Use of neural networks in robot positioning of large flexible redundant manipulators

Deflection compensation of flexible boom structures in robot positioning is usually done using tables containing the magnitude of the deflection with inverse kinematics solutions of a rigid structure. The number of table values increases greatly if the working area of the boom is large and the required positioning accuracy is high. The inverse kinematics problems are very nonlinear, and if the structure is redundant, in some cases it cannot be solved in a closed form. If the structural flexibility of the manipulator arms is taken into account, the problem is almost impossible to solve using analytical methods. Neural networks offer a possibility to approximate any linear or nonlinear function. This study presents four different methods of using neural networks in the static deflection compensation and inverse kinematics solution of a flexible hydraulically driven manipulator. The training information required for training neural networks is obtained by employing a simulation model that includes elasticity characteristics. The functionality of the presented methods is tested based on the simulated and measured results of positioning accuracy. The simulated positioning accuracy is tested in 25 separate coordinate points. For each point, the positioning is tested with five different mass loads. The mean positioning error of a manipulator decreased from 31.9 mm to 4.1 mm in the test points. This accuracy enables the use of flexible manipulators in the positioning of larger objects. The measured positioning accuracy is tested in 9 separate points using three different mass loads. The mean positioning error decreased from 10.6 mm to 4.7 mm and the maximum error from 27.5 mm to 11.0 mm.

Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were carried out. It was demonstrated that the parallel robots are capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably inside the vacuum vessel sector. The kinematic models appeared to be complex especially in the case of the 10-DOF robot because of its redundant structure. Multibody dynamics simulations were carried out, ensuring sufficient stiffness during the robot motion. The entire design and testing processes of the robots appeared to be complex tasks due to the high specialization of the manufacturing technology needed in the ITER reactor, while the results demonstrate the applicability of the proposed solutions quite well. The results offer not only devices but also a methodology for the assembly and repair of ITER by means of parallel robots.

'No country for old men?' Analyzing older people s attitudes toward mobile communication

Mobile technology plays an increasing role in interpersonal communication,representing a useful resource for different age cohorts. While the usage ofmobile communication by younger people has received a wide attention fromcommunication scholars, its usage by older people is less explored. Thegoal of our research project is to analyse the usage of mobile phones by theelderly in Italy. We conducted 51 semi-structured interviews in Rome and in amid-range town located in Umbria, between October 2013 and February 2014.Our study explores older users¿ motivations and usage practices, their perceptions of mobile phones, theiradoption and domestication of mobile phones, their usage skills. More specifically,our analysis focuses on: - personal characteristics - personal networks (personalnetwork composition, self-perceived social life, communication channels) -adoption of mobile telephone - consumption patterns of mobile devices - usedmobile services - location and mobility of mobile telephone - current mobilecharacteristics - attitude and opinions towards mobile technology Our preliminaryresults show major differences in users¿ behaviours and perceptions, that canbe related to age cohorts (younger olds vs older olds); socio-cultural levels;vital trajectories (in terms of professional and familiar status); and gender.

Mobile technology, gender and development in Africa, India and Bangladesh

Presenting

Determining the location for a mobile device by utilization of local resources of the environment

The subject being analyzed of this Master’s Thesis is a development of a service that is used to define a current location of a mobile device. The service utilized data that is obtained from own GPS receiver in some possible cases and as well data from mobile devices which can be afforded for the current environment for acquisition of more precise position of the device. The computation environment is based on context of a mobile device. The service is implemented as an application for communicator series Nokia N8XX. The Master’s Thesis presents theoretical concept of the method and its practical implementation, architecture of the application, requirements and describes a process of its functionality. Also users’ work with application is presented and recommendations for possible future improvements are made.

The Contribution of Mobile Device Manufacturers’ Site Usage to Brand Satisfaction and Loyalty

Recently most of the mobile phone manufacturer companies started to pay extra attention to their websites. This research investigates the sources of value creation on the mobile phone manufacturers’ website and the affect visiting the manufacturers’ website has on brand loyalty and brand satisfaction. The results show a correlation between positive website usage experience, brand loyalty and brand satisfaction. Moreover there is a relation between Novelty, Efficiency, Lock-in and the perceived usefulness the manufacturers’ website has on the mobile phone device. And finally the main reason behind Finnish student’s mobile phone brand loyalty is its country of origin.

