882 resultados para Robotics design framework
Resumo:
The desire to conquer markets through advanced product design and trendy business strategies are still predominant approaches in industry today. In fact, product development has acquired an ever more central role in the strategic planning of companies, and it has extended its influence to R&D funding levels as well. It is not surprising that many national R&D project frameworks within the EU today are dominated by product development topics, leaving production engineering, robotics, and systems on the sidelines. The reasons may be many but, unfortunately, the link between product development and the production processes they cater for are seldom treated in depth. The issue dealt with in this article relates to how product development is applied in order to attain the required production quality levels a company may desire, as well as how one may counter assembly defects and deviations through quantifiable design approaches. It is recognized that product verifications (tests, inspections, etc.) are necessary, but the application of these tactics often result in lead-time extensions and increased costs. Modular architectures improve this by simplifying the verification of the assembled product at module level. Furthermore, since Design for Assembly (DFA) has shown the possibility to identify defective assemblies, it may be possible to detect potential assembly defects already in the product and module design phase. The intention of this paper is to discuss and describe the link between verifications of modular architectures, defects and design for assembly. The paper is based on literature and case studies; tables and diagrams are included with the intention of increasing understanding of the relation between poor designs, defects and product verifications.
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Architectural description languages (ADLs) are used to specify a high-level, compositional view of a software application, specifying how a system is to be composed from coarse-grain components. ADLs usually come equipped with a formal dynamic semantics, facilitating specification and analysis of distributed and event-based systems. In this paper, we describe the TrustME, an ADL framework that provides both a process and a structural view of web service-based systems. We use Petri-net descriptions to give a dynamic view of business workflow for web service collaboration. We adapt the approach of Schmidt to define a form of Meyer's design-by-contract for configuring workflow architectures. This serves as a configuration-level means of constructing safer, more robust systems.
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For many years, drainage design was mainly about providing sufficient network capacity. This traditional approach had been successful with the aid of computer software and technical guidance. However, the drainage design criteria had been evolving due to rapid population growth, urbanisation, climate change and increasing sustainability awareness. Sustainable drainage systems that bring benefits in addition to water management have been recommended as better alternatives to conventional pipes and storages. Although the concepts and good practice guidance had already been communicated to decision makers and public for years, network capacity still remains a key design focus in many circumstances while the additional benefits are generally considered secondary only. Yet, the picture is changing. The industry begins to realise that delivering multiple benefits should be given the top priority while the drainage service can be considered a secondary benefit instead. The shift in focus means the industry has to adapt to new design challenges. New guidance and computer software are needed to assist decision makers. For this purpose, we developed a new decision support system. The system consists of two main components – a multi-criteria evaluation framework for drainage systems and a multi-objective optimisation tool. Users can systematically quantify the performance, life-cycle costs and benefits of different drainage systems using the evaluation framework. The optimisation tool can assist users to determine combinations of design parameters such as the sizes, order and type of drainage components that maximise multiple benefits. In this paper, we will focus on the optimisation component of the decision support framework. The optimisation problem formation, parameters and general configuration will be discussed. We will also look at the sensitivity of individual variables and the benchmark results obtained using common multi-objective optimisation algorithms. The work described here is the output of an EngD project funded by EPSRC and XP Solutions.
Resumo:
In the past, the focus of drainage design was on sizing pipes and storages in order to provide sufficient network capacity. This traditional approach, together with computer software and technical guidance, had been successful for many years. However, due to rapid population growth and urbanisation, the requirements of a “good” drainage design have also changed significantly. In addition to water management, other aspects such as environmental impacts, amenity values and carbon footprint have to be considered during the design process. Going forward, we need to address the key sustainability issues carefully and practically. The key challenge of moving from simple objectives (e.g. capacity and costs) to complicated objectives (e.g. capacity, flood risk, environment, amenity etc) is the difficulty to strike a balance between various objectives and to justify potential benefits and compromises. In order to assist decision makers, we developed a new decision support system for drainage design. The system consists of two main components – a multi-criteria evaluation framework for drainage systems and a multi-objective optimisation tool. The evaluation framework is used for the quantification of performance, life-cycle costs and benefits of different drainage systems. The optimisation tool can search for feasible combinations of design parameters such as the sizes, order and type of drainage components that maximise multiple benefits. In this paper, we will discuss real-world application of the decision support system. A number of case studies have been developed based on recent drainage projects in China. We will use the case studies to illustrate how the evaluation framework highlights and compares the pros and cons of various design options. We will also discuss how the design parameters can be optimised based on the preferences of decision makers. The work described here is the output of an EngD project funded by EPSRC and XP Solutions.
