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.

“English Language Learning Strategies used by the Foreign Language Department Seminar Students Year 2006 with Either Above Eight Grade or Below it Obtained in Their Studies in the Basic Skills Area.

Nowadays language communication plays an important role in the world. For the technological explosion in the 20th century, the electronic mass media collapsed space and time barriers in human communication, enabling people to interact and live on a global scale. In this sense, the earth has been turned into a village by the electronic mass media. It not only changes the distance between countries, societies, but also shortens it between people. It means that the technological advancement makes the earth become a village. Since the distance between people is shortened, language communication becomes more important than before. To enhance language abilities, people can apply many different types of language learning strategies according to the learning styles that they have in order to learn the target language. In the Foreign Language Department of University of El Salvador Seminar students year 2006 apply different language learning strategies which make some of them get a grade either above eight or below it. To understand learning strategies, people can go back to basic term, strategy. This word comes from the ancient Greek term strategia meaning generalship or the art of war. A different, but related, word is tactics, which are tools to achieve the success of strategies. The two expressions share some basic implied characteristics: planning, competition, conscious manipulation, and movement toward a goal.

Mediator framework for inserting xDRs into hadoop

During the last decades, we assisted to what is called “information explosion”. With the advent of the new technologies and new contexts, the volume, velocity and variety of data has increased exponentially, becoming what is known today as big data. Among them, we emphasize telecommunications operators, which gather, using network monitoring equipment, millions of network event records, the Call Detail Records (CDRs) and the Event Detail Records (EDRs), commonly known as xDRs. These records are stored and later processed to compute network performance and quality of service metrics. With the ever increasing number of collected xDRs, its generated volume needing to be stored has increased exponentially, making the current solutions based on relational databases not suited anymore. To tackle this problem, the relational data store can be replaced by Hadoop File System (HDFS). However, HDFS is simply a distributed file system, this way not supporting any aspect of the relational paradigm. To overcome this difficulty, this paper presents a framework that enables the current systems inserting data into relational databases, to keep doing it transparently when migrating to Hadoop. As proof of concept, the developed platform was integrated with the Altaia - a performance and QoS management of telecommunications networks and services.

REFLEXIONES E INTERROGANTES SOBRE EL ROL DE LAS BIBLIOTECAS DE LECTURA PÚBLICA EN LOS PAÍSES EN VÍAS DE DESARROLLO

Las nuevas y múltiples funciones que debe atender actualmente la biblioteca pública a raíz de un público cada vez más heterogéneo e indefinido, de la creciente variedad de medios de comunicación y de métodos de presentación y reproducción de la información, de la explosión informativa y la demanda creciente de ofertas culturales plantean una serie de dilemas: las bibliotecas están capacitadas para atender todas las funciones?, cuáles son las prioridades frente a la evolución que cada una de ellas soporta? cuál es esa realidad en los países en vías de desarrollo como Argentina con inestabilidad política, sin desarrollo económico y sin conciencia, a nivel de las autoridades, del valor e importancia de estas instituciones?El siglo XIX a raíz de la evolución de la alfabetización y de la democratización de la instrucción asistió a la eclosión de la biblioteca de lectura pública que, a través de los libros prepara a toda la ciudadanía para participar en el ejercicio del poder.Estas bibliotecas sufren la influencia del medio socio- cultural y político y su evolución y desarrollo está vinculado a ese entorno. Ello explica el por qué de los profundos cambios que han venido operándose en sus funciones y en consecuencia en los servicios que debe prestar.

Diseño e implementación de un sistema de soporte de decisiones para el Centro de Documentación Regional “Juan Bautista Vázquez”

El volumen de datos en bibliotecas ha aumentado enormemente en los últimos años, así como también la complejidad de sus fuentes y formatos de información, dificultando su gestión y acceso, especialmente como apoyo en la toma de decisiones. Sabiendo que una buena gestión de bibliotecas involucra la integración de indicadores estratégicos, la implementación de un Data Warehouse (DW), que gestione adecuadamente tal cantidad de información, así como su compleja mezcla de fuentes de datos, se convierte en una alternativa interesante a considerar. El artículo describe el diseño e implementación de un sistema de soporte de decisiones (DSS) basado en técnicas de DW para la biblioteca de la Universidad de Cuenca. Para esto, el estudio utiliza una metodología holística, propuesto por Siguenza-Guzman et al. (2014) para la evaluación integral de bibliotecas. Dicha metodología evalúa la colección y los servicios, incorporando importantes elementos para la gestión de bibliotecas, tales como: el desempeño de los servicios, el control de calidad, el uso de la colección y la interacción con el usuario. A partir de este análisis, se propone una arquitectura de DW que integra, procesa y almacena los datos. Finalmente, estos datos almacenados son analizados y visualizados a través de herramientas de procesamiento analítico en línea (OLAP). Las pruebas iniciales de implementación confirman la viabilidad y eficacia del enfoque propuesto, al integrar con éxito múltiples y heterogéneas fuentes y formatos de datos, facilitando que los directores de bibliotecas generen informes personalizados, e incluso permitiendo madurar los procesos transaccionales que diariamente se llevan a cabo.

