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Jadid, Tony, and Markus Utas. "Rekonditionering av IBC-containrar med ABB-robot." Thesis, KTH, Tillämpad maskinteknik (KTH Södertälje), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-98623.
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Bentabol, Muñoz Emilio, Ibáñez Carlos Bosque, Ruiz Pedro González, de Mendoza Jose Manuel Hurtado, and Zúñiga Enrique Ruiz. "Linking Wise-ShopFloor to an ABB IRB-140 Robot : Remote control, monitoring, and programming of an ABB robot IRC 5 through the internet." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13933.
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The aim of this project is integrate the new robot IRB140 from ABB inside the application Wise ShopFloor (Web-based integrated sensor-driven e-ShopFloor) and the integration of a web camera inside the application as well. In order to integrate the ABB IRB140 inside the application, a Java 3D model has to be created, the kinematics and collision constrains have to be defined also and the GUI application modified to fit the virtual model and the camera inside the application. The user has to be able to jog the web camera and zoom it. Changes in the server side have been done in order to introduce new functionalities such as the sessions management, the communication mechanism now is more general using Java inheritance.Wise-ShopFloor
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Lundqvist, Rasmus, and Tobias Söreling. "New Interface for Rapid Feedback Control on ABB-Robots." Thesis, Linköping University, Department of Mechanical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2762.
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Automation in manufacturing has come far by using industrial robots. However, industrial robots require tremendous efforts in static calibration due to their lack of senses. Force and vision are the most useful sensing capabilities for a robot system operating in an unknown or uncalibrated environment [4]and by integrating sensors in real-time with industrial robot controllers, dynamic processes need far less calibration which leads to reduced lead time. By using robot systems which are more dynamic and can perform complex tasks with simple instructions, the production efficiency will rise and hence also the profit for companies using them.
Although much research has been presented within the research community, current industrial robot systems have very limited support for external sensor feedback, and the state-of-the-art robots today have generally no feedback loop that can handle external force- or position controlled feedback. Where it exists, feedback at the rate of 10 Hz is considered to berare and is far from real-time control.
A new system where the feedback control can be possible within a real-time behavior, developed at Lund Institute of Technology, has been implemented and deployed at Linköping Institute of Technology.
The new system for rapid feedback control is a highly complex system, possible to install in existing robot cells, and enables real-time (250 Hz) sensor feedback to the robot controller. However, the system is not yet fully developed, and a lot of issues need to be considered before it can reach the market in other than specific applications.
The implementation and deployment of the new interface at LiTH shows that the potential for this system is large, since it makes production with robots exceedingly flexible and dynamic, and the fact that the system works with real- time feedback makes industrial robots more useful in tasks for manufacturing.
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Běloušek, Petr. "Virtuální model výrobního stroje realizovaný v prostředí ABB Robot Studio." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413198.
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Diploma thesis deals with creating a virtual model of machine for processing bulk materials from FLSmidth in ABB RobotStudio environment. This machine is controlled by Beckhoff CX8090 PLC. Communication between TwinCAT2 controlling program and RobotStudio simulation is provided TCP/IP.
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Delight, Björn. "Optimizing the executiontime o fSQLite on an ABB robot controller." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-22372.
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The purpose of this thesis is to generate a set of general guidelines to improve performance of the SQLite database management system for use as a component in the main computer of ABB industrial robots. This was accomplished by measuring the factors that affect query execution time and comparing SQLite features to systems it could potentially replace: chiefly ABB’s configuration storage system and real-time logging system. Results show that SQlite is slower than ABBs current configuration system and real-time logger. A series of tests were carried out that give a rough description of SQLites performance. Read and update become significantly faster when used with an index, write becomes a bit slower. In an indexed database the number of rows is not important; in a database without an index they cause significant slowing. Surprisingly, increasing the number of threads concurrently accessing a database had only a mild effect on timing.
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Tonde, Johan. "Materialhantering till och från robot." Thesis, Högskolan Väst, Institutionen för ingenjörsvetenskap, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-4732.
