Computational Foundations for Safe and Efficient Human-Robot Collaboration in Assembly Cells

Human and robots have complementary strengths in performing assembly operations. Humans are very good at perception tasks in unstructured environments. They are able to recognize and locate a part from a box of miscellaneous parts. They are also very good at complex manipulation in tight spaces. The sensory characteristics of the humans, motor abilities, knowledge and skills give the humans the ability to react to unexpected situations and resolve problems quickly. In contrast, robots are very good at pick and place operations and highly repeatable in placement tasks. Robots can perform tasks at high speeds and still maintain precision in their operations. Robots can also operate for long periods of times. Robots are also very good at applying high forces and torques. Typically, robots are used in mass production. Small batch and custom production operations predominantly use manual labor. The high labor cost is making it difficult for small and medium manufacturers to remain cost competitive in high wage markets. These manufactures are mainly involved in small batch and custom production. They need to find a way to reduce the labor cost in assembly operations. Purely robotic cells will not be able to provide them the necessary flexibility. Creating hybrid cells where humans and robots can collaborate in close physical proximities is a potential solution. The underlying idea behind such cells is to decompose assembly operations into tasks such that humans and robots can collaborate by performing sub-tasks that are suitable for them. Realizing hybrid cells that enable effective human and robot collaboration is challenging. This dissertation addresses the following three computational issues involved in developing and utilizing hybrid assembly cells: - We should be able to automatically generate plans to operate hybrid assembly cells to ensure efficient cell operation. This requires generating feasible assembly sequences and instructions for robots and human operators, respectively. Automated planning poses the following two challenges. First, generating operation plans for complex assemblies is challenging. The complexity can come due to the combinatorial explosion caused by the size of the assembly or the complex paths needed to perform the assembly. Second, generating feasible plans requires accounting for robot and human motion constraints. The first objective of the dissertation is to develop the underlying computational foundations for automatically generating plans for the operation of hybrid cells. It addresses both assembly complexity and motion constraints issues. - The collaboration between humans and robots in the assembly cell will only be practical if human safety can be ensured during the assembly tasks that require collaboration between humans and robots. The second objective of the dissertation is to evaluate different options for real-time monitoring of the state of human operator with respect to the robot and develop strategies for taking appropriate measures to ensure human safety when the planned move by the robot may compromise the safety of the human operator. In order to be competitive in the market, the developed solution will have to include considerations about cost without significantly compromising quality. - In the envisioned hybrid cell, we will be relying on human operators to bring the part into the cell. If the human operator makes an error in selecting the part or fails to place it correctly, the robot will be unable to correctly perform the task assigned to it. If the error goes undetected, it can lead to a defective product and inefficiencies in the cell operation. The reason for human error can be either confusion due to poor quality instructions or human operator not paying adequate attention to the instructions. In order to ensure smooth and error-free operation of the cell, we will need to monitor the state of the assembly operations in the cell. The third objective of the dissertation is to identify and track parts in the cell and automatically generate instructions for taking corrective actions if a human operator deviates from the selected plan. Potential corrective actions may involve re-planning if it is possible to continue assembly from the current state. Corrective actions may also involve issuing warning and generating instructions to undo the current task.

Forms, Foundations, and the Ethos of Foremost: Zen Practice, Epistemology, and Ontology in Reflective Knowledge Organization

In reflecting on the practice of knowledge organization, we tacitly or explicitly root our conceptions of work and its value in some epistemic and ontological foundation. Zen Buddhist philosophy offers a unique set of conceptions vis-à-vis organizing, indexing, and describing documents.When we engage in knowledge organization, we are setting our mind to work with an intention. We intend to make some sort of intervention. We then create a form a realization of an abstraction (like classes or terms) [1], we do this from a foundation of some set of beliefs (epistemology, ontology, and ethics), and because we have to make decisions about what to privilege, we need to decide what is foremost in our minds. We must ask what is the most important thing?Form, foundation, and the ethos of foremost require evoke in our reflection on work number of ethical, epistemic, and ontological concerns that ripple throughout our conceptions of space, “good work”, aesthetics, and moral mandate [2,3]. We reflect on this.

Numerical modelling of axially loaded piled foundations with physical tests validation

L'oggetto della tesi è la modellazione numerica di pali di fondazione per turbine eoliche in ambiente offshore. Il metodo di modellazione comprende l'interpretazione di prove CPT per l'estrapolazione dei parametri geotecnici del terreno, la creazione di un modello dell'interazione tra struttura e terreno tramite il software agli elementi finiti Abaqus, la sua verifica, l'ottimizzazione dell'estensione del modello del terreno e della mesh e la simulazione numerica del comportamento di pali caricati assialmente in compressione. Grazie al confronto con i risultati di test su modelli fisici, eseguiti nel laboratorio dell'istituto Fraunhofer IWES di Hannover, di tre pali aventi la stessa geometria ma installati in punti con diverse condizioni di compattazione della sabbia, è stata possibile la messa a punto di una strategia di simulazione più accurata possibile e la sua validazione. A conclusione del lavoro è stato eseguito un esempio di design di una fondazione jacket per una turbina eolica offshore.

