Prediction of part orientation error tolerance of a robotic gripper

This paper presents a model which predicts the part orientation error tolerance of a three-fingered robotic gripper. The concept of “self-alignment” is introduced, where the gripper uses the grasping process to bring the workpiece into its final state of orientation. The gripper and part are represented mathematically, and initial contact locations upon grasp closure determined. This information is used to solve for the contact forces present, and criteria are developed to determine if beneficial part motion resulting in self-alignment is expected. The results are visualized via a boundary projected on a reference plane below the part. The model is validated experimentally with a number of part configurations with favorable results. This method presents a useful tool by which the mechanical designer can quantitatively predict the performance of an intuitively designed gripping system.     

An alternative Kalman-Yakubovich-Popov lemma and some extensions

This paper introduces an alternative formulation of the Kalman-Yakubovich-Popov (KYP) Lemma, relating an infinite dimensional Frequency Domain Inequality (FDI) to a pair of finite dimensional Linear Matrix Inequalities (LMI). It is shown that this new formulation encompasses previous generalizations of the KYP Lemma which hold in the case the coefficient matrix of the FDI does not depend on frequency. In addition, it allows the coefficient matrix of the frequency domain inequality to vary affinely with the frequency parameter. One application of this results is illustrated in an example of computing upper bounds to the structured singular value with frequency-dependent scalings.     

Foot motions in manual material handling transfer tasks: a taxonomy and data from an automotive assembly plant

Ergonomic job analysis commonly applies static postural and biomechanical analysis tools to particular postures observed during manual material handling (MMH) tasks, usually focusing on the most extreme postures or those involving the highest loads. When these analyses are conducted prospectively using digital human models, accurate prediction of the foot placements is critical to realistic postural analyses. In automotive assembly jobs, workers frequently take several steps between task elements, for example, picking up a part at one location and moving to another location to place it on the vehicle. A detailed understanding of the influence of task type and task sequence on the stepping pattern is necessary to accurately predict the foot placements associated with MMH tasks. The current study examined the patterns of foot motions observed during automotive assembly tasks. Video data for 529 pickup and delivery tasks from 32 automotive assembly jobs were analysed. A minimum of five cycles was analysed for each task. The approach angle, departure angle, hand(s) used, manipulation height and patterns of footsteps were coded from the video. Object mass was identified from the job information sheet provided by the assembly plant. Three independent raters coded each video and demonstrated an intraclass correlation coefficient of 0.54 for identification of the configuration of the lower extremities during terminal stance. Based on an analysis of the distribution of stepping behaviours during object transitions (pickups or deliveries), a transition classification system (TRACS) was developed. TRACS uses a compact notation to quantify the sequence of steps associated with a MMH transition. Five TRACS behaviour groups accounted for over 90% of the transition stepping behaviours observed in the assembly plant. Approximately two-thirds (68.4%) of the object transfers observed were performed with only one foot in contact with the ground during the terminal posture. The results from this paper suggest that a predictive model for choosing a transition stepping behaviour, coupled with a model to scale the selected foot behaviours, is needed to facilitate accurate prospective ergonomic analyses. This study proposes a method for categorising the stepping patterns associated with MMH tasks. The influence of task type and task sequence on the stepping patterns observed during several automotive assembly tasks is discussed. For prospective postural analyses conducted using digital human models, accurate prediction of the foot placements is critical to realistic postural analyses.     

Dust source identification using MODIS: A comparison of techniques applied to the Lake Eyre Basin, Australia

The impact of mineral aerosol (dust) in the Earth's system depends on particle characteristics which are initially determined by the terrestrial sources from which the sediments are entrained. Remote sensing is an established method for the detection and mapping of dust events, and has recently been used to identify dust source locations with varying degrees of success. This paper compares and evaluates five principal methods, using MODIS Level 1B and MODIS Level 2 aerosol data, to: (a) differentiate dust (mineral aerosol) from non-dust, and (2) determine the extent to which they enable the source of the dust to be discerned. The five MODIS L1B methods used here are: (1) un-processed false colour composite (FCC), (2) brightness temperature difference, (3) Ackerman's (1997: J.Geophys. Res., 102, 17069-17080) procedure, (4) Miller's (2003:Geophys. Res. Lett. 30, 20, art.no.2071) dust enhancement algorithm and (5) Roskovensky and Liou's (2005: Geophys. Res. Lett. 32, L12809) dust differentiation algorithm; the aerosol product is MODIS Deep Blue (Hsu et al., 2004: IEEE Trans. Geosci. Rem. Sensing, 42, 557-569), which is optimised for use over bright surfaces (i.e. deserts). These are applied to four significant dust events from the Lake Eyre Basin, Australia. OMI AI was also examined for each event to provide an independent assessment of dust presence and plume location. All of the techniques were successful in detecting dust when compared to FCCs, but the most effective technique for source determination varied from event to event depending on factors such as cloud cover, dust plume mineralogy and surface reflectance. Significantly, to optimise dust detection using the MODIS L1B approaches, the recommended dust/non-dust thresholds had to be considerably adjusted on an event by event basis. MODIS L2 aerosol data retrievals were also found to vary in quality significantly between events; being affected in particular by cloud masking difficulties. In general, we find that OMI AI and MODIS AQUA L1B and L2 data are complementary; the former are ideal for initial dust detection, the latter can be used to both identify plumes and sources at high spatial resolution. Overall, approaches using brightness temperature difference (BT10-11) are the most consistently reliable technique for dust source identification in the Lake Eyre Basin. One reason for this is that this enclosed basin contains multiple dust sources with contrasting geochemical signatures. In this instance, BTD data are not affected significantly by perturbations in dust mineralogy. However, the other algorithms tested (including MODIS Deep Blue) were all influenced by ground surface reflectance or dust mineralogy; making it impossible to use one single MODIS L1B or L2 data type for all events (or even for a single multiple-plume event). There is, however, considerable potential to exploit this anomaly, and to use dust detection algorithms to obtain information about dust mineralogy.     

