949 resultados para Autonomous Mobile Robot


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The objective of this master’s thesis was to develop a model for mobile subscription acquisition cost, SAC, and mobile subscription retention cost, SRC, by applying activity-based cost accounting principles. The thesis was conducted as a case study for a telecommunication company operating on the Finnish telecommunication market. In addition to activity-based cost accounting there were other theories studied and applied in order to establish a theory framework for this thesis. The concepts of acquisition and retention were explored in a broader context with the concepts of customer satisfaction, loyalty and profitability and eventually customer relationship management to understand the background and meaning of the theme of this thesis. The utilization of SAC and SRC information is discussed through the theories of decision making and activity-based management. Also, the present state and future needs of SAC and SRC information usage at the case company as well as the functions of the company were examined by interviewing some members of the company personnel. With the help of these theories and methods it was aimed at finding out both the theory-based and practical factors which affect the structure of the model. During the thesis study it was confirmed that the existing SAC and SRC model of the case company should be used as the basis in developing the activity-based model. As a result the indirect costs of the old model were transformed into activities and the direct costs were continued to be allocated directly to acquisition of new subscriptions and retention of old subscriptions. The refined model will enable managing the subscription acquisition, retention and the related costs better through the activity information. During the interviews it was found out that the SAC and SRC information is also used in performance measurement and operational and strategic planning. SAC and SRC are not fully absorbed costs and it was concluded that the model serves best as a source of indicative cost information. This thesis does not include calculating costs. Instead, the refined model together with both the theory-based and interview findings concerning the utilization of the information produced by the model will serve as a framework for the possible future development aiming at completing the model.

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La idea del proyecto viene del concepto de “fábricas del futuro”, donde las barreras entre robots y humanos se rompen para que la colaboración entre ambos sea como en un equipo. Para la realización de este proyecto se ha utilizado el brazo robótico IRB120 de la marca ABB de 6 Grados de libertad, Matlab y el software Robot Studio. El Objetivo principal de este proyecto es establecer el protocolo de comunicación trabajador-robot mediante imágenes. El trabajador debería poder controlar el robot mediante dibujos realizados en la mesa de trabajo. En el desarrollo de la comunicación trabajador-robot cabe distinguir tres partes: · El análisis y tratamiento de imágenes para el cual se ha utilizado el software Matlab. · Transmisión de los datos desde Matlab al robot. · Programación de las acciones a realizar por el robot mediante el software “Robot Studio”. Con el protocolo de comunicación desarrollado y las imágenes realizadas por el trabajador el robot es capaz de detectar lo siguiente: · la herramienta que debe utilizar (rotulador, boli o ventosa) · si lo que tiene que dibujar en la mesa de trabajo son puntos o trazo continuo. · la localización de los puntos o del trazo continuo en la mesa de trabajo. Se ha alcanzado el objetivo propuesto con éxito, el protocolo de comunicación trabajador-robot mediante imágenes ha sido establecido. Mediante el análisis y tratamiento de imágenes se puede conseguir la información necesaria para que el robot pueda ejecutar las acciones requeridas por el trabajador.

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The purpose of this article is to offer a practical approach to the new European dimension for regional parliaments signified by the entry into force of the Treaty of Lisbon. The parliamentary scrutiny of subsidiarity by way of the early warning system has assigned a new mission to legislative assemblies with the aim of reinforcing the intervention of regions in the drafting of policies by Union institutions. In the Spanish case, the institutionalisation of this mechanism came about with Act nº 24/2009, which attributes to the Joint Committee for the European Union, in the name of the Cortes Generales [the Spanish Parliament], the function of receiving the proposals for legislative acts by the EU and transferring them to the regional parliaments in order for the latter to issue, in a brief period of four weeks, a report on compliance with the principle of subsidiarity. The majority of regional parliaments have also carried out normative reforms to regulate the procedure of participation in the early warning system.

