scholarly journals Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis

2021 ◽  
Vol 11 (8) ◽  
pp. 3548
Author(s):  
Daniel Huczala ◽  
Tomáš Kot ◽  
Martin Pfurner ◽  
Dominik Heczko ◽  
Petr Oščádal ◽  
...  
Keyword(s):  
Numerical Methods ◽  
Robotic Manipulator ◽  
Search Algorithms ◽  
The Other ◽  
Local Optimum ◽  
Kinematic Structure ◽  
Link Length ◽  
Vector Algebra ◽  
Position And Orientation ◽  
The Cost

Researchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that might be unreachable by universal manipulators in an existing constrained environment. Numerical methods are broadly used to find the optimum design but they often require an estimated initial kinematic structure as input, especially if local-optimum-search algorithms are used. This paper presents four different algorithms for such an estimation using the standard Denavit–Hartenberg convention. Two of the algorithms are able to reach a given position and the other two can reach both position and orientation using Bézier splines approximation and vector algebra. The results are demonstrated with three chosen example poses and are evaluated by measuring manipulability and the total link length of the final kinematic structures.

Workspace and Singularity Characteristics of 3-DOF Planar Parallel Robots

2009 ◽  
Author(s):  
Ming Huang
Keyword(s):  
Computer Simulations ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Geometric Parameters ◽  
Kinematic Structure ◽  
Link Length ◽  
End Effector ◽  
Serial Chain ◽  
Parametric Studies ◽  
Position And Orientation

A study of workspace and singularity characteristics is presented for two common types of 3-DOF planar parallel robot manipulators. The robots considered feature a kinematic structure with 3 in-parallel actuated, R-R-R and R-P-R serial chain geometries. In this study, computer simulations aided with graphic visualization were used to characterize the complete pose workspace (for ranges of both position and orientation) and the singularity inherent to the systems. Parametric studies have also been performed to ascertain the way in which both characteristics vary with respect to various geometric parameters such as pivot location, link length, and platform size for end-effector. Results are shown by way of a unique composite ratio of the available workspace to the density of singularity within that workspace.

scholarly journals Black Hole Algorithm for Sustainable Design of Counterfort Retaining Walls

2020 ◽  
Vol 12 (7) ◽  
pp. 2767 ◽  
Author(s):  
Víctor Yepes ◽  
José V. Martí ◽  
José García
Keyword(s):  
Black Hole ◽  
Sustainable Design ◽  
Retaining Walls ◽  
The Other ◽  
Trade Off ◽  
Construction Company ◽  
Geometric Variables ◽  
The Stability ◽  
The Cost ◽  
Black Hole Algorithm

The optimization of the cost and CO 2 emissions in earth-retaining walls is of relevance, since these structures are often used in civil engineering. The optimization of costs is essential for the competitiveness of the construction company, and the optimization of emissions is relevant in the environmental impact of construction. To address the optimization, black hole metaheuristics were used, along with a discretization mechanism based on min–max normalization. The stability of the algorithm was evaluated with respect to the solutions obtained; the steel and concrete values obtained in both optimizations were analyzed. Additionally, the geometric variables of the structure were compared. Finally, the results obtained were compared with another algorithm that solved the problem. The results show that there is a trade-off between the use of steel and concrete. The solutions that minimize CO 2 emissions prefer the use of concrete instead of those that optimize the cost. On the other hand, when comparing the geometric variables, it is seen that most remain similar in both optimizations except for the distance between buttresses. When comparing with another algorithm, the results show a good performance in optimization using the black hole algorithm.

scholarly journals Analysis of Operational Efficiencies and Costs for Extracting Thinned Woods in Small-Scale Forestry, Nasunogahara Area, Tochigi Prefecture, Japan

2020 ◽  
Vol 3 (1) ◽  
pp. 61
Author(s):  
Kazuhiro Aruga
Keyword(s):  
Transportation Costs ◽  
The Other ◽  
Small Scale ◽  
Light Truck ◽  
Operation Costs ◽  
Other Hand ◽  
Light Trucks ◽  
The Cost ◽  
Manual Extraction ◽  
Truck Transportation

In this study, two operational methodologies to extract thinned woods were investigated in the Nasunogahara area, Tochigi Prefecture, Japan. Methodology one included manual extraction and light truck transportation. Methodology two included mini-forwarder forwarding and four-ton truck transportation. Furthermore, a newly introduced chipper was investigated. As a result, costs of manual extractions within 10 m and 20 m were JPY942/m3 and JPY1040/m3, respectively. On the other hand, the forwarding cost of the mini-forwarder was JPY499/m3, which was significantly lower than the cost of manual extractions. Transportation costs with light trucks and four-ton trucks were JPY7224/m3 and JPY1298/m3, respectively, with 28 km transportation distances. Chipping operation costs were JPY1036/m3 and JPY1160/m3 with three and two persons, respectively. Finally, the total costs of methodologies one and two from extraction within 20 m to chipping were estimated as JPY9300/m3 and JPY2833/m3, respectively, with 28 km transportation distances and three-person chipping operations (EUR1 = JPY126, as of 12 August 2020).