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Material handling is a term that includes all kinds of handling of material from a raw product to a finished one. ABB is active in the following segments; foundry, packaging and palletizing, metal industry and plastics industry. The demands for efficiency and reliability have been set very high in the industrial sector. Optimizing of the material handling will give the company higher cost-effectiveness. Around the robot there are different kinds of material flows, to optimize the cycle time, consisting of carriages combined in different ways. Motion Control is a complex system with main functions such as; positioning, synchronizing, indexing and more. The products in the system need to cooperate to make these functions possible therefore integration of motor- and servo products are important. In an automated system there is a demand for continuous update of motor reference such as speed and torque. There is also a need for correction when material slips away and position itself at unwanted places at the transport carriage. ABB Motors and Drives product portfolio consists of drives such as; Motiflex, Microflex and ACSM1 and the motors such as BSM (Brushless Servo Motor). The new simplified solution for the material handling will consist of integration of motors and drives products. The new simplified solutions have been sketched on paper first and then later illustrated in Google SketchUp. The SketchUp drawings consist of one overview drawing with a layer for drive and a layer for security. The layer for drive is divided into three parts for easier identification of the products and a more perspicuous view. A presentation has been prepared with the idea to look like an App. The mouse is used to navigate back and forth through the factory/presentation. The presentation can be used for the following activities; fairs, new employee, sales person and clients. Therefore also USP, Unique Selling Points has been prepared.Materialhantering är ett begrepp som omfattar all hantering av material från råvara till en färdig produkt. ABB är verksamma inom följande segment; gjuteri, paketering och palletering, metallindustri och plastindustrin. Inom industrisektorn ställs det höga krav på effektivitet och driftsäkerhet. Optimal materialhantering ger hög kostnadseffektivitet. Kring roboten finns det olika typer av materialflöden via transportband. Motion Control är ett komplext system med huvudfunktioner som; positionering, synkronisering, indexering, med flera. För att dessa funktioner ska fungera krävs en samverkan av motor- och servoprodukterna i systemet. I ett automatiserat system krävs en ständig referensuppdatering av hastighet och acceleration för att motorer eller servon ska samverka samt korrigering av fel när material glider iväg till oönskade positioner på transport banden. ABB Motors & Drives produktutbud består av motorer och servodrivsystem/ frekvensomriktare. Utbudet av frekvensomriktare utgörs av Motiflex, Microflex och ACSM1. Motorutbudet utgörs främst av BSM (Brushless Servo Motor). De nya typlösningarna innehåller integrering av ABB:s produktutbud inom motion control system. Typlösningar som tagits fram har först skisserats på papper för att sedan illustreras i Google SketchUp. SketchUp ritningarna består av en översiktsritning med ett lager för drivning och ett lager för säkerhet. Fabriken delades sedan upp i tre delar för att lättare kunna identifiera de olika produkterna. En App-liknande presentation har tagits fram där muspekaren används för att navigera sig runt i fabriken/presentationen. Detta för att kunna användas som material för; mässor, introduktion för nyanställda, säljare och kunder. Därför har även USP, Unique Selling Points tagits fram för varje produkt.
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Heras, Aguilar Sergio. "Comparison and visualization of robot program modifications : Applied on ABB industrial robots at Volvo Cars Corporation." Thesis, Högskolan Väst, Avdelningen för produktionssystem (PS), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-11510.
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Volvo Cars Corporation creates robot programs off-line for all new robot implementations for virtual commissioning. These virtually created robot programs are then downloaded to the real robot, after the installation has been carried out, to be tested before they are fully operational. These tests are spanned from robot installation until full production, adjusting the robot programme according to Volvo Cars specification and correcting errors that the robot program may have. Changes of the robot programs will be saved each time it is modified, generating a series of backups for each robot until the robot is correctly adjusted along all the steps of the process. To improve the offline programming there is a necessity for visualize the modifications made during the physical robot commissioning. The objective of this thesis is to identify, categorise, quantify and visualize modifications between each different backup of a robot. A software application has been developed using Microsoft Visual Studio using C#. The application is designed in windows for different types of data. It enables the user to compare two robot programs (two different backup programs from the tests) from one robot and see the result between them graphically. The graphs are designed interactively so that the user can filter the information to see the desired data from the robot programs comparison. Key performance indicators (KPIs) has been specified for RobTargets and Procedures according to Volvo Cars Corporation requests. These KPIs are implemented and visualised in a graphical representation.
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Guo, Siyu. "New encapsulation concept for robot controller cabinet." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281711.