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The referendum is a poorly used mechanism for direct participation in the Spanish system, at both state and regional level. The discussion on the feasibility of this system at regional level has been examined by the Constitutional Court. Influenced by the reluctance with which constituents viewed the mechanisms of direct democracy, they still have a reductive view of the referendum. The State therefore reserves the right to exercise very intensive controls on the provision and authorization of referendums and on the specific exercise of each referendum

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Data traffic caused by mobile advertising client software when it is communicating with the network server can be a pain point for many application developers who are considering advertising-funded application distribution, since the cost of the data transfer might scare their users away from using the applications. For the thesis project, a simulation environment was built to mimic the real client-server solution for measuring the data transfer over varying types of connections with different usage scenarios. For optimising data transfer, a few general-purpose compressors and XML-specific compressors were tried for compressing the XML data, and a few protocol optimisations were implemented. For optimising the cost, cache usage was improved and pre-loading was enhanced to use free connections to load the data. The data traffic structure and the various optimisations were analysed, and it was found that the cache usage and pre-loading should be enhanced and that the protocol should be changed, with report aggregation and compression using WBXML or gzip.

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This thesis introduces a real-time simulation environment based on the multibody simulation approach. The environment consists of components that are used in conventional product development, including computer aided drawing, visualization, dynamic simulation and finite element software architecture, data transfer and haptics. These components are combined to perform as a coupled system on one platform. The environment is used to simulate mobile and industrial machines at different stages of a product life time. Consequently, the demands of the simulated scenarios vary. In this thesis, a real-time simulation environment based on the multibody approach is used to study a reel mechanism of a paper machine and a gantry crane. These case systems are used to demonstrate the usability of the real-time simulation environment for fault detection purposes and in the context of a training simulator. In order to describe the dynamical performance of a mobile or industrial machine, the nonlinear equations of motion must be defined. In this thesis, the dynamical behaviour of machines is modelled using the multibody simulation approach. A multibody system may consist of rigid and flexible bodies which are joined using kinematic joint constraints while force components are used to describe the actuators. The strength of multibody dynamics relies upon its ability to describe nonlinearities arising from wearing of the components, friction, large rotations or contact forces in a systematic manner. For this reason, the interfaces between subsystems such as mechanics, hydraulics and control systems of the mechatronic machine can be defined and analyzed in a straightforward manner.

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We deal with a system of prisoner’s dilemma players undergoing continuous motion in a two-dimensional plane. In contrast to previous work, we introduce altruistic punishment after the game. We find punishing only a few of the cooperator-defector interactions is enough to lead the system to a cooperative state in environments where otherwise defection would take over the population. This happens even with soft nonsocial punishment (where both cooperators and defectors punish other players, a behavior observed in many human populations). For high enough mobilities or temptations to defect, low rates of social punishment can no longer avoid the breakdown of cooperation

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Problems in the mobile services are complex where the lack of the user analysis is not the modest issue. User centered design has increasingly become as a basis for the design of mobile services. The concept of user centered design gives end-user extensive attention at each stage of the design process. Mobile service providers want to offer experiences for users and clearly the users look for services that can provide pleasant experiences. In this thesis, the elements of user experience in mobile internet were studied as well as user experience measuring methods were researched. This study was looking for user experience measuring metrics and methods to specify new factors to measure user experience. During this thesis research project an application called CEM4Mobile was designed and implemented. CEM4Mobile is an application for observing and analysing user experience based on the user activity and behaviour. As a result of this thesis, a collection of user experience elements and measuring metrics were found. The elements and metrics were designed and implemented to CEM4Mobile product, which measures user experience. It was found out that the user experience measuring methods were based on interaction between two people but CEM4Mobile makes user observation programmatic.

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The problematic use of mobile phones among adolescents has not been widely studied. There are very few instruments for assessing potential technological addiction to mobile phones, or for categorizing different types of users or uses. The most widely used scale is the Mobile Phone Problem Use Scale (MPPUS), which is used to study adult populations, and has been applied in various forms in international contexts. The aims of this study were to adapt the Spanish version of this scale (MPPUSA) to British adolescents, and then to estimate the prevalence of possible problematic users. A questionnaire was administered to a sample of 1,529 secondary school pupils aged between 11 and 18 years, with 1,026 completed questionnaires being collected. The analysis showed that the factor and construct validity and reliability were comparable to those obtained in previous studies. The prevalence of problematic users among the students was 10%, and the typical problematic user tended to be an adolescent between 11 and 14 years old, studying in a public school, who considered themselves to be an expert user of this technology, who made extensive use of his/her mobile phone, and who attributed the same problem of use among their peers. These users presented notable scores in all the symptoms covered by the scale used to assess problematic use. In conclusion, the adaptation of the MPPUSA as a screening scale for British adolescents presents good sensitivity and specificity for detecting the main addictive symptoms proposed in this validated version.