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Apos uma década de rápido crescimento econômico na primeira década do século 21, Brasil e Turquia foram considerados duas das economias emergentes mais dinâmicas e promissoras. No entanto, vários sinais de dificuldades econômicas e tensões políticas reapareceram recentemente e simultaneamente nos dois países. Acreditamos que esses sinais e a sua simultaneidade podem ser entendidos melhor com um olhar retrospectivo sobre a história econômica dos dois países, que revela ser surpreendentemente paralela. Numa primeira parte, empreendemos uma comparação abrangente da história econômica brasileira e turca para mostrar as numerosas similaridades entre os desafios de política econômica que os dois países enfrentaram, assim como entre as respostas que eles lhes deram desde a virada da Grande Depressão até a primeira década do século 21. Essas escolhas de política econômica comuns dão forma a uma trajetória de desenvolvimento notavelmente análoga, caracterizada primeiro pela adoção do modelo de industrialização por substituição das importações (ISI) no contexto da recessão mundial dos anos 1930; depois pela intensificação e crise final desse modelo nos anos 1980; e finalmente por duas décadas de estabilização e transição para um modelo econômico mais liberal. Numa segunda parte, o desenvolvimento das instituições econômicas e políticas, assim como da economia política subjacente nos dois países, são analisados comparativamente a fim de prover alguns elementos de explicação do paralelo observado na primeira parte. Sustentamos que o marco institucional estabelecido nos dois países durante esse período também têm varias características fundamentais em comum e contribui a explicar as escolhas de política econômica e as performances econômicas comparáveis, detalhadas na primeira parte. Este estudo aborda elementos do contexto histórico úteis para compreender a situação econômica e política atual nos dois países. Potencialmente também constitui uma tentativa de considerar as economias emergentes numa perspectiva histórica e comparativa mais ampla para entender melhor as suas fraquezas institucionais e adotar um olhar mais equilibrado sobre seu potencial econômico.
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There is a growing need to develop new tools to help end users in tasks related to the design, monitoring, maintenance and commissioning of critical infrastructures. The complexity of the industrial environment, for example, requires that these tools have flexible features in order to provide valuable data for the designers at the design phases. Furthermore, it is known that industrial processes have stringent requirements for dependability, since failures can cause economic losses, environmental damages and danger to people. The lack of tools that enable the evaluation of faults in critical infrastructures could mitigate these problems. Accordingly, the said work presents developing a framework for analyzing of dependability for critical infrastructures. The proposal allows the modeling of critical infrastructure, mapping its components to a Fault Tree. Then the mathematical model generated is used for dependability analysis of infrastructure, relying on the equipment and its interconnections failures. Finally, typical scenarios of industrial environments are used to validate the proposal
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Service provisioning is a challenging research area for the design and implementation of autonomic service-oriented software systems. It includes automated QoS management for such systems and their applications. Monitoring, Diagnosis and Repair are three key features of QoS management. This work presents a self-healing Web service-based framework that manages QoS degradation at runtime. Our approach is based on proxies. Proxies act on meta-level communications and extend the HTTP envelope of the exchanged messages with QoS-related parameter values. QoS Data are filtered over time and analysed using statistical functions and the Hidden Markov Model. Detected QoS degradations are handled with proxies. We experienced our framework using an orchestrated electronic shop application (FoodShop).
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The study of algorithms for active vibration control in smart structures is an area of interest, mainly due to the demand for better performance of mechanical systems, such as aircraft and aerospace structures. Smart structures, formed using actuators and sensors, can improve the dynamic performance with the application of several kinds of controllers. This article describes the application of a technique based on linear matrix inequalities (LMI) to design an active control system. The positioning of the actuators, the design of a robust state feedback controller and the design of an observer are all achieved using LMI. The following are considered in the controller design: limited actuator input, bounded output (energy) and robustness to parametric uncertainties. Active vibration control of a flat plate is chosen as an application example. The model is identified using experimental data by an eigensystem realization algorithm (ERA) and the placement of the two piezoelectric actuators and single sensor is determined using a finite element model (FEM) and an optimization procedure. A robust controller for active damping is designed using an LMI framework, and a reduced model with observation and control spillover effects is implemented using a computer. The simulation results demonstrate the efficacy of the approach, and show that the control system increases the damping in some of the modes.