ON SHALLOW‐HOLE TEMPERATURE MEASUREMENTS—A TEST STUDY IN THE SALTON SEA GEOTHERMAL FIELD

Geophysics ◽  
1977 ◽  
Vol 42 (3) ◽  
pp. 572-583 ◽  
Author(s):  
Tien‐Chang Lee
Keyword(s):  
Numerical Methods ◽  
Ground Surface ◽  
Nonlinear Least Squares ◽  
Geothermal Gradient ◽  
Geothermal Field ◽  
The Other ◽  
Temperature Measurements ◽  
Salton Sea ◽  
Depth Interval ◽  
Average Value

Shallow‐hole (<13 m) temperature measurements made at various depths and/or times may yield reliable values of geothermal gradient and thermal diffusivity if the groundwater table is shallow (a few meters) such that the effect of time‐dependent moisture content and physical properties is negligible. Two numerical methods based on nonlinear least‐squares curve fitting are derived to remove the effect of annual temperature wave at the ground surface. One method can provide information on the gradient and diffusivity as a function of depth while the other gives average value over the depth interval measured. Experiments were carried in six test holes cased with 2 cm OD PVC pipes in the Salton Sea geothermal field. A set of 5 to 7 thermistors was permanently buried inside the individual pipes with dry sand. Consistent gradient determinations have been obtained with both numerical methods from six monthly observations. By linearly extrapolating the depths to the 100°C and 200°C isotherms from the calculated gradients and mean ground temperatures, we have found good agreement with the nearby deep‐well data for four holes. Discrepancy is found for two holes, one of which is located near the field of [Formula: see text] mud volcanoes and the other near the volcanic Red Hill, reflecting complicated local hydrologic conditions.

scholarly journals Competing Conventions with Costly Information Acquisition

Games ◽  
2021 ◽  
Vol 12 (3) ◽  
pp. 53
Author(s):  
Roberto Rozzi
Keyword(s):  
Information Acquisition ◽  
Evolutionary Model ◽  
Equilibrium Selection ◽  
The Other ◽  
Group Interactions ◽  
Social Coordination ◽  
Long Run ◽  
Stochastic Stability Analysis ◽  
The Stability ◽  
The Cost

We consider an evolutionary model of social coordination in a 2 × 2 game where two groups of players prefer to coordinate on different actions. Players can pay a cost to learn their opponent’s group: if they pay it, they can condition their actions concerning the groups. We assess the stability of outcomes in the long run using stochastic stability analysis. We find that three elements matter for the equilibrium selection: the group size, the strength of preferences, and the information’s cost. If the cost is too high, players never learn the group of their opponents in the long run. If one group is stronger in preferences for its favorite action than the other, or its size is sufficiently large compared to the other group, every player plays that group’s favorite action. If both groups are strong enough in preferences, or if none of the groups’ sizes is large enough, players play their favorite actions and miscoordinate in inter-group interactions. Lower levels of the cost favor coordination. Indeed, when the cost is low, in inside-group interactions, players always coordinate on their favorite action, while in inter-group interactions, they coordinate on the favorite action of the group that is stronger in preferences or large enough.

Observations Regarding Numerical Results Obtained by the Floquet-Method

2013 ◽  
Author(s):  
Till J. Kniffka ◽  
Horst Ecker
Keyword(s):  
Numerical Methods ◽  
Monodromy Matrix ◽  
Mathieu Equation ◽  
Numerical Results ◽  
The Other ◽  
Benchmark Problem ◽  
Stability Studies ◽  
Floquet Method ◽  
System Equations ◽  
Time Periodic

Stability studies of parametrically excited systems are frequently carried out by numerical methods. Especially for LTP-systems, several such methods are known and in practical use. This study investigates and compares two methods that are both based on Floquet’s theorem. As an introductary benchmark problem a 1-dof system is employed, which is basically a mechanical representation of the damped Mathieu-equation. The second problem to be studied in this contribution is a time-periodic 2-dof vibrational system. The system equations are transformed into a modal representation to facilitate the application and interpretation of the results obtained by different methods. Both numerical methods are similar in the sense that a monodromy matrix for the LTP-system is calculated numerically. However, one method uses the period of the parametric excitation as the interval for establishing that matrix. The other method is based on the period of the solution, which is not known exactly. Numerical results are computed by both methods and compared in order to work out how they can be applied efficiently.

scholarly journals GazeEMD: Detecting Visual Intention in Gaze-Based Human-Robot Interaction

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 68
Author(s):  
Lei Shi ◽  
Cosmin Copot ◽  
Steve Vanlanduit
Keyword(s):  
Cognitive Load ◽  
Real World ◽  
Robotic Manipulator ◽  
Similarity Score ◽  
Human Robot Interaction ◽  
Experimental Results ◽  
The Other ◽  
Robot Interaction ◽  
Run Length ◽  
The Real

In gaze-based Human-Robot Interaction (HRI), it is important to determine human visual intention for interacting with robots. One typical HRI interaction scenario is that a human selects an object by gaze and a robotic manipulator will pick up the object. In this work, we propose an approach, GazeEMD, that can be used to detect whether a human is looking at an object for HRI application. We use Earth Mover’s Distance (EMD) to measure the similarity between the hypothetical gazes at objects and the actual gazes. Then, the similarity score is used to determine if the human visual intention is on the object. We compare our approach with a fixation-based method and HitScan with a run length in the scenario of selecting daily objects by gaze. Our experimental results indicate that the GazeEMD approach has higher accuracy and is more robust to noises than the other approaches. Hence, the users can lessen cognitive load by using our approach in the real-world HRI scenario.