Learning Robot Motions from Visual Sensing

Learning from demonstration becomes increasingly popular as an efficient way of robot programming. Not only a scientific interest acts as an inspiration in this case but also the possibility of producing the machines that would find application in different areas of life: robots helping with daily routine at home, high performance automata in industries or friendly toys for children. One way to teach a robot to fulfill complex tasks is to start with simple training exercises, combining them to form more difficult behavior. The objective of the Master’s thesis work was to study robot programming with visual input. Dynamic movement primitives (DMPs) were chosen as a tool for motion learning and generation. Assuming a movement to be a spring system influenced by an external force, making this system move, DMPs represent the motion as a set of non-linear differential equations. During the experiments the properties of DMP, such as temporal and spacial invariance, were examined. The effect of the DMP parameters, including spring coefficient, damping factor, temporal scaling, on the trajectory generated were studied.

Mobile system for pump working point estimation

In the current economy situation companies try to reduce their expenses. One of the solutions is to improve the energy efficiency of the processes. It is known that the energy consumption of pumping applications range from 20 up to 50% of the energy usage in the certain industrial plants operations. Some studies have shown that 30% to 50% of energy consumed by pump systems could be saved by changing the pump or the flow control method. The aim of this thesis is to create a mobile measurement system that can calculate a working point position of a pump drive. This information can be used to determine the efficiency of the pump drive operation and to develop a solution to bring pump’s efficiency to a maximum possible value. This can allow a great reduction in the pump drive’s life cycle cost. In the first part of the thesis, a brief introduction in the details of pump drive operation is given. Methods that can be used in the project are presented. Later, the review of available platforms for the project implementation is given. In the second part of the thesis, components of the project are presented. Detailed description for each created component is given. Finally, results of laboratory tests are presented. Acquired results are compared and analyzed. In addition, the operation of created system is analyzed and suggestions for the future development are given.

Service Description Creation Empowerment to Mobile End Users

Increasing usage of Web Services has been result of efforts to automate Web Services discovery and interoperability. The Semantic Web Service descriptions create basis for automatic Web Service information management tasks such as discovery and interoperability. The discussion of opportunities enabled by service descriptions have arisen in recent years. The end user has been considered only as a consumer of services and information sharing occurred from one service provider to public in service distribution. The social networking has changed the nature of services. The end user cannot be seen anymore only as service consumer, because by enabling semantically rich environment and right tools, the end user will be in the future the producer of services. This study investigates the ways to provide for end users the empowerment to create service descriptions on mobile device. Special focus is given to the changed role of the end user in service creation. In addition, the Web Services technologies are presented as well as different Semantic Web Service description approaches are compared. The main focus in the study is to investigate tools and techniques to enable service description creation and semantic information management on mobile device.

Certificate Handling Middleware for Mobile Devices

The purpose of this thesis was to study how certificates could be used to improve security of mobile devices. In the theoretical part the usage of certificates to improve security is explained. In the practical part a concept of certificate handling middleware is introduced and implemented. This is to demonstrate what kind of functionality is needed to provide an improvement over the current situation in security with mobile devices. The certificate handling middleware is a concept that would work better if implemented directly into mobile device's core functionality. Many of the mobile devices have a certificate store to some degree and often it is not used to store other people's certificates. A certificate store combined with address book and added with possibility to add attributes to the people such as group memberships would be sufficient to satisfy the needs of many emerging sharing and social applications.