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The World Wide Web has been consolidated over the last years as a standard platform to provide software systems in the Internet. Nowadays, a great variety of user applications are available on the Web, varying from corporate applications to the banking domain, or from electronic commerce to the governmental domain. Given the quantity of information available and the quantity of users dealing with their services, many Web systems have sought to present recommendations of use as part of their functionalities, in order to let the users to have a better usage of the services available, based on their profile, history navigation and system use. In this context, this dissertation proposes the development of an agent-based framework that offers recommendations for users of Web systems. It involves the conception, design and implementation of an object-oriented framework. The framework agents can be plugged or unplugged in a non-invasive way in existing Web applications using aspect-oriented techniques. The framework is evaluated through its instantiation to three different Web systems
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O domínio alvo deste trabalho são os sistemas colaborativos distribuídos onde o foco está na troca dê mensagens entre usuários remotamente distribuídos. Nestes sistemas, há a necessidade das mensagens possuírem conteúdo multimídia e poderem ser entregues tanto a um usuário específico quanto a um grupo ou grupos de usuários. O objetivo deste trabalho é desenvolver um framework que facilite: a construção desse tipo de sistymas e diminua o tempo gasto com desenvolvimento através da técnica de reuso. Este trabalho apresenta o N2N Framework - Uma plataforma para desenvolvimento de Sistemas Colaborativos Distribuídos. O Framework foi concebido através da análise do comportamento de aplicações com características de multimídias colaborativas, como ambientes virtuais multi-usuários, chats, enquetes, e torcidas virtuais. O Framework foi implementado usando-se a plataforma Java. O N2N Framework facilita o design e implementação de sistemas colaborativos distribuídos, implementando a entrega das mensagens, e direcionando o desenvolvedor de aplicações para a preocupação com implementação de suas mensagens específicas e o processamento que delas decorre
Resumo:
Self-adaptive software system is able to change its structure and/or behavior at runtime due to changes in their requirements, environment or components. One way to archieve self-adaptation is the use a sequence of actions (known as adaptation plans) which are typically defined at design time. This is the approach adopted by Cosmos - a Framework to support the configuration and management of resources in distributed environments. In order to deal with the variability inherent of self-adaptive systems, such as, the appearance of new components that allow the establishment of configurations that were not envisioned at development time, this dissertation aims to give Cosmos the capability of generating adaptation plans of runtime. In this way, it was necessary to perform a reengineering of the Cosmos Framework in order to allow its integration with a mechanism for the dynamic generation of adaptation plans. In this context, our work has been focused on conducting a reengineering of Cosmos. Among the changes made to in the Cosmos, we can highlight: changes in the metamodel used to represent components and applications, which has been redefined based on an architectural description language. These changes were propagated to the implementation of a new Cosmos prototype, which was then used for developing a case study application for purpose of proof of concept. Another effort undertaken was to make Cosmos more attractive by integrating it with another platform, in the case of this dissertation, the OSGi platform, which is well-known and accepted by the industry
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One way to deal with the high complexity of current software systems is through selfadaptive systems. Self-adaptive system must be able to monitor themselves and their environment, analyzing the monitored data to determine the need for adaptation, decide how the adaptation will be performed, and finally, make the necessary adjustments. One way to perform the adaptation of a system is generating, at runtime, the process that will perform the adaptation. One advantage of this approach is the possibility to take into account features that can only be evaluated at runtime, such as the emergence of new components that allow new architectural arrangements which were not foreseen at design time. In this work we have as main objective the use of a framework for dynamic generation of processes to generate architectural adaptation plans on OSGi environment. Our main interest is evaluate how this framework for dynamic generation of processes behave in new environments
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This paper aims at describing an educational system for teaching and learning robotic systems. Multimedia resources were used to construct a virtual laboratory where users are able to use functionalities of a virtual robotic arm, by moving and clicking the mouse without caring about the detailed internal robot operation. Moreover through the multimedia system the user can interact with a real robot arm. The engineering students are the target public of the developed system. With its contents and interactive capabilities, it has been used as a support to the traditional face-to-face classes on the subject of robotics.. In the paper it is first introduced the metaphor of Virtual Laboratory used in the system. Next, it is described the Graphical and Multimedia Environment approach: an interactive graphic user interface with a 3D environment for simulation. Design and implementation issues of the real-time interactive multimedia learning system, which supports the W3C SMIL standard for presenting the real-time multimedia teaching material, are described. Finally, some preliminary conclusions and possible future works from this research are presented.
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This paper presents a tool box developed to read files describing a SIMULINK® model and translates it into a structural VHDL-AMS description. In translation process, all files and directory structures to simulate the translated model on SystemVision™ environment is generate. The tool box named MS2SV was tested by three models of commercially available digital-to-analogue converters. All models use the R2R ladder network to conversion, but the functionality of these three components is different. The methodology of conversion of the model is presents together with sort theory about R-2R ladder network. In the evaluation of the translated models, we used a sine waveform input signal and the waveform generated by D/A conversion process was compared by FFT analysis. The results show the viability of this type of approach. This work considers some of challenges set by the electronic industry for the further development of simulation methodologies and tools in the field of mixed-signal technology. © 2007 IEEE.