A Realization Of An Fpga Sub System For Reducing Odometric Localization Errors In Wheeled Mobile Robots

This paper introduces a simple and efficient method and its implementation in an FPGA for reducing the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle. The standard quadrature technique is used to obtain four counts in each encoder period. In this work a three-wheeled mobile robot vehicle with one driving-steering wheel and two-fixed rear wheels in-axis, fitted with incremental optical encoders is considered. The CORDIC algorithm has been used for the computation of sine and cosine terms in the update equations. The results presented demonstrate the effectiveness of the technique

Studies on fish waste management practices in Aroor Seafood Industrial Belt, Kerala and conversion of seafood waste into a liquid plant growth supplement

This study was materialized to analyze the management issues regarding the seafood processing waste generated including its impact on the coastal community in one of the important seafood hubs of India Aroor Seafood Industrial Belt Alappuzha District Kerala The area has witnessed serious pollution issues related to seafood waste and seldom has any action been implemented by either the polluters or the preventers Further this study is also intended to suggest a low cost eco friendly method for utilizing the bulk quantity of seafood solid waste generated in the area for the promotion of organic farming The high nutritional value of seafood enables the subsequent offal to be considered as an excellent source for plant nutrition The liquid silage accepted worldwide as the cheapest and practical solution for rendering fish waste in bulk for production of livestock feed is adopted in this study to develop foliar fertilizer formulations from various seafood waste The effect of seafood foliar sprays is demonstrated by field studies on two plant varieties such as Okra and Amaranthus

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

From evolution to co-evolution – An empirical study of the role of innovation, policy and public research in industrial dynamics

In the past decades since Schumpeter’s influential writings economists have pursued research to examine the role of innovation in certain industries on firm as well as on industry level. Researchers describe innovations as the main trigger of industry dynamics, while policy makers argue that research and education are directly linked to economic growth and welfare. Thus, research and education are an important objective of public policy. Firms and public research are regarded as the main actors which are relevant for the creation of new knowledge. This knowledge is finally brought to the market through innovations. What is more, policy makers support innovations. Both actors, i.e. policy makers and researchers, agree that innovation plays a central role but researchers still neglect the role that public policy plays in the field of industrial dynamics. Therefore, the main objective of this work is to learn more about the interdependencies of innovation, policy and public research in industrial dynamics. The overarching research question of this dissertation asks whether it is possible to analyze patterns of industry evolution – from evolution to co-evolution – based on empirical studies of the role of innovation, policy and public research in industrial dynamics. This work starts with a hypothesis-based investigation of traditional approaches of industrial dynamics. Namely, the testing of a basic assumption of the core models of industrial dynamics and the analysis of the evolutionary patterns – though with an industry which is driven by public policy as example. Subsequently it moves to a more explorative approach, investigating co-evolutionary processes. The underlying questions of the research include the following: Do large firms have an advantage because of their size which is attributable to cost spreading? Do firms that plan to grow have more innovations? What role does public policy play for the evolutionary patterns of an industry? Are the same evolutionary patterns observable as those described in the ILC theories? And is it possible to observe regional co-evolutionary processes of science, innovation and industry evolution? Based on two different empirical contexts – namely the laser and the photovoltaic industry – this dissertation tries to answer these questions and combines an evolutionary approach with a co-evolutionary approach. The first chapter starts with an introduction of the topic and the fields this dissertation is based on. The second chapter provides a new test of the Cohen and Klepper (1996) model of cost spreading, which explains the relationship between innovation, firm size and R&D, at the example of the photovoltaic industry in Germany. First, it is analyzed whether the cost spreading mechanism serves as an explanation for size advantages in this industry. This is related to the assumption that the incentives to invest in R&D increase with the ex-ante output. Furthermore, it is investigated whether firms that plan to grow will have more innovative activities. The results indicate that cost spreading serves as an explanation for size advantages in this industry and, furthermore, growth plans lead to higher amount of innovative activities. What is more, the role public policy plays for industry evolution is not finally analyzed in the field of industrial dynamics. In the case of Germany, the introduction of demand inducing policy instruments stimulated market and industry growth. While this policy immediately accelerated market volume, the effect on industry evolution is more ambiguous. Thus, chapter three analyzes this relationship by considering a model of industry evolution, where demand-inducing policies will be discussed as a possible trigger of development. The findings suggest that these instruments can take the same effect as a technical advance to foster the growth of an industry and its shakeout. The fourth chapter explores the regional co-evolution of firm population size, private-sector patenting and public research in the empirical context of German laser research and manufacturing over more than 40 years from the emergence of the industry to the mid-2000s. The qualitative as well as quantitative evidence is suggestive of a co-evolutionary process of mutual interdependence rather than a unidirectional effect of public research on private-sector activities. Chapter five concludes with a summary, the contribution of this work as well as the implications and an outlook of further possible research.