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Robot controller cabinets are specified with interfaces which make it possible to connect different modules for completing numerous tasks that are chosen for the robot manipulators. Different interfaces will be utilized depend on the kind of tasks and settings that are chosen. Thus not every interface will be put into use in a controller cabinet, some are left behind. In order to fulfill the encapsulation standards of electrical enclosures, the unoccupied interfaces are covered and sealed with on-screwed cover plates and gaskets during the assembly of the cabinet. However, a new method for encapsulation hope to be investigated and introduced to improve the current solution with respect to the encapsulation requirements from ABB. The introduced new solution is a knockout concept. The detailed design is investigated with the help of finite element analysis with the explicit dynamics method used for simulating the punching processes of the knockout designs. Where three different design variables are put into consideration for finding the most optimum knockout design. The results show that, for the particular steel plate provided by ABB, a V-grooved knockout design with a grooving angle of 90 degrees and an unaffected thickness of 0.1 mm has the best performance in terms of smoothness at edges and the amount of plastic strain occurred in the material. Traditional manufacturing methods to manufacture the obtained knockout design appear to be extremely time consuming and thus not profitable for mass production. However, a type of fairly recent developed grooving machines, the so called V-grooving machine, is believed to be able to solve the manufacturing problem.Robot styrskåp är specificerad med mängder gränssnitt vilket gör det möjligt för anslutning av olika moduler till att kunna fullborda de uppgifterna valda för robot manipulatorerna. Olika gränssnitt utnyttjas beroende på den typ av arbetsuppgift och inställningar valda just för den. Därför kommer inte alla gränssnitt att kunna tas i bruk i ett styrskåp, vissa lämnas kvar. För att kunna uppfylla inkapslingsstandarden för elektriska kapslingar är dessa obesatta gränssnitt täckt och förseglat med påskruvad täckplåtar och packningar under montering av styrskåp. En ny inkapslingsmetod hoppas att kunna utredas och introduceras till att förbättra den nuvarande lösningen med avseende på de inkapslingskraven från ABB. Den introducerade lösningen är ett knockout koncept. En detaljerad konstruktion undersöks med hjälp av finita element analys med explicit dynamik som grunden till att simulera knockout processer. Där tre olika design parametrar tas i beaktande för att hitta den mest optimala knockout konstruktionen. Resultaten visar sig att, för den här särskilda stålplåten som tillhandahålls av ABB, en V-spårad knockout konstruktion med en spårvinkel på 90 grader och en tjocklek på 0.1 mm har den mest tillfredställande prestandan med avseende på jämnhet, d.v.s. reduceringen av vassa kanter, och mängder av plastiska töjningar som inträffas i materialet efter knockout processen. Traditionella tillverkningsmetoder till att tillverka en sådan knockout konstruktion visar sig vara väldigt tidsödande och anses därför inte vara lönsamt för massproduktion. Emellertid upptäcks det en typ av relativt nyutvecklad spårmaskin, så kallad V-grooving machine, som tros att kunna lösa tillverkningsproblemet.
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Shuman, Ali Murtatha. "Modeling and Control of 6-axis Robot Arm." Thesis, Linköpings universitet, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171928.
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Robot manipulators are getting more and more attention nowadays. This is due to their high precision and the speed they provide while executing their tasks. The desires for such high standards are increasing exponentially due to the extended workspace that manipulators provide. Therefore, a safe controller is needed to make it possible for the robot to work alongside people considering the safety precautions. These safety preconditions are widely spread, even when the needs for better human-friendly robots are rising. This thesis will introduce and explain a way to model a 6-axis robot by using its dynamical properties as well as the development of a joint space inverse dynamic controller. The controller will be tested in various different ways. Firstly by adding noise to the measured data. Then testing the robustness of the control model, while the simulated model includes properties different from those used for the controller itself. The different properties would for example be payloads and the inertia of the links. Thereafter, evaluating the precision of a followed path that is given by an operational space trajectory. The outcome of these experiments show promising results. The results show that the controller is able to manage a noise in both the joint angle and joint velocity. It also shows that an error in the payload data will give a small error in the joint angles, sequentially that gives an acceptable error for the end-effector in the operational space. Furthermore, the controller manages to keep the maximum errorin the joint angle low, while it is following a trajectory in the operational space.
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Gorgis, Elias, and Peder Lindgren. "Automatiserad Högtryckstvätt." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-19257.