Using phrases as features in email classification

In this paper, we report our experience on the use of phrases as basic features in the email classification problem. We performed extensive empirical evaluation using our large email collections and tested with three text classification algorithms, namely, a naive Bayes classifier and two k-NN classifiers using TF-IDF weighting and resemblance respectively. The investigation includes studies on the effect of phrase size, the size of local and global sampling, the neighbourhood size, and various methods to improve the classification accuracy. We determined suitable settings for various parameters of the classifiers and performed a comparison among the classifiers with their best settings. Our result shows that no classifier dominates the others in terms of classification accuracy. Also, we made a number of observations on the special characteristics of emails. In particular, we observed that public emails are easier to classify than private ones.     

Extending fieldbus standards to food processing and packaging industry: A review

Several fieldbus systems based on different standards are in use since a decade. Bearing in mind that a dedicated fieldbus for food plant operation and management (FOAM) does not exist, this paper highlights their applications in this sector. In recent years, such pressures as operational flexibility, state-of-the-art technology, regulations, quality control, productivity, and last but not the least the environmental issues have motivated the food processing and packaging industry to search for strategic ways to fulfill factory-wide automation, control, and management requirements. However, the acceptance of fieldbus technology especially for the food processing and packaging applications has been minimal. Because, new processing plants small to large including renovation and modernization sites are emerging almost everyday, there is a pressing need to extensively disseminate the characteristic features, so that the fieldbus revolution can spread to serve the food industries in a bigger way. This paper critically reviews the characteristic features of some popular fieldbus systems while advocating modern networked automation tools and systems scenarios that can meet the FPOM (food plant operation and management) requirements. In particular, the characteristic features of some contemporary fieldbus standards have been comprehensively described. Some applications are highlighted. A suggestion is made to develop a dedicated fieldbus for the food industry. Conceptual specification of requirements framework is outlined.     

A discrete-time approach to impulse-based adaptive input shaping for motion control without residual vibration

Modifying a command or actuation signal by convolving it with a sequence of impulses is a useful technique for eliminating structural vibration in rest-to-rest motion of mechanical systems. This paper describes an adaptive discrete-time version of this approach where amplitude and timing of impulses are tuned during operation to match the system under control. Solutions giving zero residual vibration are formulated in terms of a quadratic cost function and constructed by iterative operations on measured sets of input–output data. The versatility of the approach is demonstrated by simulated test cases involving (1) amplitude optimization of impulses with fixed timings, (2) timing optimization of impulses with fixed amplitudes and (3) combined timing and amplitude optimization. The approach is model-free and directly applicable to multi-mode systems. Moreover, fast adaptation within a single rest-to-rest maneuver can be achieved.     

Test-retest reliability of Purdue Pegboard performance in thermoneutral and cold ambient conditions

In the cold, Purdue Pegboard (PP) performance declines. The purpose of this study was to determine if this cold-induced impairment is consistent across days (i.e. test-retest reliability) in 5°C. In thermoneutral air (25°C), 14 men were familiarised to the dominant hand (PPa) and bimanual (PPb) PP tasks. They then experienced two 90-min cold exposures (Day 1, Day 2) while wearing ～1 clo. Bare hands were maintained throughout. Performance on both tasks showed high reliability from day to day (intraclass correlations >0.700) in both thermoneutral and cold conditions. However for both tasks, room temperature performance did not predict performance in the cold (intraclass correlations <0.450). When screening applicants for manual labour in the cold, one must consider that room temperature dexterity does not correlate with dexterity in the cold. It is recommended that a 60-min period of cold exposure be employed to assess manual dexterity in these workers. STATEMENT OF RELEVANCE: This study shows that PP performance in room temperature does not predict performance in the cold but performance in the cold is consistent from day to day. When screening applicants for manual labour in the cold, it is recommended that dexterity tests be conducted in the same ambient conditions.