Fundações de construções submetidas a esforços de tração em solo de alta porosidade da região de Campinas - SP

This paper presents the behavior of three bored piles conducted in diabasic soil submitted to uplift forces. The piles were built at the site for Experimental Studies in Soil Mechanics and Foundations of UNICAMP, located in the city of Campinas, Brazil. Field tests have already been conducted at the site (SPT, CPT, DMT and PMT), as well as laboratory tests by using sample soils taken from a well up to 17 m deep. The water table is not checked until a depth of 17 m. In order to check the behavior of the piles when submitted to uplift forces, slow static load tests were carried out as the recommendations of NBR 12131. The carrying capacity of these piles was also provided by means of theoretical methods, appropriate for uplift forces, and through semi-empirical methods appropriate for compression forces, considering only the portion of lateral resistance. The values estimated by using the considered methods were compared to those obtained by means of load tests. One of the tested piles was extracted from the soil to be the subject of a study on its geometry.

FORMAÇÕES DISCURSIVAS E PROCESSOS IDENTIFICATÓRIOS NA AQUISIÇÃO DE LÍNGUAS

This paper discusses theoretical results of the research project Linguistic Identity and Identification: A Study of Functions of Second Language in Enunciating Subject Constitution. Non-cognitive factors that have a crucial incidence in the degree of success and ways of accomplishment of second language acquisition process are focused. A transdisciplinary perspective is adopted, mobilising categories from Discourse Analysis and Psychoanalysis. The most relevant ones are: discursive formation, intradiscourse, interdiscourse, forgetting n° 1, forgetting n° 2 (Pêcheux, 1982), identity, identification (Freud, 1966; Lacan, 1977; Nasio, 1995). Revuz s views (1991) are discussed. Her main claim is that during the process of learning a foreign language, the foundations of psychical structure, and consequently first language, are required. After examining how nomination and predication processes work in first and second languages, components of identity and identification processes are focused on, in an attempt to show how second language acquisition strategies depend on them. It is stated that methodological affairs of language teaching, learner s explicit motivation and the like are subordinated to the comprehension of deeper non-cognitive factors that determine the accomplishment of the second language acquisition process. It is also pointed out that those factors are to be approached, questioning the bipolar biological-social conception of subjectivity in the study of language acquisition and use and including in the analysis symbolic and significant dimensions of the discourse constitution process.

Esporte educacional e deficiencia : encontros esportivos no contexto escolar

Universidade Estadual de Campinas . Faculdade de Educação Física

Trabalho, tempo livre e emancipação humana : os determinantes ontologicos das politicas sociais de lazer

Universidade Estadual de Campinas . Faculdade de Educação Física

O processo de ensino-treinamento da tecnica e tatica no basquetebol do Brasil : um estudo sobe a otica de professores do ensino superior e tecnicos de elite

Universidade Estadual de Campinas . Faculdade de Educação Física

A personagem desconstruida : argumentos para uma arte cenica não-logocentrica

Universidade Estadual de Campinas . Faculdade de Educação Física

A dança no contexto da educação fisica : os (des)encontros entre a formação e a atuação profissional

Universidade Estadual de Campinas . Faculdade de Educação Física

O processo de ensino dos jogos desportivos coletivos : um estudo acerca do basquetebol

Universidade Estadual de Campinas . Faculdade de Educação Física

Historias infantis : o simbolismo, a ludicidade e a motricidade na ação da educação motora

Universidade Estadual de Campinas . Faculdade de Educação Física

A integração do esporte adaptado com o esporte convencional a partir da inserção de provas adaptadas : um estudo de caso

Universidade Estadual de Campinas. Faculdade de Educação Física

Multimodos e múltiplas Representações, aprendizagem significativa e subjetividade: três referenciais conciliáveis da educação científica

A linha de pesquisa em multimodos e múltiplas representações vem atualmente sendo inspiradora de ações instrucionais na educação científica. Partindo dos fundamentos que justificam um encaminhamento didático à luz dessas referências, este trabalho procura mostrar que há compatibilidade dos seus fundamentos com a teoria da aprendizagem significativa de Ausubel e com as questões levantadas pelas pesquisas que indicam a necessidade de se considerar a subjetividade dos alunos presentes numa sala de aula. Essencialmente, procuramos argumentar que a promoção de um ensino por meio de multimodos e múltiplas representações é consistente com o ambiente plural das subjetividades existentes numa sala de aula e com uma aprendizagem significativa.