◽  
Sampling Schemes ◽  
Uniform Sampling ◽  
Random Generator ◽  
Blue Noise ◽  
Data Points ◽  
Non Uniform Sampling ◽  
Theoretical Considerations

AbstractNon-uniform sampling (NUS) is a popular way of reducing the amount of time taken by multidimensional NMR experiments. Among the various non-uniform sampling schemes that exist, the Poisson-gap (PG) schedules are particularly popular, especially when combined with compressed-sensing (CS) reconstruction of missing data points. However, the use of PG is based mainly on practical experience and has not, as yet, been explained in terms of CS theory. Moreover, an apparent contradiction exists between the reported effectiveness of PG and CS theory, which states that a “flat” pseudo-random generator is the best way to generate sampling schedules in order to reconstruct sparse spectra. In this paper we explain how, and in what situations, PG reveals its superior features in NMR spectroscopy. We support our theoretical considerations with simulations and analyses of experimental data from the Biological Magnetic Resonance Bank (BMRB). Our analyses reveal a previously unnoticed feature of many NMR spectra that explains the success of ”blue-noise” schedules, such as PG. We call this feature “clustered sparsity”. This refers to the fact that the peaks in NMR spectra are not just sparse but often form clusters in the indirect dimension, and PG is particularly suited to deal with such situations. Additionally, we discuss why denser sampling in the initial and final parts of the clustered signal may be useful.

Prototyping Robotic Systems

2012 ◽  
pp. 1-50
Author(s):  
Andrew Goldenberg
Keyword(s):  
Project Management ◽  
Faculty Member ◽  
Case Studies ◽  
General Framework ◽  
Technology Development ◽  
Small And Medium Enterprises ◽  
Practical Experience ◽  
Robotic Systems ◽  
Management Technology ◽  
Medium Enterprises

This chapter provides an experience-based framework of prototypes development and commissioning. It introduces elements learned directly from the practice that encompass aspects of project management, technology development process, and commercialization in the context of Small and Medium Enterprises (SMEs). The contents of this chapter are based mainly on the author’s practical experience of leading an SME technology developer. The author is also a faculty member working as a researcher and teacher. Because of the interrelationship between research and technology development, his views and perception of the topic may be unique, and they are personal. The chapter presents a general framework for robotic systems prototyping. To back up the points made in the chapter, three case studies of robotic prototyping are included to help the reader perceive the outlined concepts.

scholarly journals Comparative analysis of internal consultations and internet counseling parents of children with disabilities

2015 ◽  
Vol 23 (3) ◽  
pp. 67-78
Author(s):  
M.E. Baulina
Keyword(s):  
Comparative Analysis ◽  
Children With Disabilities ◽  
Practical Experience ◽  
Easy Access ◽  
Access To Information ◽  
Online Counseling ◽  
Raising Children ◽  
Internet Counseling ◽  
Psychological Assistance ◽  
To Receive

The article is devoted to comparison of internal counseling parents of children with disabilities with Internet consultation in "offline" form. Examines the practical experience of providing remote psychological assistance, the main difficulties and the advantages of this type of counseling. The most common categories of needs of parents, allowing to make conclusions about what motivates them to receive psychological assistance. The article emphasizes that, despite the limitations of online counseling, this form of psychological assistance must be present on the market of advisory services. The answers on the questions in "offline" form ensure the quick and easy access to information, what undoubtedly need parents who are raising children with disabilities.

Facile and Straightforward Synthesis of Racemic Version of Substituted 3-[3-(2-Hydroxyphenyl)-3-oxo-1-arylpropyl]-4-hydroxycoumarins: Easy Access to a Series of Biorelevant Warfarin Analogues

Synthesis ◽  
2021 ◽  
Author(s):  
Goutam Brahmachari ◽  
Mullicka Mandal ◽  
Indrajit Karmakar
Keyword(s):  
Potassium Hydroxide ◽  
Potassium Hydroxide Solution ◽  
Practical Method ◽  
Easy Access ◽  
Chromatographic Purification ◽  
Present Communication ◽  
Aqueous Potassium Hydroxide ◽  
Hydrolysis Of ◽  
Column Chromatographic ◽  
Operational Simplicity

AbstractThe present communication deals with a straightforward, efficient, and green synthesis of a series of racemic version of 3-[3-(2-hydroxyphenyl)-3-oxo-1-arylpropyl]-4-hydroxycoumarins as biologically interesting warfarin analogues upon decarboxylative hydrolysis of bis-coumarin derivatives in aqueous potassium hydroxide solution. The salient features of this practical method are operational simplicity, avoidance of any organic solvents and tedious column chromatographic purification, clean reaction profiles, excellent yields, and gram-scale synthetic applicability.

Learning Task Strategies in Robotic Assembly Systems

Robotica ◽  
1992 ◽  
Vol 10 (5) ◽  
pp. 409-418 ◽  
Author(s):  
D. S. Ahn ◽  
H. S. Cho ◽  
K. Ide ◽  
F. Miyazaki ◽  
S. Arimoto
Keyword(s):  
Learning Algorithm ◽  
Functional Limitations ◽  
Practical Method ◽  
Learning Task ◽  
Robotic Assembly ◽  
Task Execution ◽  
Force Signal ◽  
Imperfect Knowledge ◽  
Series Of Experiments ◽  
Task Strategies

SUMMARYThis paper presents a practical method for generating task strategies applicable to chamferless and high-precision assembly. The difficulties in devising reliable assembly strategies result from various forms of uncertainty such as imperfect knowledge on the parts being assembled and functional limitations of the assembly devices.In order to cope with these problems, the robot is provided with the capability of learning the corrective motion in response to the force signal through iterative task execution. The strategy is realized by adopting a learning algorithm and is represented in a binary tree-type database. To verify the effectiveness of the proposed algorithm, a series of experiments are carried out under simulated real production conditions. The experimental results show that sensory signal-to-robot action mapping can be acquired effectively and, consequently, the assembly task can be performed successfully.

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