Beyond the Cosmological Principle

Simplifying the Einstein field equation by assuming the cosmological principle yields a set of differential equations which governs the dynamics of the universe as described in the cosmological standard model. The cosmological principle assumes the space appears the same everywhere and in every direction and moreover, the principle has earned its position as a fundamental assumption in cosmology by being compatible with the observations of the 20th century. It was not until the current century when observations in cosmological scales showed significant deviation from isotropy and homogeneity implying the violation of the principle. Among these observations are the inconsistency between local and non-local Hubble parameter evaluations, baryon acoustic features of the Lyman-α forest and the anomalies of the cosmic microwave background radiation. As a consequence, cosmological models beyond the cosmological principle have been studied vastly; after all, the principle is a hypothesis and as such should frequently be tested as any other assumption in physics. In this thesis, the effects of inhomogeneity and anisotropy, arising as a consequence of discarding the cosmological principle, is investigated. The geometry and matter content of the universe becomes more cumbersome and the resulting effects on the Einstein field equation is introduced. The cosmological standard model and its issues, both fundamental and observational are presented. Particular interest is given to the local Hubble parameter, supernova explosion, baryon acoustic oscillation, and cosmic microwave background observations and the cosmological constant problems. Explored and proposed resolutions emerging by violating the cosmological principle are reviewed. This thesis is concluded by a summary and outlook of the included research papers.

Towards a predictive model of Ca²⁺ puffs

We investigate key characteristics of Ca²⁺ puffs in deterministic and stochastic frameworks that all incorporate the cellular morphology of IP[subscript]3 receptor channel clusters. In a first step, we numerically study Ca²⁺ liberation in a three dimensional representation of a cluster environment with reaction-diffusion dynamics in both the cytosol and the lumen. These simulations reveal that Ca²⁺ concentrations at a releasing cluster range from 80 µM to 170 µM and equilibrate almost instantaneously on the time scale of the release duration. These highly elevated Ca²⁺ concentrations eliminate Ca²⁺ oscillations in a deterministic model of an IP[subscript]3R channel cluster at physiological parameter values as revealed by a linear stability analysis. The reason lies in the saturation of all feedback processes in the IP[subscript]3R gating dynamics, so that only fluctuations can restore experimentally observed Ca²⁺ oscillations. In this spirit, we derive master equations that allow us to analytically quantify the onset of Ca²⁺ puffs and hence the stochastic time scale of intracellular Ca²⁺ dynamics. Moving up the spatial scale, we suggest to formulate cellular dynamics in terms of waiting time distribution functions. This approach prevents the state space explosion that is typical for the description of cellular dynamics based on channel states and still contains information on molecular fluctuations. We illustrate this method by studying global Ca²⁺ oscillations.

Adsorção de Pb(II) utilizando adsorvente composto por montmorilonita e dolomita

The destructive impact of improper disposal of heavy metals in the environment increases as a direct result of population explosion, urbanization and industrial expansion and technological developments. Argil are potential materials for adsorption of inorganic and the pelletization of it is required for use in adsorptive columns of fixed bed. The low cost and the possibility of regeneration makes these materials attractive for use in the purification process, capable of removing inorganic compounds in contaminated aquatic environments. In this work was made pellets of a mixture of dolomite and montmorillonite by wet agglomeration, in different percentages. The removal of Pb (II) was investigated through experimental studies, and was modeled by kinetic models and isotherms of adsorption. The materials were characterized using the techniques of XRD, TG / DTA, FT-IR, and surface area by BET method. The results showed the adsorption efficiency of the contaminant by the composite material studied in synthetic solution. The study found that the adsorption follows the Langmuir model, and the kinetics of adsorption follows the model of pseudosecond order