Tecnología industrial I : una ventana abierta a la investigación y experimentación en bachillerato.

Se presenta memoria final de proyecto educativo que propone la estructuración de los bloques temáticos de la asignatura de tecnología industrial I perteneciente al bachillerato tecnológico, a través de dos grandes centros de interés, uno de ellos estará basado en el azulejo sevillano y el otro en el aprovechamiento energético del sol. Se realiza en el IES Pablo Picasso en Sevilla. Los objetivos son: superar el anquilosamiento de un sistema excesivamente teórico; despertar el interés por el derecho que asiste a los pueblos a conocer a su cultura, valorando nuestro patrimonio tecnológico como bien social e irrenunciable; promover un proceso de aprendizaje en la línea de 'aprender a aprender'; aproximar al alumno a un contexto sociolocacional cultural de su entorno; despertar en el alumnado interés por la experimentación y la investigación; permitir un acercamiento globalizador o interdisciplinar con otras áreas; fomentar y ejercitar la creatividad, la capacidad de diseño, organización a nivel grupal e ingenio investigando y construyendo artilugios con materiales de desecho; habilitar a adquirir conocimientos también fuera del aula; descubrir con ambas propuestas las posibilidades de integración laboral; contribuir a que el alumnado tengan cabezas bien hechas que no bien llenas. El proceso consta de varias fases: aproximación, conocimiento, implicación y aportaciones; organización por grupos, asumir roles, directrices a seguir; concreción de contenidos; de desarrollo, salidas diversas, recogida de información; elaboración y organización de 'carpetas-dossier'; elaboración de documentos resumen; revisión y montaje de documentos definitivos; presentación de trabajos.

Modeling Robot Dynamic Performance for Endpoint Force Control

This research aims to understand the fundamental dynamic behavior of servo-controlled machinery in response to various types of sensory feedback. As an example of such a system, we study robot force control, a scheme which promises to greatly expand the capabilities of industrial robots by allowing manipulators to interact with uncertain and dynamic tasks. Dynamic models are developed which allow the effects of actuator dynamics, structural flexibility, and workpiece interaction to be explored in the frequency and time domains. The models are used first to explain the causes of robot force control instability, and then to find methods of improving this performance.

Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks

Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ESL, and TDL improve robustness by managing functionally redundant procedures for achieving goals. The model-based programming approach extends this by guaranteeing correctness of execution through pre-planning of non-deterministic timed threads of activities. Executing model-based programs effectively on distributed autonomous platforms requires distributing this pre-planning process. This thesis presents a distributed planner for modelbased programs whose planning and execution is distributed among agents with widely varying levels of processor power and memory resources. We make two key contributions. First, we reformulate a model-based program, which describes cooperative activities, into a hierarchical dynamic simple temporal network. This enables efficient distributed coordination of robots and supports deployment on heterogeneous robots. Second, we introduce a distributed temporal planner, called DTP, which solves hierarchical dynamic simple temporal networks with the assistance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTP has been demonstrated successfully on a wide range of randomly generated examples and on a pursuer-evader challenge problem in simulation.

Lean Transition of Emerging Industrial Capability

This volume of the final report documents the technical work performed from December 1998 through December 2002 under Cooperative Agreement F33615-97-2-5153 executed between the U.S. Air Force, Air Force Research Laboratory, Materials and Manufacturing Directorate, Manufacturing Technology Division (AFRL/MLM) and the McDonnell Douglas Corporation, a wholly-owned subsidiary of The Boeing Company. The work was accomplished by The Boeing Company, Phantom Works, Huntington Beach, St. Louis, and Seattle; Ford Motor Company; Integral Inc.; Sloan School of Management in the Massachusetts Institute of Technology; Pratt & Whitney; and Central State University in Xenia, Ohio and in association with Raytheon Corporation. The LeanTEC program manager for AFRL is John Crabill of AFRL / MLMP and The Boeing Company program manager is Ed Shroyer of Boeing Phantom Works in Huntington Beach, CA. Financial performance under this contract is documented in the Financial Volume of the final report.