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El uso problemático del teléfono móvil es un fenómeno emergente en nuestra sociedad, que parece afectar especialmente a la población adolescente. El conocimiento acerca del uso problemático de esta tecnología resulta necesario, dado que puede desarrollarse un patrón comportamental con características adictivas. Apenas existen escalas que midan el posible uso problemático del móvil y ninguna adaptada exclusivamente a población adolescente española. La escala más utilizada internacionalmente es la Mobile Phone Problematic Use Scale (MPPUS). El objetivo de este estudio es adaptar el MPPUS a la población adolescente española. Se administró la versión española del cuestionario a una muestra de 1132 de 12 a 18 años. La fiabilidad y la validez factorial eran comparables a las obtenidas en población adulta, por lo que la medida del uso problemático del móvil en los adolescentes españoles es unidimensional. Se detectó una prevalencia del 14.8% de usuarios problemáticos.

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La comunicació mòbil és un dels temes de més actualitat en diferents fòrums, des de diferents perspectives. Espanya juga un paper important per les dinàmiques i l’evolució del seu mercat. En aquest sentit, el nostre país ofereix un interès específic per l'amplitud del seu parc de dispositius 3G (el segon d'Europa, després d'Itàlia) i per la intensitat del desenvolupament de xarxes socials mòbils, a més de per la creixent implicació d'empreses en la producció i distribució de continguts mòbils. Com va passar amb Internet, es tracta d’un procés d'innovació pel qual els formats de contingut, les pràctiques de consum i els models de negoci característics de la televisió i la xarxa, per exemple, s'adapten, primer, al nou mitjà, per a després desenvolupar formes i models específics que aprofiten les potencialitats de personalització, geolocalització i conectivitat ubiqua.

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Els negocis relacionats amb les activitats de lleure i els esports d’aventura actualment es troben en expansió, buscant majoritàriament el contacte amb la natura. Les rutes a cavall formen part del gran ventall d’opcions, per aquesta qüestió s’ha pensat en construir un refugi utilitzat com a final d’etapa per a rutes a cavall. En la major part del territori, la presència de població humana es manifesta en pobles, viles i ciutats, les quals disposes d’aigua sanitària, corrent elèctric i sistema de clavegueram. Per altra banda en les urbanitzacions o cases aïllades poder gaudir d’aquests serveis suposa una inversió econòmica elevada, que implica la utilització de sistemes alternatius. En el present projecte s’ha triat un emplaçament on portar a terme el final d’etapa amb una sèrie de requisits a complir : bosc a les proximitats, disposar d’un o varis accessos per a vehicles (transport del material d’intendència), tranquil•litat, bones vistes, i cobertura de telèfon mòbil. S’han acceptat les següents limitacions : no disposar de xarxa pública d’electricitat ni d’aigua. I s’han dimensionat les instal•lacions per a un màxim de dotze persones i els seus respectius cavalls. El principal objectiu del projecte és el dimensionament de les necessitats elèctriques, d’aigua i d’aiguacalenta sanitària en condicions autònomes, i utilitzant energies renovables. La valoració de les possibles solucions per condicionar les instal•lacions, i oferir una resposta eficient per la demanda. No és un objectiu específic del treball la potabilització de l’aigua ni el tractament dels residus produïts. S’han aprofitat els diferents desnivells que presenta l’emplaçament triat a l’hora de distribuir les instal•lacions, i s’ha utilitzat un antic cobert de dos pisos ja existent. Com a residència s’ha triat un model de casa prefabricada de muntanya. Com a sistema de subministrament elèctric, s’instal•laran plaques solars fotovoltaiques i un generador de corrent com a sistema auxiliar. La captació d’aigua s’efectuarà a partir d’un pou que es troba en el terreny i de la recollida d el’aigua pluvial, instal•lant dipòsits d’emmagatzemament d’aigua segons les necessitats. S’utilitzarà un equip de cloració per potabilitzar l’aigua de consum utilitzada a la residència. En la producció d’aigua calenta sanitària s’utilitzaran plaques solars tèrmiques i una caldera instantània de gas propà com a suport. Per cuinar s’ha triat una cuina de gas propà i una barbacoa que s’instal•larà a l’exterior. S’instal•larà una llar de foc amb recuperador d’aire a la residència i una fosa sèptica amb un sistema d’infiltració per poder abocar les aigües provinents de la residència. Els fems dels cavalls podran ser utilitzats com adob pel terreny.

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Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.