Compounds, creativity and complexity in climate change communication: the case of ‘carbon indulgences’

This article deals with climate change from a linguistic perspective. Climate change is an extremely complex issue that has exercised the minds of experts and policy makers with renewed urgency in recent years. It has prompted an explosion of writing in the media, on the internet and in the domain of popular science and literature, as well as a proliferation of new compounds around the word ‘carbon’ as a hub, such as ‘carbon indulgence’, a new compound that will be studied in this article. Through a linguistic analysis of lexical and discourse formations around such ‘carbon compounds’ we aim to contribute to a broader understanding of the meaning of climate change. Lexical carbon compounds are used here as indicators for observing how human symbolic cultures change and adapt in response to environmental threats and how symbolic innovation and transmission occurs.

Characterization and age determination of Quaternary volcanism in the southern Ankaratra region (central Madagascar) through novel approaches in luminescence dating

This work introduces two novel approaches for the application of luminescence dating techniques to Quaternary volcanic eruptions: crystalline xenoliths from lava flows are demonstrated to be basically suitable for luminescence dating, and a set of phreatic explosion deposits from the Late Quaternary Vakinankaratra volcanic field in central Madagascar is successfully dated with infrared stimulated luminescence (IRSL). Using a numerical model approach and experimental verification, the potential for thermal resetting of luminescence signals of xenoliths in lava flows is demonstrated. As microdosimetry is an important aspect when using sample material extracted from crystalline whole rocks, autoradiography using image plates is introduced to the field of luminescence dating as a method for detection and assessment of spatially resolved radiation inhomogeneities. Determinations of fading rates of feldspar samples have been observed to result in aberrant g-values if the pause between preheat and measurement in the delayed measurements was kept short. A systematic investigation reveals that the phenomenon is caused by the presence of three signal components with differing individual fading behaviour. As this is restricted to short pauses, it is possible to determine a minimal required delay between preheating and measurement after which the aberrant behaviour disappears. This is applied in the measuring of 12 samples from phreatic explosion deposits from the Antsirabe – Betafo region in the Late Quaternary Vakinankaratra volcanic field. The samples were taken from stratigraphically correlatable sections and appear to represent at least three phreatic events, one of which created the Lac Andraikiba maar near Antsirabe. The obtained ages indicate that the eruptive activity in the region started in the Late Pleistocene between 113.9 and 99.6 ka. A second layer in the Betafo area is dated at approximately 73 ka and the Lac Andraikiba deposits give an age between 63.9 and 50.7 ka. The youngest phreatic layer is dated between 33.7 and 20.7 ka. These ages are the first recorded direct ages of such volcanic deposits, as well as the first and only direct ages for the Late Quaternary volcanism in the Vakinankaratra volcanic field. This illustrates the huge potential of this new method for volcanology and geochronology, as it enables direct numerical dating of a type of volcanic deposit which has not been successfully directly dated by any other method so far.

De patrones a parámetros : una evaluación de los patrones espaciales en los pabellones de la Serpentine Gallery (2000-2015)

La actual realidad socioeconómica, marcada por la (r)evolución tecnológica de los último años y la explosión demográfica y urbana, conlleva dos grandes problemas. Por un lado el cambio climático derivado de la sobreexplotación de los recursos y energías no-renovables, y por otro, la pérdida de las identidades y procesos culturales específicos provocada por la globalización. Ante ellos, diversos autores plantean sacar partido de las propias tecnologías y la nueva sociedad en red para dar una respuesta acorde al momento actual. Las herramientas computacionales permiten una mayor complejidad de los diseños alcanzando una optimización de recursos y procesos, minimizando su impacto ambiental. Frente a la producción en masa y la pérdida de identidad, el planteamiento informático de problemas globales permite pasar de la producción en masa del siglo pasado a la ‘customización’ en masa al dar respuestas específicas para cada contexto. Por otro lado es necesario que esos procesos computacionales conecten y hagan partícipes del diseño a los diferentes actores sociales implicados. Es por ello que esta investigación se basará en los patrones espaciales de Christopher Alexander y otros modelos algorítmicos de diseño por ordenador puesto que estos describen soluciones paramétricas a conflictos recurrentes de diseño de arquitectura. Su planteamiento permite que cada solución base genere respuestas específicas, a la vez que esta es corregida y optimizada por todos sus utilizadores al poder ser compartida digitalmente. Con ello se busca que el diseño de arquitectura responda a criterios objetivos basados en la experiencia y la crítica participativa y democrática basada en los patrones, de tal modo que los diseños no surjan de un planteamiento top-down impuesto y cerrado, sino que en ellos gane importancia la participación activa de los actores sociales implicados en la definición y uso de los mismos. Por último, esta investigación procura mostrar cómo los patrones pueden jugar un papel determinante en la conceptualización abstracta del diseño, mientras que otros métodos algorítmicos alcanzarán fases del proyecto más concretas. De este modo, los patrones digitales que se pretenden se centran en la customización del diseño, mientras que el uso que le dan otros autores persigue la optimización del mismo. Para ello la investigación recurrirá al análisis de los pabellones de verano de la Serpentine Gallery como casos de estudio en los que comprobar la repercusión de los patrones en el diseño de arquitectura actual y su posible adaptación al diseño paramétrico.