La escuela del paternalismo industrial asturiano (1880-1936).

Conocer la intervención escolar y las realizaciones educativas del empresario minero asturiano. Método de investigación descriptivo de tipo histórico y retrospectivo que trata de analizar la intervención escolar y las realizaciones educativas del empresario minero asturiano entre 1880 y 1936. Las fuentes documentales de análisis proceden de los archivos de la empresa estatal HUNOSA y la empresa privada Duro-Felguera (Asturias). En la historia de la escolarización en la Asturias contemporánea ha sido determinante la actuación del empresario minero. Esta investigación histórica contribuye a comprender las claves, el sentido y alcance de tal contribución, centrándose en el análisis de su intervención escolar y socioeducativa desde la década de los ochenta del siglo XIX hasta el término de la II República, abordando el despliegue del programa educativo del paternalismo industrial. Un programa que preseguía configurar el nuevo trabajador industrial, sustentándose en la 'filantropía científica', que aconsejaba al patrón ocuparse de las provisiones sociales que atiende en el tiempo de no trabajo de la población obrera y el tiempo escolar y no escolar de la infancia. Entre estas provisiones, la escuela del paternalismo industrial, respondiendo exclusivamente a criterios de política patronal, tendrá una funcionalidad disciplinante e ideológica llevada a cabo por distintas órdenes y congregaciones religiosas, que realizarán también una intervención moralizadora en el ocio infantojuvenil y adulto, desplegando hacia ambos colectivos instituciones y espacios específicos de sociabilidad. De esta doble dimensión se ocupa ampliamente este texto, procediendo igualmente a cuantificar y periodizar el desarrollo del mapa escolar patronal, así como a analizar su incidencia tanto en la propia ordenación del territorio industrial como en el desarrollo de la red escolar pública.

Projectes (Enginyeria Industrial) [versió html]

Aquest llibre ha de permetre desenvolupar els criteris que ens permeten d'establir la metodologia de treball que s'ha de seguir en la redacció de Projectes. Tant des del punt de vista d'organització i de gestió, (pràctica i tècnica) i ha de garantir un correcte coneixement de tots i cadascun dels conceptes que intervenen i que permeten d'assolir el producte final: un document redactat pel projectista que recull l'objectiu pel qual ens ha estat encarregat i apte per fer-ne una realitat

Lean Transition of Emerging Industrial Capability (LeanTEC)

Lean Transition of Emerging Industrial Capability (LeanTEC) program was a cooperative agreement between the Boeing Company and AFRL conducted from January 1998 to January 2002. The results of this program are documented in the Manual for Effective Technology Transition Processes included as an attachment to this report. This manual provides processes, procedures, and tools for greatly improving technology transition in the aerospace industry. Methodology for the implementation of these improvements is given along with methods for customizing the various processes, procedures, and tools for a given company or business unit. The indicated methodology was tested by the LeanTEC team and results are documented in the report.

Industrial Relations and "Humanware"

This is a preliminary paper. Please do not quote without the permission of the author. The research on which this paper is based has been conducted with the collaboration of John Paul MacDuffie, MIT. The researchers owe much to the warm cooperation of managers, employees, and union officials of Japanese auto companies and joint venture companies in the U.S. as well as American auto companies and the UAW. We would like to express our sincere appreciation for their assistance.

Projectes (Enginyeria Industrial) [versió comprimida]

Aquest llibre ha de permetre desenvolupar els criteris que ens permeten d'establir la metodologia de treball que s'ha de seguir en la redacció de Projectes. Tant des del punt de vista d'organització i de gestió, (pràctica i tècnica) i ha de garantir un correcte coneixement de tots i cadascun dels conceptes que intervenen i que permeten d'assolir el producte final: un document redactat pel projectista que recull l'objectiu pel qual ens ha estat encarregat i apte per fer-ne una realitat