A brazilian ergonomic human-robot interface case

Brazilian and foreign companies operating in Brazil in the last 30 years have been using automated productive resources, especially robots. These 3 decades doesńt seem to have been enough to develop in the actors involved with robots an adequate professional awareness. If we consider the predictive security and ergonomic aspects involved, we notice that there are critical failures on handling these situations. So in this study we tried to observe the presence of the human being in some workstations that operate with robots in the Brazilian Southeastern region. © (2013) Trans Tech Publications, Switzerland.

Local data fusion algorithm for fire detection through mobile robot

Multisensor data fusion is a technique that combines the readings of multiple sensors to detect some phenomenon. Data fusion applications are numerous and they can be used in smart buildings, environment monitoring, industry and defense applications. The main goal of multisensor data fusion is to minimize false alarms and maximize the probability of detection based on the detection of multiple sensors. In this paper a local data fusion algorithm based on luminosity, temperature and flame for fire detection is presented. The data fusion approach was embedded in a low cost mobile robot. The prototype test validation has indicated that our approach can detect fire occurrence. Moreover, the low cost project allow the development of robots that could be discarded in their fire detection missions. © 2013 IEEE.

Utilização de 5S, Kanban e Layout para a melhoria do controle de estoque em um varejo de materiais para construção

Many small businesses suffer from a lack of control of goods stored. This lack of control affects other areas of the company as purchase, that can’t buy material in an advanced and accurated way. It also affects services provided by the company, especially when it is a store because for sell something it is necessary to have the material in the right time. Futhermore, the business isn’t able to identify obsolete items in stock, theft and vandalism, loss or damage to materials. All of these disorders can be converted into financial losses that make much difference to a small business that needs to remain competitive in the market facing the giants while generating a profit that allows it to invest in their growth. Therefore, any unnecessary expense is exceedingly harmful and any savings already differentiates it from other companies of similar size. This study deals with the application of production engineering tools as 5S, kanban and layout in a building materials retail to tackle problems that prevent this company to have a stock organized and accurated. Finally, we recorded gains that the company reached with the implementation of part of the solution proposed

Projeto de arquitetura de interiores, utilizando critérios de sustentabilidade ambiental: reformulação do layout das secretarias da prefeitura municipal de Bauru

Tendo como foco o estudo da área interna do edifício da Prefeitura Municipal de Bauru, o trabalho em questão visa o desenvolvimento de um projeto de interiores utilizando requisitos da arquitetura corporativa, e critérios de sustentabilidade para a escolha de materiais. Será considerada ainda a eficiência energética na utilização de condicionamento de ar e iluminação, assim como a otimização dos espaços de permanência e fluxo de pessoas

Análise doprojeto de expansãode um armazém por meio da elaboração de um layout e análise de investimento: estudo de caso em uma fábrica do setor alimentício

The proper management of materials storage is essential to supply the needs of production and reduce the inventory costs. Moreover, an effective layout contributes to improve the productivity and reduce the operational costs of a warehouse. This way, the purpose of this study was: to propose an expansion project to the warehouse of a factory in the food sector, suggesting a layout that best fit their needs and to verify its economic feasibility. To achieve this goal, it was applied methods such as ABC curve, spaghetti diagram and concepts of economics engineering to the analysis of investment in the project. The results showed that the second layout model was better than the first, supporting the storage capacity required by the company and presenting an internal movement more efficient. However, with the investment analysis, it was found that it was not feasible, given the conditions of the company, investing in the expansion of the warehouse

Planejamento e controle da produção: reestruturação no layout de apertadeiras eletrônicas em uma linha de produção do ramo de autopeças

