Berufsanforderungen und flexible Altersgrenze

In 1973 the government of the Federal Republic plans to introduce a flexible retirement age. According to this new law, old age pensions can be paid already to people who are 63 years of age instead of 65 as at present. The government thus hopes to do more justice to the difference in capacity for work of elderly insured people and to the lact that the decline of life of humans depends to a certain extent on the occupational requirements demanded of them. Based on social science and medical research results this essay shows that the flexible retirement age cannot master these problems. The essay mentions in particular general relationships between age and work as well as special relationships between practised work, illness, disability and age. The bibliography includes literature connected with other aspects of the flexible retirement age.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Design and Implementation of a Flexible Robot

This robot has low natural frequencies of vibration. Insights into the problems of designing joint and link flexibility are discussed. The robot has three flexible rotary actuators and two flexible, interchangeable links, and is controlled by three independent processors on a VMEbus. Results from experiments on the control of residual vibration for different types of robot motion are presented. Impulse prefiltering and slowly accelerating moves are compared and shown to be effective at reducing residual vibration.

Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with a simple tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an %engineered analog of the human hand with a complete haptic system.

Design and Development of 3-DOF Modular Micro Parallel Kinematic Manipulator

This paper presents the research and development of a 3-legged micro Parallel Kinematic Manipulator (PKM) for positioning in micro-machining and assembly operations. The structural characteristics associated with parallel manipulators are evaluated and the PKMs with translational and rotational movements are identified. Based on these identifications, a hybrid 3-UPU (Universal Joint-Prismatic Joint-Universal Joint) parallel manipulator is designed and fabricated. The principles of the operation and modeling of this micro PKM is largely similar to a normal size Stewart Platform (SP). A modular design methodology is introduced for the construction of this micro PKM. Calibration results of this hybrid 3-UPU PKM are discussed in this paper.

Agrupamiento flexible de alumnos en la Educación Primaria : una respuesta a la diversidad.

Verificar la eficacia de una experiencia de innovación sobre agrupamiento flexible de alumnos en una estructura multinivel; focalizando el problema en la necesidad de responder a la diversidad existente en cada aula,diseñando, frente a la organización tradicional graduada, una nueva estructura organizativa que establece tres modalidades distintas de agrupamiento: multinivel propiamente dicho, para las Áreas de Lengua y Matemáticas; graduado para el resto de las áreas, y flexible según tareas; se contempla, así mismo una organización también flexible de profesores y una adaptación del curriculum escolar a dicha estructura.. Son objeto de investigación todos los alumnos de Primer Ciclo de Educación Primaria del CP de Las Vegas en Corvera de Asturias.. Tras la exposición del marco teórico sobre el que gira la experiencia de innovación (curriculum escolar y organización de la enseñanza) se hace una descripción del proceso de planificación y puesta en práctica de la nueva estructura organizativa y se analiza su incidencia sobre los alumnos implicados, en relación con su actitud ante la enseñanza y con su rendimiento académico.. Escalas, registros, entrevistas, diario de investigación, grabaciones de las clases, encuestas, cuestionarios, etc.. Análisis cualitativo de los registros observacionales, de los resultados de las entrevistas, del contenido del diario de investigación, de las producciones de los alumnos; porcentajes de rendimiento académico, de movilidad internivelar de los alumnos.. El análisis de los datos confirma los efectos positivos de la estructura multinivel sobre la actitud y rendimiento de los alumnos al permitir que cada uno, respetando sus condiciones de partida, progrese de acuerdo a su capacidad y a su ritmo de aprendizaje. El planteamiento cooperativo del trabajo docente permitió que los profesores mejorarán su práctica y dispusieran de un mayor control, sobre sus actividades, incrementando su desarrollo profesional.. La estructura multinivel constituye una buena alternativa al problema de atención a la diversidad al introducir elementos de mayor racionalidad y flexibilidad en el funcionamiento de los centros docentes. La rigidez de la estructura organizativa graduada y la enseñanza homogénea y uniforme que produce, apoyada básicamente en los libros de texto estandarizados, dificulta un tratamiento educativo más individualizado y la aplicación práctica de la teoría del progreso continuo..