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Undersökningar och beräkningar av en rengöringsprocess med ibc-containers vid Allemballage har gjorts. En automatiserad lösning har tagits fram där vissa delar har tillhandahållits i förväg som rengöringsverktyg. Uppgiften blev att studera om verktyget klarade av de räckvidder som var avgörande samt att fastsälla om den robot som kunden ville använda sig av kunde utföra uppgiften genom att ta reda på vilket moment som uppstod för att sedan ta fram en simulering av processen i RS. Räckvidden undersöktes dels i RS men även ett presentationsunderlag togs fram. Momentet undersöktes dels praktiskt där man fastställde de krafter som verkade och teoretiskt där man sedan beräknade momentet. Det sista som gjordes var en simulering på hur processen kan se ut då en IRB4600-robot ifrån Abb och rengöringsverktyg utförde en rekonditionering av en IBC. Resultaten har visat att momentet i kortare stunder överstiger det krav som ställs på önskad robot men att verktyget klarar de räckvidder som ställs. Räckvidden och momentet har visat sig vara beroende av varandra då en minskning av räckvidden leder till ett mindre moment, vise versa. Med de undersökningar som gjorts och det resultat som tagits fram är rekommendationen i dagsläget att man bör lägga en beställning på det aktuella rengöringsverktyget. Vidare så anses robot IRB4600 kunna utföra uppgiften som tänkt, mindre justeringar bör då göras vid de ställen som visat sig utgöra det största momentet vid rengöring.
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Žaludek, Jan. "Digitální zprovoznění robotizovaného systému pro laserové řezání." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443723.
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This diploma thesis deals with digital commissioning of a robotic production system for laser cutting. First part of this thesis sums up teoretical knowledge of virtual commissioning, fundamentals of laser and laser cutting and system analysis of such a workplace. In practical part of this thesis, the workplace was designed including the workpiece clamping. The design and the digital commissioning itself was mediated by the software RobotStudio. In the programming language RAPID a control program was made and tuned. The workoplace was then virtually commissioned. For easier handling a user interface on FlexPendant was made.
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Danielson, Hugo, and Schmuck Benjamin von. "Robot Condition Monitoring : A first step in Condition Monitoring for robotic applications." Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-66011.
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The industrial world is in constant demand for faster, cheaper and higher quality manufacturing. Robot utilisation and automation has evolved to become a necessary asset to master in order to stay competitive in the global market. With the growing dependency on robots, unexpected downtime and brakedowns can cause devastating loss of revenue. Consequently, this has lead to an increased importance for an accurate condition based way of performing robotic maintenance. As of writing, robots are predominantly maintained through time dependent maintenance. Part replacement is based on statistical models where maintenance is performed without taking the actual robot condition into consideration. As a result an overall level of uncertainty is ensued, where lacking the ability to properly diagnose the robot, also leads to superfluous repairs. Because of the costly impact this has on production, a condition based maintenance approach to robots would yield increased reliability at a lower cost of maintenance. This research focuses on trying to monitor vibrations in a robot, so as to infer about wear and to provide a first step in vibration based Robot Condition Monitoring. This research has been of multidisciplinary nature where robotics, tribology, mechanical component, signal analysis and diagnosis theory have overlapped in several areas throughout the project. The research has provided a vibration baseline and trends of the theoretical bearing defect frequencies for a hypocycloid gearbox installed on an ABB IRB6600 robot. The gearbox was not worn to a level that a severe gearbox degradation was irrefutably detectable and analysable. Accelerometers normally used on wind turbines were used for the project, and are believed to be sufficiently successful in capturing bearing related signals to accredit it for continued use at the preliminary stages of Robot Condition Monitoring development. A worn RV410F hypocycloid gearbox, was dismantled and analysed. Bearings found inside indicate high degrees of moisture corrosion and extensive surface wear. These findings had decisive roles in what future work recommendations where presented. Areas with great potential are condition monitoring through the use of Acoustic Emission and lubrication analysis. Further recommendations include investigating signal analysis techniques such as cepstrum pre-whitening and discrete wavelet transforms.
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Loffreno, Michele. "Computer Vision and Machine Learning for a Spoon-feeding Robot : A prototype solution based on ABB YuMi and an Intel RealSense camera." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-182503.