In industrial plants, there is a department responsible for planning the use of productive resources to find the best possible way to set out plans in strategic, tactical and operational levels. This department is known as PCP or PPCP, which means Planning and Production Control and Planning, Programming and Production Control, respectively. This work presents the use of some of the tools from this department, in particular the Aggregate Production Planning, to propose a new layout of electronic nutrunners for an auto parts industry output line. Through some process indicators analyzes, was identified some productivity losses. The higher loss rate occurred by the electronic nutrunners breaking, and so this work was focused in these devices. Some premises were adopted for the use of electronic nut runners, setting an ideal cycle time for the operation of the production line and making calculations to define the minimum amount of electronic nutrunners to find the production demand without damaging the equipment. With this work we observed that a relevant factor for the constant breaks of electronic nutrunners is because these are working with overload, in other words, the amount of installed equipment is not enough to supply the demand without failures

Proposta de melhoria do layout de um armazém de vidros automotivos

This work was based on a case study of improvement of the warehouse layout of a multinational automotive glass sector, located in the State of Sao Paulo. The aim was to propose a layout template to be more effective and besides optimizing production would also promote an increase in warehouse packaging capacity for metal containers containing glasses, thus reducing operating costs. To achieve the desired purpose, it was developed two layout proposals and to this end inventory management tools have been used, such as ABC curve and the Spaghetti Diagram, and other concepts of Packaging Engineering and Logistics. By the end of this work, it was obtained as a result, a project in which it was possible to rearrange the packages according the demand, and the developed changes became the most efficient layout both in storage capacity as well as in the internal drive

DESIGN AND ANALYSIS OF MULTIFUNCTIONAL ROBOT FOR NOTES

The elimination of all external incisions is an important step in reducing the invasiveness of surgical procedures. Natural Orifice Translumenal Endoscopic Surgery (NOTES) is an incision-less surgery and provides explicit benefits such as reducing patient trauma and shortening recovery time. However, technological difficulties impede the widespread utilization of the NOTES method. A novel robotic tool has been developed, which makes NOTES procedures feasible by using multiple interchangeable tool tips. The robotic tool has the capability of entering the body cavity through an orifice or a single incision using a flexible articulated positioning mechanism and once inserted is not constrained by incisions, allowing for visualization and manipulations throughout the cavity. Multiple interchangeable tool tips of the robotic device initially consist of three end effectors: a grasper, scissors, and an atraumatic Babcock clamp. The tool changer is capable of selecting and switching between the three tools depending on the surgical task using a miniature mechanism driven by micro-motors. The robotic tool is remotely controlled through a joystick and computer interface. In this thesis, the following aspects of this robotic tool will be detailed. The first-generation robot is designed as a conceptual model for implementing a novel mechanism of switching, advancing, and controlling the tool tips using two micro-motors. It is believed that this mechanism achieves a reduction in cumbersome instrument exchanges and can reduce overall procedure time and the risk of inadvertent tissue trauma during exchanges with a natural orifice approach. Also, placing actuators directly at the surgical site enables the robot to generate sufficient force to operate effectively. Mounting the multifunctional robot on the distal end of an articulating tube provides freedom from restriction on the robot kinematics and helps solve some of the difficulties otherwise faced during surgery using NOTES or related approaches. The second-generation multifunctional robot is then introduced in which the overall size is reduced and two arms provide 2 additional degrees of freedom, resulting in feasibility of insertion through the esophagus and increased dexterity. Improvements are necessary in future iterations of the multifunctional robot; however, the work presented is a proof of concept for NOTES robots capable of abdominal surgical interventions.

Bidirectional Barbed Suture for Bladder Neck Reconstruction, Posterior Reconstruction and Vesicourethral Anastomosis During Robot Assisted Radical Prostatectomy

