ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
Unit 1-introduction to Mechanisms, Kinematics of machines of VTU Syllabus prepared by Hareesha N Gowda, Asst. Prof, Dayananda Sagar College of Engg, Blore. Please write to hareeshang@gmail.com for suggestions and criticisms.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
Unit 1-introduction to Mechanisms, Kinematics of machines of VTU Syllabus prepared by Hareesha N Gowda, Asst. Prof, Dayananda Sagar College of Engg, Blore. Please write to hareeshang@gmail.com for suggestions and criticisms.
Research on The Control of Joint Robot TrajectoryIJRESJOURNAL
ABSTRACT: This paper relates to a Robot that belongs to the category of Joint Robot.In the article,we analyze the path planning and control system of the robot,specifically speaking,it involves the interpolation of the robot trajectory, the analysis of the inverse kinematics, the introduction of the method to reduce the trajectory error, the optimization of the trajectory and in the end, the corresponding control system is designed according to the relevant parameters. This research project first introduces the importance of the robot, and then analyzes the whole process of the robot from the grasping pin, the screw to they are delivered to the designated position,finally, the process is introduced in detail, and the simulation result is displayed.
Amazon.comThe three main activities that e.docxnettletondevon
Amazon.com
The three main activities that exist within Amazon’s logistics sector are listed below:
Order Processing
Inventory Management
Freight Transportation
Logistics (IT)Management System
Bowersox, D. J., Closs, D. J., & Cooper, M. B. (2002). Supply chain logistics management (Vol. 2). New York, NY: McGraw-Hill
2
The fourth functional area of Amazon logistics place take within.
Warehousing, Material Handling and Packaging
Facility Networks
Logistics (IT) Management System cont.
Bowersox, D. J., Closs, D. J., & Cooper, M. B. (2002). Supply chain logistics management (Vol. 2). New York, NY: McGraw-Hill
3
Amazon Web Services
Amazon Simple Storage Service
Information System
Customer Relationship Management
Amazon IT Management Systems
Chaffey, D. et al (2004) Business Information Management: Improving Performance using Information Systems (1st Edition) Prentice Hall Pearson Education. England
4
Rail
Truck
Air
Intermodal Transportation
Cost of transport
Total system cost
Speed of transportation
Outsourcing
Third-party logistics service provider (3PL)
Transportation
Bowersox, D. J., Closs, D. J., & Cooper, M. B. (2002). Supply chain logistics management (Vol. 2). New York, NY: McGraw-Hill.
5
Distribution Management Operations
Yet Another Massive Market on the ... - media.cygnus.com. (n.d.). Retrieved April 5, 2016, from http://media.cygnus.com/files/base/FL/document/2015/10/RW_Baird_AMZN2015-10-19_report.pdf
6
Bowersox, D. J., Closs, D. J., & Cooper, M. B. (2002). Supply chain logistics management (Vol. 2). New York, NY: McGraw-Hill.
Chaffey, D. et al (2004) Business Information Management: Improving Performance using Information Systems (1st Edition) Prentice Hall Pearson Education. England
Stock, J. R., & Lambert, D. M. (2001). Strategic logistics management (Vol. 4). Boston, MA: McGraw-Hill/Irwin.
Kerzner, H. R. (2013). Project management: a systems approach to planning, scheduling, and controlling. John Wiley & Sons.
Hill, Charles W.L., Schilling, Melissa A., & Jones, Gareth R. (2016). Strategic Management: Theory & Cases: an Integrated Approach. South-Western Pub.
References
398
Chapter Preview Now that we have some basic techniques for evaluating integrals,
we turn our attention to the uses of integration, which are virtually endless. We first illus-
trate the general rule that if the rate of change of a quantity is known, then integration
can be used to determine the net change or the future value of that quantity over a certain
time interval. Next, we explore some rich geometric applications of integration: comput-
ing the area of regions bounded by several curves, the volume and surface area of three-
dimensional solids, and the length of curves. A variety of physical applications of integration
include finding the work done by a variable force and computing the total force exerted
by water behind a dam. All of these applications ar.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
Forklift Classes Overview by Intella PartsIntella Parts
Discover the different forklift classes and their specific applications. Learn how to choose the right forklift for your needs to ensure safety, efficiency, and compliance in your operations.
For more technical information, visit our website https://intellaparts.com
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
TECHNICAL TRAINING MANUAL GENERAL FAMILIARIZATION COURSEDuvanRamosGarzon1
AIRCRAFT GENERAL
The Single Aisle is the most advanced family aircraft in service today, with fly-by-wire flight controls.
The A318, A319, A320 and A321 are twin-engine subsonic medium range aircraft.