Cosmic Explosions: Observations Of Infant Hydrogen-Free Supernovae Towards An Understanding Of Their Parent Systems

Radiation in the first days of supernova explosions contains rich information about physical properties of the exploding stars. In the past three years, I used the intermediate Palomar Transient Factory to conduct one-day cadence surveys, in order to systematically search for infant supernovae. I show that the one-day cadences in these surveys were strictly controlled, that the realtime image subtraction pipeline managed to deliver transient candidates within ten minutes of images being taken, and that we were able to undertake follow-up observations with a variety of telescopes within hours of transients being discovered. So far iPTF has discovered over a hundred supernovae within a few days of explosions, forty-nine of which were spectroscopically classified within twenty-four hours of discovery.

Our observations of infant Type Ia supernovae provide evidence for both the single-degenerate and double-degenerate progenitor channels. On the one hand, a low-velocity Type Ia supernova iPTF14atg revealed a strong ultraviolet pulse within four days of its explosion. I show that the pulse is consistent with the expected emission produced by collision between the supernova ejecta and a companion star, providing direct evidence for the single degenerate channel. By comparing the distinct early-phase light curves of iPTF14atg to an otherwise similar event iPTF14dpk, I show that the viewing angle dependence of the supernova-companion collision signature is probably responsible to the difference of the early light curves. I also show evidence for a dark period between the supernova explosion and the first light of the radioactively-powered light curve. On the other hand, a peculiar Type Ia supernova iPTF13asv revealed strong near-UV emission and absence of iron in the spectra within the first two weeks of explosion, suggesting a stratified ejecta structure with iron group elements confined to the slow-moving part of the ejecta. With its total ejecta mass estimated to exceed the Chandrasekhar limit, I show that the stratification and large mass of the ejecta favor the double-degenerate channel.

In a separate approach, iPTF found the first progenitor system of a Type Ib supernova iPTF13bvn in the pre-explosion HST archival mages. Independently, I used the early-phase optical observations of this supernova to constrain its progenitor radius to be no larger than several solar radii. I also used its early radio detections to derive a mass loss rate of 3e-5 solar mass per year for the progenitor right before the supernova explosion. These constraints on the physical properties of the iPTF13bvn progenitor provide a comprehensive data set to test Type Ib supernova theories. A recent HST revisit to the iPTF13bvn site two years after the supernova explosion has confirmed the progenitor system.

Moving forward, the next frontier in this area is to extend these single-object analyses to a large sample of infant supernovae. The upcoming Zwicky Transient Facility with its fast survey speed, which is expected to find one infant supernova every night, is well positioned to carry out this task.

Impacto económico y social del mundo de la moda

(ESPAÑOL) La moda es un fenómeno social y cultural que genera un elevado interés entre muchos colectivos. Es también un sector económico generador de actividad y empleo, que influye además en otros sectores y es capaz de crear imagen de país. La llegada de internet y la explosión de la conectividad han desencadenado importantes cambios, de los que el sector de la moda no es ajeno. Así, se han generado nuevos modos de visibilidad para la moda, se han creado nuevos perfiles profesionales, y se han desarrollado nuevos modelos de negocio. Los prescriptores y marcadores de tendencias han dejado de estar en manos de las marcas y los grupos editoriales, para pasar a manos de los propios consumidores, que crean tendencias con la exhibición de sus propios looks. Blogs, bloggers y redes sociales, entre las que destaca Instagram, se han convertido en instrumentos imprescindibles en las estrategias de marketing de las empresas del sector, desencadenándose una gran transformación. Este es precisamente el eje central del presente trabajo: el análisis del proceso de evolución del sector de la moda, desde un punto de vista tanto económico como social.