Designing and Implementing Mouse Emulation to Touchscreen Operated Mobile Web Browsers

Browsing the web has become one of the most important features in high end mobile phones and in the future more and more people will be using mobile phone for web browsing. Large touchscreens improve browsing experience but many web sites are designed to be used with a mouse. A touchscreen differs substantially from a mouse as a pointing device and therefore mouse emulation logic is required in the browsers to make more web sites usable. This Master's thesis lists the most significant cases where the differences of a mouse and a touchscreen affect web browsing. Five touchscreen mobile phones and their web browsers were evaluated to find out if and how these cases are handled in them. Also as a part of this thesis, a simple QtWebKit based mobile web browser with advanced mouse emulation model was implemented, aiming to solve all the problematic cases. The conclusion of this work is that it is feasible to emulate a mouse with a touchscreen and thus deliver good user experience in mobile web browsing. However, current highend touchscreen mobile phones have relatively underdeveloped mouse emulations in their web browsers and there is a lot to improve.

Real-time Musical Pair Improvisation on Mobile Devices

This thesis discusses the design and implementation of a real-time musical pair improvisation scenario for mobile devices. In the scenario transferring musical information over a network connection was required. The suitability of available wireless communication technologies was evaluated and communication was analyzed and designed on multiple layers of TCP/IP protocol stack. Also an application layer protocol was designed and implemented for the scenario. The implementation was integrated into a mobile musical software for children using available software components and libraries although the used platform lead to hardware and software constraints. Software limitations were taken into account in design. The results show that real-time musical improvisation can be implemented with wireless communication and mobile technology. The results also show that link layer had the most significant effect on real-time communication in the scenario.

From pioneering mission to autonomous church : Lutheran mission cooperation and church building in Thailand 1976-1994

Det lutherska missionsarbetet i Thailand startade inte förrän år 1976 då norska lutherska missionärer anlände till landet. Ett par år senare inledde Finska Missionssällskapet samarbete med norrmännen och med tiden anslöt sig även tre asiatiska lutherska kyrkor till missionssamarbetet i Thailand. Från första början var målet för missionsarbetet att grunda en självständig luthersk kyrka i Thailand. Detta skedde år 1994, 18 år efter att arbetet i Thailand hade inletts. I avhandlingen granskas vilka arbetsmetoder och verksamhetsformer som användes och hur grundandet av en självständig nationell luthersk kyrka förbereddes och förverkligades. I avhandlingen synas även den lutherska missionen i Thailand i förhållande till samtida internationellt missionstänkande och strömningar inom den kristna världsmissionen. Slutligen sätts den lutherska missionen i Thailand in i en thailändsk kulturell och religiös kontext.

Mobile banking in developing countries

This Master’s thesis examines the feasibility of eBusiness in developing countries by looking at the current mobile banking solutions. The research involved reviewing literature that was relevant to the research questions. It was discovered that the Wizzit and M-PESA are the current solutions to mobile banking. Furthermore, it was found out that the Wizzit and M-PESA were either transformational or additive. Additive mobile banking is the use of mobile phones as a channel to provide services to existing customers within financial institutions. Transformational mobile banking extends financial services to the unbanked. The results of the thesis are M-PESA works with only Safaricom while on the other hand Wizzit has compatibility with any mobile operator. The other result is that both M-PESA and Wizzit are transformational mobile banking technologies at the sametime Wizzit is an Additive mobile banking technology. Wizzit can provide financial services to both the unbanked and existing bank customers. It can be said the merits of Wizzit outweigh those of M-PESA which makes Wizzit better.

A Tomada de Decisão (Bio)ética: Estudo Preliminar Utilizando o Mobile Eye Tracking

RESUMO A tomada de decisão é uma das dimensões essenciais da formação do profissional da saúde, como mencionado nas atuais Diretrizes Curriculares Nacionais do Curso de Graduação em Medicina. O processo decisório, no âmbito da saúde, envolve diferentes aspectos, incluindo os elementos (bio)éticos. Nesse sentido, pesquisas que investiguem a tomada de decisão em (bio)ética poderão elucidar passos ainda não completamente esclarecidos, permitindo uma construção mais efetiva das competências em (bio)ética, na graduação e na pós-graduação. Diante desta perspectiva, o objetivo deste estudo é explorar possibilidades de uso do Mobile Eye Tracking para o estudo do papel da atenção visual – durante a exibição de filmes de cinema – no processo decisório em (bio)ética.