The family offers a choice of engines
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
COLLEGE BUS MANAGEMENT SYSTEM PROJECT REPORT.pdfKamal Acharya
The College Bus Management system is completely developed by Visual Basic .NET Version. The application is connect with most secured database language MS SQL Server. The application is develop by using best combination of front-end and back-end languages. The application is totally design like flat user interface. This flat user interface is more attractive user interface in 2017. The application is gives more important to the system functionality. The application is to manage the student’s details, driver’s details, bus details, bus route details, bus fees details and more. The application has only one unit for admin. The admin can manage the entire application. The admin can login into the application by using username and password of the admin. The application is develop for big and small colleges. It is more user friendly for non-computer person. Even they can easily learn how to manage the application within hours. The application is more secure by the admin. The system will give an effective output for the VB.Net and SQL Server given as input to the system. The compiled java program given as input to the system, after scanning the program will generate different reports. The application generates the report for users. The admin can view and download the report of the data. The application deliver the excel format reports. Because, excel formatted reports is very easy to understand the income and expense of the college bus. This application is mainly develop for windows operating system users. In 2017, 73% of people enterprises are using windows operating system. So the application will easily install for all the windows operating system users. The application-developed size is very low. The application consumes very low space in disk. Therefore, the user can allocate very minimum local disk space for this application.
2. The idea of motion
To move a robot smoothly from one pose to another, we need smooth and
coordinated motion of all of its joints.
we begin by looking at how to create smooth paths for the robot end effector
moving from one pose to another. There are two approaches we will introduce you
to. The first is what’s called a joint interpolated trajectory where we take the initial
pose and final pose and we use inverse kinematics to determine the initial and final
sets of joint values; then, we smoothly interpolate between those two sets.
The second approach is to compute a Cartesian interpolated trajectory and what
we do here is interpolate between the initial and final end effector poses. Then, for
each interpolated pose, we compute the inverse kinematics to find the joint values
that are appropriate at that particular time step.
3. Interpolation of a scalar
We want to make our robot to move from A to B , when the motion start, the end
effector of the robot arm is at a position or (pose) A and at the end of the motion ,
the end effector of the robot arm is at a position or (Pose)B , during the motion the
robot's position is changing smoothly and ideally the shortest path.
We’ll start in a simple way and see how this works for a point moving along a
number line, and then apply those principles to two common approaches for
robotic motion: joint interpolation and Cartesian interpolation.
Consider A and B are two points in real number line and we wish to move smoothly
between them. We can construct a function
X(t) = A +(B - A) t
4. Interpolation of a scalar
Such that the time variable t varies from 0 to 1 , that o<= t <=1.you should
convince your self that X(0)=A and X(1)=B we call this a trajectory a set of times
and points(ti , x(i)) that defines how the point moves as a function of time We can
choose to divide the time interval into as many steps, time steps, as we desire. This
is commonly known as linear interpolation and does the job very nicely, but has the
drawback that the motion is not totally smooth - let’s examine why.
The point is initially not moving, and then at t=0 it starts to move with a velocity of
(B - A) since it has to cover the distance from A to B which is (B - A) in 1 second.
When it arrives at B it suddenly stops. The sudden changes in velocity at the start
and at the end mean massive accelerations– this is not a problem when moving a
mathematical point (which has no mass) along a number line but it is a very real
problem for the motors of a real robot.
5. Interpolation of a scalar
What we need is a way for our point to smoothly accelerate at the beginning of the
motion and then smoothly decelerate at the end. Fortunately the Toolbox has a
function that does just this. Consider the problem of moving smoothly from X= - 2
to X = 3 n fifty steps. Using the Toolbox the solution is tpoly(-2,3,50)
If you want to create vector we can do it
X=tpoly(-2,3,50)
6. Joint interpolation in 2 D
we learned how to interpolate a scalar smoothly between two values. Now, we
want to do this for the robot’s joint values, which are a vector.
We define qA as a vector of the joint values (angles or lengths) at the robot’s initial
position (or pose). For a robot with N oints, this will be a vector of length N .
Similarly , qB s a vector of the joint values (angles or lengths) at the robot’s final
position (or pose), and is the same length as qA
Now we want to find a series of vectors that move smoothly between the values qA
and qB . Consider that qA=(-0.3 , 0.5) and qB=(0.5 ,0.2)
qA=[-0.3 0.5]
qB=[0.5 0.2]
q=jtraj(qA,qB,50)
7. Cartesian interpolation in 2 D
Now we have made our non-physical robot move as its joint angles followed a
trajectory – it moved from A to B. However, as we saw in the last step, close
scrutiny shows that between points A and B, the robot’s end effector does not
follow a straight line.
For many robot applications, this is not important and joint interpolated motion is
adequate and easy to compute. However, there are some applications where
following a straight line is important – perhaps the robot is doing a cutting or
welding task. The solution we require is called Cartesian interpolation, and involves
interpolating points in the 2-dimensional (2D) Cartesian coordinate frame rather
than the 2D robot joint space. Consider two points in the 2D Cartesian coordinate
frame
qA=[-0.3 0.5]
qB=[0.5 0.2]
q=mjtraj(@tpoly,qA,qB,50)