Sparse Incremental Delta-Bar-Delta for System Identification

2014 ◽  
Vol 665 ◽  
pp. 643-646
Author(s):  
Ying Liu ◽  
Yan Ye ◽  
Chun Guang Li
Keyword(s):  
System Identification ◽  
Cost Function ◽  
Learning Algorithm ◽  
Learning System ◽  
The Other ◽  
Sparse System ◽  
Speed Up ◽  
Sparse System Identification ◽  
The Cost ◽  
Zero Attractor

Metalearning algorithm learns the base learning algorithm, targeted for improving the performance of the learning system. The incremental delta-bar-delta (IDBD) algorithm is such a metalearning algorithm. On the other hand, sparse algorithms are gaining popularity due to their good performance and wide applications. In this paper, we propose a sparse IDBD algorithm by taking the sparsity of the systems into account. Thenorm penalty is contained in the cost function of the standard IDBD, which is equivalent to adding a zero attractor in the iterations, thus can speed up convergence if the system of interest is indeed sparse. Simulations demonstrate that the proposed algorithm is superior to the competing algorithms in sparse system identification.

Economic analysis of endobronchial ultrasound (EBUS) as a tool in the diagnosis and staging of lung cancer in Singapore

2010 ◽  
Vol 26 (2) ◽  
pp. 170-174 ◽  
Author(s):  
Shin Yuh Ang ◽  
Rachel Woo Yin Tan ◽  
Mariko Siyue Koh ◽  
Jeremy Lim
Keyword(s):  
Lung Cancer ◽  
Lung Biopsy ◽  
Cost Savings ◽  
Needle Aspiration ◽  
The Other ◽  
Transbronchial Lung Biopsy ◽  
Endobronchial Ultrasound ◽  
Economic Evaluations ◽  
Diagnosis Of Lung Cancer ◽  
The Cost

Objectives: Endobronchial ultrasound (EBUS), encompassing endobronchial ultrasound transbronchial needle aspiration (EBUS-TBNA) and Endobronchial ultrasound transbronchial lung biopsy (EBUS-TBLB) has been proven to be a useful modality in the staging and diagnosis of lung cancer. However, there are limited publications on the cost-effectiveness of EBUS and no economic evaluations relevant to the Singapore setting. An economic evaluation using our hospital's data was used to assess the cost implications of EBUS substituting where clinically appropriate: transthoracic needle aspiration; (TTNA), fluoroscopy-guided transbronchial lung biopsy (TBLB), and mediastinoscopy in the diagnosis and staging of lung cancer.Methods: Relationship between the clinical and economic implications of alternative modalities was modeled using data inputs that were relevant to the Singapore setting. Two decision analytic models were constructed to evaluate the cost of EBUS compared with TTNA, TBLB, and staging mediastinoscopy. Only direct costs were imputed.Results: In the base–case analysis, TTNA was the most economical strategy (SGD3,335 = US$2,403) where clinically suitable for the diagnosis of lung cancer as compared to the other options: TBLB (SGD4,499) and EBUS-TBLB (SGD4,857). On the other hand, EBUS-TBNA resulted in expected cost savings of SGD1,214 per positive staging of lung cancer as compared to mediastinoscopy.Conclusions: The use of EBUS-TBNA could result in cost savings of SGD1,214 per positive staging of lung cancer as compared to mediastinoscopy. Whereas TTNA was the most economical intervention for the diagnosis of lung cancer as compared to the other options, its main limitation lies in its suitability only for peripheral lung lesions and high complication rate.

The Total Costs of Ultrasonography Summary

PEDIATRICS ◽  
1990 ◽  
Vol 86 (2) ◽  
pp. 323-323
Author(s):  
CHUNG-PIN SHEIH ◽  
CHING-YUANG LIN
Keyword(s):  
School Children ◽  
Correct Diagnosis ◽  
The Other ◽  
Renal Ultrasonography ◽  
Benefit Ratio ◽  
The Cost ◽  
Renal Abnormalities

In Reply.— In our article, we reported on 645 renal abnormalities found in 132 686 school children screened through the use of renal ultrasonography. Of those with renal abnormalities, 50 patients had surgically correctable lesions. The other 595 cases have been examined fully to establish the correct diagnosis and the prevalence of renal abnormalities in school children. However, in this study, the cost to benefit ratio was determined by total expense to number of surgically treatable diseases.

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