Automating stages for deformable objects in the production line, in which assembling a wire harness into a predefined position is a complex task owing to the specialized characteristics of the objects. Besides a few automatized systems proposed in the other studies to implement this task under simplified setup conditions, a significant portion of this process remains to be completed manually in industrial environments. To construct an automatic wire harness assembly system, the development of a method that can automatically detect the wire harness profile in a 3D environment and, consequently, guide robot arms to implement assembly tasks is indispensable. Therefore, this study presents an approach that satisfies this requirement, which not only proposes a deep learning-based system to detect the wire profile, but also improves the accuracy of the detected results through a correction method according to the depth values of contiguous areas. The verification of the approach in a robot system that highlights its usefulness and practicality demonstrates the potential of the proposed method to replace people and consequently, reduce labour costs in factory environments. 相似文献
In spite of many studies, investigating balancing and sequencing problems in Mixed-Model Assembly Line (MMAL) individually, this paper solves them simultaneously aiming to minimize total utility work. A new Mixed-Integer Linear Programming (MILP) model is developed to provide the exact solution of the problem with station-dependent assembly times. Because of NP-hardness, a Simulated Annealing (SA) is applied and compared to the Co-evolutionary Genetic Algorithm (Co-GA) from the literature. To strengthen the search process, two main hypotheses, namely simultaneous search and feasible search, are developed contrasting Co-GA. Various parameters of SA are reviewed to calibrate the algorithm by means of Taguchi design of experiments. Numerical results statistically show the efficiency and effectiveness of the proposed SA in terms of both the quality of solution and the time of achieving the best solution. Finally, the contribution of each hypothesis in this superiority is analyzed. 相似文献
A popular conception of the evolution of remote manipulation is a progression from teleoperation to telerobotics and then to robotics. This is logical because in going from teleoperation to robotics there would appear to be a continuous decrease in manned workload, an increase in system complexity, and an increase in the amount of intelligence in the automated system. During the past 10 years NASA Langley Research Center (LaRC) has been involved in all three areas. The decision on which system is most suitable for a task depends not only on the task, but on the allocation of responsibility for intelligence or high level control. The operator may be responsible for all intelligence and control functions, they may be shared between the operator and the automated system, or they may be performed by an autonomous system. This paper discusses some of the experiences in each area in applications related to possible space tasks and some of the lessons learned. 相似文献
The cockpit environment is changing rapidly. New technology allows airborne computerised information, flight automation and data transfer with the ground. By 1995, not only will the pilot's task have changed, but also the tools for doing that task. To provide knowledge and direction for these changes, the National Aeronautics and Space Administration (NASA) and the Lockheed-Georgia Company have completed three identical Advanced Concepts Flight Simulation Facilities.
Many advanced features have been incorporated into the simulators — e g, cathode ray tube (CRT) displays of flight and systems information operated via touch-screen or voice, print-outs of clearances, cockpit traffic displays, current databases containing navigational charts, weather and flight plan information, and fuel-efficient autopilot control from take-off to touchdown. More importantly, this cockpit is a versatile test bed for studying displays, controls, procedures and crew management in a full-mission context. The facility also has an air traffic control simulation, with radio and data communications, and an outside visual scene with variable weather conditions. These provide a veridical flight environment to evaluate accurately advanced concepts in flight stations. 相似文献
The methylation of adenosine in the N6 position (m6A) is a widely used modification of eukaryotic mRNAs. Its importance for the regulation of mRNA translation was put forward recently, essentially due to the ability of methylated mRNA to be translated in conditions of inhibited cap-dependent translation initiation, e.g., under stress. However, the peculiarities of translation initiation on m6A-modified mRNAs are not fully known. In this study, we used toeprinting and translation in a cell-free system to confirm that m6A-modified mRNAs can be translated in conditions of suppressed cap-dependent translation. We show for the first time that m6A-modified mRNAs display not only decreased elongation, but also a lower efficiency of translation initiation. Additionally, we report relative resistance of m6A-mRNA translation initiation in the absence of ATP and inhibited eIF4A activity. Our novel findings indicate that the scanning of m6A-modified leader sequences is performed by a noncanonical mechanism. 相似文献
In an effort to develop highly functionalized flame retardant materials, hybrid nanocoatings are prepared by alternately depositing a positively charged polyaniline (PANi) and negatively charged montmorillonite (MMT) using the layer-by-layer (LbL) assembly technique. Carbon nanotubes (CNTs) are employed in polymer nanocomposites as effective reinforcement, where nanotubes are stabilized in MMT aqueous solution. The 3D structure and high density of CNTs deposited in the PANi/CNTs-MMT multilayers produce thicker and heavier coatings in comparison to the LbL assemblies without CNTs. Vertical and horizontal flame testing show that the incorporation of CNTs improves fire resistance. Additionally, cone calorimetry reveals that stacking two nanomaterials (MMT and CNTs) in a single coating shows a significant reduction in peak heat release rate (up to 51%), total smoke release (up to 47%), and total heat release (up to 37%) for the polyurethane foam. The enhancement of flame retardancy is attributed to a synergistic effect; MMT serves as a physical barrier that retards the diffusion of heat and gas. The addition of CNTs strengthens the thermal stability and high char yield. These results, coupled with the simplicity with which the LbL deposition is applied, present a viable alternative to halogen-free flame retardant nanocoatings to natural and synthetic fibers. 相似文献