946 resultados para 3D object manipulation
Resumo:
Current technological advances in fabrication methods have provided pathways to creating architected structural meta-materials similar to those found in natural organisms that are structurally robust and lightweight, such as diatoms. Structural meta-materials are materials with mechanical properties that are determined by material properties at various length scales, which range from the material microstructure (nm) to the macro-scale architecture (μm – mm). It is now possible to exploit material size effect, which emerge at the nanometer length scale, as well as structural effects to tune the material properties and failure mechanisms of small-scale cellular solids, such as nanolattices. This work demonstrates the fabrication and mechanical properties of 3-dimensional hollow nanolattices in both tension and compression. Hollow gold nanolattices loaded in uniaxial compression demonstrate that strength and stiffness vary as a function of geometry and tube wall thickness. Structural effects were explored by increasing the unit cell angle from 30° to 60° while keeping all other parameters constant; material size effects were probed by varying the tube wall thickness, t, from 200nm to 635nm, at a constant relative density and grain size. In-situ uniaxial compression experiments reveal an order-of-magnitude increase in yield stress and modulus in nanolattices with greater lattice angles, and a 150% increase in the yield strength without a concomitant change in modulus in thicker-walled nanolattices for fixed lattice angles. These results imply that independent control of structural and material size effects enables tunability of mechanical properties of 3-dimensional architected meta-materials and highlight the importance of material, geometric, and microstructural effects in small-scale mechanics. This work also explores the flaw tolerance of 3D hollow-tube alumina kagome nanolattices with and without pre-fabricated notches, both in experiment and simulation. Experiments demonstrate that the hollow kagome nanolattices in uniaxial tension always fail at the same load when the ratio of notch length (a) to sample width (w) is no greater than 1/3, with no correlation between failure occurring at or away from the notch. For notches with (a/w) > 1/3, the samples fail at lower peak loads and this is attributed to the increased compliance as fewer unit cells span the un-notched region. Finite element simulations of the kagome tension samples show that the failure is governed by tensile loading for (a/w) < 1/3 but as (a/w) increases, bending begins to play a significant role in the failure. This work explores the flaw sensitivity of hollow alumina kagome nanolattices in tension, using experiments and simulations, and demonstrates that the discrete-continuum duality of architected structural meta-materials gives rise to their flaw insensitivity even when made entirely of intrinsically brittle materials.
Resumo:
Trata-se de um estudo descritivo cujo objeto é a saúde dos trabalhadores de enfermagem e sua relação com as condições de trabalho em enfermarias de clínica médica, desenvolvido em um Hospital Universitário na cidade do Rio de Janeiro. Os objetivos orientaram para: caracterizar o perfil profissional dos trabalhadores de enfermagem; identificar, na perspectiva dos trabalhadores de enfermagem, as condições de trabalho e os fatores de risco à saúde existentes nas enfermarias de clínica médica; analisar os problemas de saúde identificados pelo trabalhador de enfermagem e a sua relação com as condições de trabalho por ele descrita em enfermarias de clínica médica. A pesquisa foi realizada no período de 2004 a 2005. O referencial teórico fundamentou-se nos estudos de especialistas das áreas de ergonomia, saúde do trabalhador e riscos no trabalho de enfermagem. A população foi de 41 trabalhadores de enfermagem que atuam nas unidades especializadas de clínica médica, sendo 73,2% de servidores públicos e 26,8% de prestadores de serviço temporário e bolsistas; a faixa etária predominante é de 40 a 49 anos; 73% são do sexo feminino; 90% com dupla e tripla jornada, com carga horária semanal de mais de 50 horas. Os riscos ocupacionais percebidos foram: manutenção de posturas inadequadas, esforço físico que produz fadiga, ritmo de trabalho acelerado, manipulação de cargas pesadas, risco de contrair infecção, temperatura inadequada, falta de materiais e insumos e iluminação insuficiente. Os problemas de saúde relacionados com as condições de trabalho foram: distúrbios osteomusculares, varizes e estresse. Os trabalhadores se interessam pela prevenção de riscos ocupacionais, porém não participam na instituição, da elaboração das políticas e estratégias na área de saúde do trabalhador. Com os resultados deste estudo e o respaldo da literatura, pode-se concluir que os problemas de saúde e condições de trabalho estão inter-relacionados; que a carga horária excessiva devido a dupla e tripla jornada, acrescido do cuidado com os filhos, idosos e afazeres domésticos, sem a prática regular de cuidados com sua saúde, tornam esses sujeitos mais vulneráveis a problemas de saúde.
Resumo:
Multi-finger caging offers a rigorous and robust approach to robot grasping. This thesis provides several novel algorithms for caging polygons and polyhedra in two and three dimensions. Caging refers to a robotic grasp that does not necessarily immobilize an object, but prevents it from escaping to infinity. The first algorithm considers caging a polygon in two dimensions using two point fingers. The second algorithm extends the first to three dimensions. The third algorithm considers caging a convex polygon in two dimensions using three point fingers, and considers robustness of this cage to variations in the relative positions of the fingers.
This thesis describes an algorithm for finding all two-finger cage formations of planar polygonal objects based on a contact-space formulation. It shows that two-finger cages have several useful properties in contact space. First, the critical points of the cage representation in the hand’s configuration space appear as critical points of the inter-finger distance function in contact space. Second, these critical points can be graphically characterized directly on the object’s boundary. Third, contact space admits a natural rectangular decomposition such that all critical points lie on the rectangle boundaries, and the sublevel sets of contact space and free space are topologically equivalent. These properties lead to a caging graph that can be readily constructed in contact space. Starting from a desired immobilizing grasp of a polygonal object, the caging graph is searched for the minimal, intermediate, and maximal caging regions surrounding the immobilizing grasp. An example constructed from real-world data illustrates and validates the method.
A second algorithm is developed for finding caging formations of a 3D polyhedron for two point fingers using a lower dimensional contact-space formulation. Results from the two-dimensional algorithm are extended to three dimension. Critical points of the inter-finger distance function are shown to be identical to the critical points of the cage. A decomposition of contact space into 4D regions having useful properties is demonstrated. A geometric analysis of the critical points of the inter-finger distance function results in a catalog of grasps in which the cages change topology, leading to a simple test to classify critical points. With these properties established, the search algorithm from the two-dimensional case may be applied to the three-dimensional problem. An implemented example demonstrates the method.
This thesis also presents a study of cages of convex polygonal objects using three point fingers. It considers a three-parameter model of the relative position of the fingers, which gives complete generality for three point fingers in the plane. It analyzes robustness of caging grasps to variations in the relative position of the fingers without breaking the cage. Using a simple decomposition of free space around the polygon, we present an algorithm which gives all caging placements of the fingers and a characterization of the robustness of these cages.
Resumo:
This review summarizes some recent work to find a generalized explanation of phytoplankton periodicity in lakes. Much of the observational and experimental evidence is drawn from work centred on the large enclosures (Lund Tubes) installed in Blelham Tarn, English Lake District. Observations on the phytoplankton in the tubes are related to the periodic changes that occur in natural lakes and it is suggested that such changes have common patterns, that they are due to common causes, that they are affected by similar processes and that they are therefore predictable and, potentially, manipulable.