Integració d’un sistema de visió per computador a una cèl·lula flexible de transport

L’objectiu d’aquest projecte final de carrera és millorar les prestacions de la cel·la de fabricació actual duent a terme les següents fites: integració d’un sistema de visió artificial a la plataforma. Aquest sistema ha de permetre la detecció i anàlisi dels objectes transportats, augmentant les seves possibilitats de manipulació i classificació. Es pretén eliminar la restricció actual que obliga a col•locar les peces en una posició fixa de la safata de transport; control centralitzat del procés a través d’un ordinador. El procés serà operat a través d’un computador industrial, el qual controlarà els diferents sistemes que componen la cel·la per tal que duguin a terme les seves funcions de forma coordinada; disseny i implementació d’una API del sistema. Es desenvoluparà la llibreria de control del sistema per tal de facilitar la programació del procés

Decentralized model reference control of flexible cable-stayed beam structures

A decentralized model reference controller is designed to reduce the magnitude of the transversal vibration of a flexible cable-stayed beam structure induced by a seismic excitation. The controller design is made based on the principle of sliding mode such that a priori knowledge

A mixed H2/H∞-based semiactive control for vibration mitigation in flexible structures

In this paper, we address this problem through the design of a semiactive controller based on the mixed H2/H∞ control theory. The vibrations caused by the seismic motions are mitigated by a semiactive damper installed in the bottom of the structure. It is meant by semiactive damper, a device that absorbs but cannot inject energy into the system. Sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller that guarantees asymptotic stability and a mixed H2/H∞ performance is then developed. An algorithm is proposed to handle the semiactive nature of the actuator. The performance of the controller is experimentally evaluated in a real-time hybrid testing facility that consists of a physical specimen (a small-scale magnetorheological damper) and a numerical model (a large-scale three-story building)

Enseñanza flexible, aprendizaje abierto : las redes como herramientas para la formación.

Resumen tomado del autor

Cap a un ensenyament més flexible. 'Hacia una enseñanza más flexible'.

En cualquier foro de debate sobre temas de formación se insiste en la oportunidad y necesidad de iniciativas que exploten las posibilidades de las Tecnologías de la Información y la Comunicación (TIC) en los procesos de enseñanza-aprendizaje. El Proyecto Campus Extens y la iniciativa Xarxipèlag de la Conselleria d'Educació constituyen respuestas a esta tendencia. Se analiza la introducción de estas cuestiones en la ciudadanía, la enseñanza obligatoria y el ámbito universitario.

The Ergonomic Analysis and Back Injuries in Flexible Production System

Back injuries identification and diagnoses in the transition of the Taylor model to the flexiblemodel of production organization, demands a parallel intervention of prevention actors at work. This study uses simultaneously three intervention models (structured action analysis, muscle skeletal symptoms questionnaires and muscle skeletal assessment) for work activities in a packaging plant. In this study seventy and two (72) operative workers participated (28 workers with muscle skeletal evaluation). In an intervention period of 10 months, the physical, cognitive, organizational components and productive process dynamics were evaluated from the muscle skeletal demands issues. The differences established between objective exposure at risk, back injury risk perception, appreciation and a vertebral spine evaluation, in prior and post intervention, determines the structure for a muscle skeletal risk management system. This study explains that back injury symptoms can be more efficiently reduced among operative workers combining measures registered and the adjustment between dynamics, the changes at work and efficient gestures development. Relevance: the results of this study can be used to pre ent back injuries in workers of flexible production processes.

Experience of the Flexible Internship in University of Rosario-Medical School

Objective: To evaluate the flexible program implemented for the medical internship at School of Medicine, Universidad del Rosario during the period 1997-2002. Methodology: A descriptive study was performed to summarize the choices of medical clerkships made by the interns during the whole studied period. The coincidence with the further choice of a determined medical specialty was assessed. Conclusions: Most of the last year’s students remain preferring a conservative approach to their career, by choosing clerkships in a basic area, such as internal medicine, pediatrics, gynecology and obstetrics or general surgery. The coincidence between the type of internship or clerkships a student performs and the future election of a specialty is high.

Agrupamiento flexible para alumnos con desfase curricular significativo.

Resumen basado en ficha elaborada por los autores