An Approach for Direct Offline Programming of High Precision Assembly Tasks on 3D Scans Using Tactile Control and Automatic Program Adaption

This contribution defines a methodology for the direct offline programming of robotic high-precision assembly tasks without the need for real-world teach-in, even for less-accurate lightweight robots. Using 3D scanning technologies, the relevant geometrical relations of the offline programming environment are adjusted to the real application. To bridge remaining accuracy gaps, tactile insertion algorithms are provided. As repetitive inaccuracy compensation through tactile search is considered wasteful, a method to automatically adapt the robot program to continuously increase precision over time, taking into account multiple influence sets is derived. The presented methodology is validated on a real-world use case from electronics production.

Techniques and Approaches to Generate Automatic Program Code

Raising the level of digital education is one of the main challenges facing the education system now and in the future. The use of modern technical means in the learning process is an important prerequisite for achieving this ambitious goal. However, this must go hand in hand with the introduction of new scientific methods and teaching approaches. This article presents different approaches which the author has applied in her practice with high school students. It proves the benefit of their implementation in the educational process.

Power Supply of Mariculture Complexes

The authors have developed a complex for the cultivation of marine aquatic organisms, including a coastal fry breeding plant and marine plantations in the water column on the deep-sea shelf, installed with a bottom anchor. The autonomy of the plant and marine plantations is ensured by the automation of technological processes with energy supply from renewable sources. The development is based on the task to expand the capabilities of mariculture by creating autonomous automatic installations for growing marine aquatic organisms with remote dispatch control and management. This solution provides the possibility of placement away from the coast and automatic program selection of the optimal immersion depth of cultivated aquatic organisms to intensify the growth of aquatic organisms and escape from the storm, and service by standard methods of the fishing fleet without diving operations. Solving this problem will increase the efficiency and scale of mariculture in food production and introduce into practice autonomous biotechnical systems for biological treatment of sea areas exposed to anthropogenic impact.

RATIONAL DRYING MODES FOR RAPE SEEDS

Studies on finding rational regimes for drying rapeseed based on drying kinetics and qualitative characteristics are presented. The value of the acid number of oil and laboratory germination of rapeseed on the 7th day of germination were taken as a qualitative characteristic. Experimental studies of the kinetics of the rapeseed drying process were performed on a convective drying stand using an automatic program for collecting and processing information, which makes it possible to obtain more accurate experimental data. According to the obtained experimental data with the help of an automatic program for collecting and processing information, graphs of the process kinetics from the influence of the coolant temperature are constructed. The presented graphs show the drying curves and drying speed curves that characterize the drying process that takes place during the period of falling drying speed. The study of the kinetics of the drying process of rapeseed in a single-stage mode at coolant temperatures of 50 - 80°C showed that for better quality it is necessary to use low-temperature modes. The acid number of oil in this temperature range does not change significantly and is 1.03 - 1.8 mg / g of oil. These values of the acid number of the oil correspond to the normative value. The greatest effect on the germination of rapeseed is observed from the temperature of the coolant. Increasing the temperature by 10 ° C in the temperature range from 50 to 80 ° C reduces the germination of the material. According to laboratory studies, we determined the drying regime of 50 ° С with a germination of 97% to be the most expedient and rational. All other drying regimes significantly reduce the germination of rapeseed and can not be recommended, as the germination value is less than the state standard of Ukraine 2240-93.

An Approach to Automated Programming of Industrial Robots Based on Graphic Data

The article contains the design and implementation of a system for automatic program generation for an industrial robot, based on the graphical input recorded by camera. The content is divided into two parts. The first section deals with processing the visual data acquired from an external source to appropriate form, using edge identification and transformation from raster to vector image. The second part deals with the automatic program generation for industrial robot. The article describes different possible approaches to solution. The selected way of solution was implemented in real environment in a chosen programming language. The final section of the article presents the results of experiments, together with the overall evaluation of the results.

Image-based many-language programming language identification

Programming language identification (PLI) is a common need in automatic program comprehension as well as a prerequisite for deeper forms of code understanding. Image-based approaches to PLI have recently emerged and are appealing due to their applicability to code screenshots and programming video tutorials. However, they remain limited to the recognition of a small amount of programming languages (up to 10 languages in the literature). We show that it is possible to perform image-based PLI on a large number of programming languages (up to 149 in our experiments) with high (92%) precision and recall, using convolutional neural networks (CNNs) and transfer learning, starting from readily-available pretrained CNNs. Results were obtained on a large real-world dataset of 300,000 code snippets extracted from popular GitHub repositories. By scrambling specific character classes and comparing identification performances we also show that the characters that contribute the most to the visual recognizability of programming languages are symbols (e.g., punctuation, mathematical operators and parentheses), followed by alphabetic characters, with digits and indentation having a negligible impact.

DSCope: Development of Automatic Program for Detecting Fractures and Measuring Dip Angles

Changes in underground environments have been predicted by investigating underground bedrock conditions and analyzing the shapes of discontinuities in the rocks. The most commonly used method is to drill a borehole, insert a camera inside and capture the wall of the borehole in a photograph to investigate the discontinuities. However, if the images of the borehole cannot be captured, the characteristics of the discontinuities in the bedrock are analyzed by capturing the drilling cores in photographs. In this case, considerable time is required to analyze the drilling cores with the naked eye and measure the attitudes of the discontinuities developed in the cores in detail. Moreover, the results may vary depending on the researcher’s perspective. To overcome these limitations, this study develops a program for analyzing photographs of drilling cores. The program can automatically identify discontinuities in drilling cores and measure the attitudes through linear fitting using only drilling core photographs. In addition, we apply the program to practical field data to verify its applicability. We found that the program could provide more accurate and objective information on drilling cores than the currently used method and could more effectively organize the characteristics of fractures in the study area.