Background: The urethrovesical anastomosis is a particular challenging step of robot assisted radical prostatectomy (RARP). Failure to achieve a watertight anastomosis is associated with postoperative urinary leak and its consequences, which include paralytic ileus, prolonged catheterization, urinary peritonitis and possibly re-intervention. The bidirectional barbed suture is a new technology that may lead to improve the quality of the urethrovesical anastomosis. Objective: To present our surgical technique of urethrovesical anastomosis, bladder neck reconstruction and posterior reconstruction, using a bidirectional barbed suture. Material and methods: The bladder neck reconstruction, posterior reconstruction and vesicourethral anastomosis were performed using a 2-0 synthetic absorbable bidirectional monofilament barbed suture Results: All cases were finished successfully without major complication or conversion to laparoscopic or open surgery. Conclusion: The authors successfully modified their RARP technique to take advantage of the properties of the bidirectional barbed suture. Comparative studies that evaluate objective outcomes such as leakage rates and operative time are needed to definitely establish the benefits of this device in comparison to the traditional absorbable monofilament. (C) 2011 AEU. Published by Elsevier Espana, S.L. All rights reserved.

Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere's surface and was constructed in a way that always three wheels are in contact with the sphere's metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere's surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.

Um modelo de projeto de layout para ambientes job shop com alta variedade de peças baseado nos conceitos da produção enxuta

Segundo Canem e Williamson (1998), o planejamento do layout é importante, pois normalmente representa os maiores e mais caros recursos da organização. Além disso, a localização e disposição física dos equipamentos no chão de fábrica têm impacto em diversos fatores como nível de estoque em processo, tamanho dos lotes de transferência, dificuldade no gerenciamento das atividades, movimentação de pessoas e produtos, entre outros. Portanto, o estudo de conceitos de arranjo físico e o desenvolvimento de modelos de projeto do layout, que visem a otimização dos recursos de produção, são de vital importância na busca pela melhoria dos sistemas produtivos. Neste contexto, este artigo apresenta um novo modelo de projeto de layout, para ambientes job shop com ampla variedade de peças. O modelo foi desenvolvido durante uma pesquisa de doutorado e foi aplicado em algumas empresas do setor metal mecânico. Os resultados obtidos comprovaram a eficiência do modelo projetado. O objetivo do modelo consiste em conduzir a equipe de projeto de layout a desenvolver alternativas de arranjo físico que estejam em consonância com conceitos e princípios da filosofia de produção enxuta. Vale ressaltar novamente que o modelo foi desenvolvido para ambientes com alta variedade de peças, ambientes esses em que, devido à dificuldade em se projetar o arranjo físico, as empresas terminam por adotar o layout funcional, conceito esse de arranjo físico que apresenta sérios problemas como excesso de transporte, altos níveis de estoques em processo, etc.

Reasoning about shadows in a mobile robot environment

This paper describes a logic-based formalism for qualitative spatial reasoning with cast shadows (Perceptual Qualitative Relations on Shadows, or PQRS) and presents results of a mobile robot qualitative self-localisation experiment using this formalism. Shadow detection was accomplished by mapping the images from the robot’s monocular colour camera into a HSV colour space and then thresholding on the V dimension. We present results of selflocalisation using two methods for obtaining the threshold automatically: in one method the images are segmented according to their grey-scale histograms, in the other, the threshold is set according to a prediction about the robot’s location, based upon a qualitative spatial reasoning theory about shadows. This theory-driven threshold search and the qualitative self-localisation procedure are the main contributions of the present research. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform robot self-localisation and to calibrate a robot’s interpretation of its perceptual input.

Parallel Layout Construction Algorithm for Irregular Shape Packing Problems

Cutting and packing problems arise in a variety of industries, including garment, wood and shipbuilding. Irregular shape packing is a special case which admits irregular items and is much more complex due to the geometry of items. In order to ensure that items do not overlap and no item from the layout protrudes from the container, the collision free region concept was adopted. It represents all possible translations for a new item to be inserted into a container with already placed items. To construct a feasible layout, collision free region for each item is determined through a sequence of Boolean operations over polygons. In order to improve the speed of the algorithm, a parallel version of the layout construction was proposed and it was applied to a simulated annealing algorithm used to solve bin packing problems. Tests were performed in order to determine the speed improvement of the parallel version over the serial algorithm

Test and Evaluation of the FastSLAM Algorithm in a Mobile Robot

Máster Universitario en Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería (SIANI)