Uma metodologia para a análise do desempenho sustentável dos postos de revenda de combustível na cidade de Natal/RN, com o uso de data envelopment analysis-DEA

The increasing use of fossil fuels in line with cities demographic explosion carries out to huge environmental impact in society. For mitigate these social impacts, regulatory requirements have positively influenced the environmental consciousness of society, as well as, the strategic behavior of businesses. Along with this environmental awareness, the regulatory organs have conquered and formulated new laws to control potentially polluting activities, mostly in the gas stations sector. Seeking for increasing market competitiveness, this sector needs to quickly respond to internal and external pressures, adapting to the new standards required in a strategic way to get the Green Badge . Gas stations have incorporated new strategies to attract and retain new customers whom present increasingly social demand. In the social dimension, these projects help the local economy by generating jobs and income distribution. In this survey, the present research aims to align the social, economic and environmental dimensions to set the sustainable performance indicators at Gas Stations sector in the city of Natal/RN. The Sustainable Balanced Scorecard (SBSC) framework was create with a set of indicators for mapping the production process of gas stations. This mapping aimed at identifying operational inefficiencies through multidimensional indicators. To carry out this research, was developed a system for evaluating the sustainability performance with application of Data Envelopment Analysis (DEA) through a quantitative method approach to detect system s efficiency level. In order to understand the systemic complexity, sub organizational processes were analyzed by the technique Network Data Envelopment Analysis (NDEA) figuring their micro activities to identify and diagnose the real causes of overall inefficiency. The sample size comprised 33 Gas stations and the conceptual model included 15 indicators distributed in the three dimensions of sustainability: social, environmental and economic. These three dimensions were measured by means of classical models DEA-CCR input oriented. To unify performance score of individual dimensions, was designed a unique grouping index based upon two means: arithmetic and weighted. After this, another analysis was performed to measure the four perspectives of SBSC: learning and growth, internal processes, customers, and financial, unifying, by averaging the performance scores. NDEA results showed that no company was assessed with excellence in sustainability performance. Some NDEA higher efficiency Gas Stations proved to be inefficient under certain perspectives of SBSC. In the sequence, a comparative sustainable performance and assessment analyzes among the gas station was done, enabling entrepreneurs evaluate their performance in the market competitors. Diagnoses were also obtained to support the decision making of entrepreneurs in improving the management of organizational resources and promote guidelines the regulators. Finally, the average index of sustainable performance was 69.42%, representing the efforts of the environmental suitability of the Gas station. This results point out a significant awareness of this segment, but it still needs further action to enhance sustainability in the long term

Implementación del método de aprendizaje basado en Proyectos en asignaturas de Ingeniería de Fabricación de los Grados de la Universidad de Málaga

El presente trabajo de innovación educativa pretende desarrollar las capacidades y competencias de los alumnos mediante la aplicación de un Proyecto que potencia el aprendizaje cooperativo. El alumno verá enriquecido su dominio de la disciplina a través de una coherente aplicación de los conocimientos adquiridos en una primera parte teórica de la asignatura. La interacción directa con otros alumnos, la exigibilidad individual, la reflexión sobre el funcionamiento del grupo y el desarrollo de las habilidades interpersonales son la base del aprendizaje cooperativo y la implementación del presente proyecto posibilita reducir las carencias que en estos aspectos muestra el alumnado universitario. El Proyecto puede ser denominado por el siguiente titular: ¿CÓMO SE FABRICA Y CÓMO FUNCIONA? En cada curso académico el Área de Ingeniería de Procesos de Fabricación (IPF) adquirirá un conjunto mecánico de complejidad media (p. e. cortasetos) que esté compuesto de un número adecuado de piezas fabricadas con distintos materiales (metal, polímeros, cerámicos, compuestos) y mediante diferentes procesos de fabricación (fundición, mecanizado, soldadura, deformación plástica, etc.). El proyecto partirá de una inicial descomposición por explosion de la totalidad de las piezas que forman el conjunto. Un posterior análisis establecerá las relaciones funcionales de los diferentes componentes y la naturaleza del material de cada uno de ellos, así como de las posibles alternativas a emplear en su fabricación.