Integration of robotic inverse kinematic routines in an algorithmic 3D modeling software

An industrial manipulator equipped with an automatic clay extruder is used to realize a machine that can manufacture additively clay objects. The desired geometries are designed by means of a 3D modeling software and then sliced in a sequence of layers with the same thickness of the extruded clay section. The profiles of each layer are transformed in trajectories for the extruder and therefore for the end-effector of the manipulator. The goal of this thesis is to improve the algorithm for the inverse kinematic resolution and the integration of the routine within the development software that controls the machine (Rhino/Grasshopper). The kinematic model is described by homogeneous transformations, adopting the Denavit-Hartenberg standard convention. The function is implemented in C# and it has been preliminarily tested in Matlab. The outcome of this work is a substantial reduction of the computation time relative to the execution of the algorithm, which is halved.

Beyond a logic of effectiveness: Horizontal coordination, democratic legitimacy and accountability

Horizontal coordination, where actors join together to accomplish a common task, has been applauded for its output legitimacy. However, such processes often face challenges due to opposition from local actors who raise concerns about democratic legitimacy and accountability. Moving beyond a logic of effectiveness, we aim to show how and why other forms of legitimacy such as input and throughput dimensions also affect horizontal coordination, in addition to output criteria. Beyond the assumed positive relationship between coordination and effectiveness, we additionally expect horizontal coordination to be (a) impeded by local actors' fear of losing democratic legitimacy; and (b) fostered by accountability in terms of the steering capacity of the state. A comparative case study analysis of water supply structures at the regional level in Switzerland shows, in contrast to our expectation, that effectiveness has mixed impacts on horizontal coordination. Rather than being solely a positive factor for horizontal coordination, certain output criteria such as financial redistribution are found to be a key hindrance. We also find that democratic legitimacy may, indeed, impede horizontal coordination whereas increased accountability positively affects such coordination.

Anwendungen von Fuzzy Logic im Controlling

Die wesentliche Aufgabe des Controllings besteht darin, dem Management aufbereitete Informationen zur Verfügung zu stellen. Die zu verarbeitenden Informationen liegen allerdings nicht immer in der gewünschten Genauigkeit vor. Trotz dieser Unschärfe muss eine Beschreibung stattfinden, um eine Entscheidungsfindung zu realsieren. Eine Möglichkeit ist der hier vorgestellte wissensbasierte Ansatz der Fuzzy Logic. Anhand von drei Controllinginstrumenten wird in der vorliegenden Arbeit das Anwendungspotential der Fuzzy Logic im Controlling bewertet.

Design procedures for cellular logic arrays.

Thesis (M.S.)--Universty of Illinois.

Educational projects for a digital logic laboratory /

Thesis (M. S.)--University of Illinois at Urbana-Champaign.

Combinatorial logic design of a Diablo serial printer controller /

Thesis (M.S.)--University of Illinois at Urbana-Champaign.

TESLA : a control language for logic simulations of digital circuits /

"August 8, 1969."

Optimal networks with NOR-OR gates and Wired OR logic /

Originally presented as the author's thesis (M.S.), University of Illinois at Urbana-Champaign.

RASCEL: a programmable analog computer based on a regular array of stochastic computing element logic

Thesis--University of Illinois.

SYM-1, a program that detects symmetry of variable-valued logic functions /

Mode of access: Internet.

An analysis of the regression model for nonsaturating logic circuit analysis.

Also issued as thesis (M.S.) University of Illinois.

Inductive inference in the variable valued predicate logic system VL 21 : methodology and computer implementation /

Vita.

A manual of SIMPL, a logic network simulator for PLATO /

"UILU-ENG 79 1728."