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A lot of people worldwide are affected by limitations and disabilities that make it hard to do even essential actions and everyday tasks, such as eating. The impact of robotics on the lives of elder people or people having any kind of inability, which makes it hard everyday actions as to eat, was considered. The aim of this thesis is to study the implementation of a robotic system in order to achieve an automatic feeding process. Different kinds of robots and solutions were taken into account, for instance, the Obi and the prototype realized by the Washington University. The system considered uses an RGBD camera, an Intel RealSense D400 series camera, to detect pieces of cutlery and food on a table and a robotic arm, an ABB-YuMi, to pick up the identified objects. The spoon detection is based on the pre-trained convolutional neural network AlexNet provided by MATLAB. Two detectors were implemented. The first one can detect up to four different objects (spoon, plate, fork and knife), the second one can detect only spoon and plate. Different algorithms based on morphology were tested in order to compute the pose of the objects detected. RobotStudio was used to establish a connection between MATLAB and the robot. The goal was to make the whole process as automated as possible. The neural network trained on two objects reached 100% of accuracy during the training test. The detector based on it was tested on the real system. It was possible to detect the spoon and the plate and to draw a good centered boundary box. The accuracy reached can be considered satisfying since it has been possible to grasp a spoon using the YuMi based on a picture of the table. It was noticed that the lighting condition is the key factor to get a satisfying result or to miss the detection of the spoon. The best result was archived when the light is uniform and there are no reflections and shadows on the objects. The pictures which get a better result for the detection were taken in an apartment. Despite the limitations of the interface between MATLAB and the controller of the YuMi, a good level of automation was reached. The influence of lighting conditions in this setting was discussed and some practical suggestions and considerations were made.No
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Karlsson, Martin, and Fredrik Hörnqvist. "Robot Condition Monitoring and Production Simulation." Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-69024.
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The automated industry is in a growing phase and the human tasks is increasingly replaced by robots and other automation solutions. The increasing industry entails that the automations must be reliable and condition monitoring plays an important role in achieving that ambition. By utilizing condition monitoring of a machine it is possible to detect a wear before it turns into a critical damage that could result in complete failure. A useful tool when monitoring the condition of a machine is by sampling and analyzing vibrations. Vibrations are generated by the moving parts of the machinery and high amplitude vibrations can often be seen as an indication of the developed faults. The frequency of these vibrations can be calculated and then detected in the sampled data. Today there is no condition monitoring system that monitor industrial robots by analyzing vibrations. The problem with analyzing robots, is that they operate with a varying speed. Since the running conditions are changing rapidly all the time, this means that the vibration frequencies also changes constantly. This is due to the fact that the vibration frequencies are dependent and affected of the operation speed. This research is a sequel and continuation of a research from previous year. The purpose of the research is to investigate the possibility to monitor the condition of a gearbox in a industrial robot, by utilizing vibration analysis. The robot that has been tested under tuff conditions in order to reach a failure, is an ABB IRB 6600. To sample data in a stationary way even tough the speed is changing during the sample time, the method order tracking has been utilized. This makes it possible to sample data with numbers of measurement per rotation instead of sampling according to time. This is processed by SKF:s condition monitoring system multilog IMx and the signal is then presented as a time waveform in the software @ptitude Observer. In Observer, it is also possible to show the signal in a spectrum by using Fast Fourier Transform. By utilizing MATLAB, the research has also resulted in a new analyzing method. This method is called Spectral Auto-Correlation. The methodology of this practice is to correlated the time waveform with itself in order to see which frequencies that are reappearing. The correlated result is then calculated with a Fast Fourier Transform to illustrate the signal in a spectrum for further analysis. During the analysis of the parts in the gearbox, critical defects were found on both the cycloidal disks. The fault frequency for the defects were calculated and analyzed from the data. This resulted in trends where the amplitude from the fault frequency had more than doubled over the time the robot has been operating in the project. This report also include a production simulation where a robot cell from SKF is simulated. The robot cell is simulated with and without a condition monitoring system. A comparison was then made to see what advantages there were with utilizing a condition monitoring system. The result of the simulation was an increased productivity with two to three percent.
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Sunnanbo, Albin. "Laser feedback control for robotics in aircraft assembly." Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2097.
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The aim of this thesis is to investigate how the absolute accuracy of an industrial robot can be increased by monitoring the position of the robot. The motive is to automate high precision, low volume production such as aircraft industry. A laser tracker that can measure both position and orientation with very high accuracy isused to monitor the robot tool position. The robot and laser tracker are integrated via a standard computer.
The abilities and performance of the robot, with and without feedback from the laser tracker, are investigated. Robotic drilling is performed with supervision and control from the laser tracker.
The system is implemented and tested on parts of a demonstrator for new aircraft assembly techniques. The ability to position components with internal friction to (+/-)0.05 mm absolute accuracy is shown.
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Pála, Matěj. "Robotické zakládání do obráběcího stroje." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2019. http://www.nusl.cz/ntk/nusl-400653.
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Master’s thesis deals with the process of an insertion and movement of different workpieces and profiles. In the first, theoretical, part, the definition of types of robots and description of their kinematics are presented. The second part deals with the analysis and research of the possibilities of communication between the B&R control unit and the ABB robot, including a description of the equipment in the workplace. In addition, the concept of the robot control program and mainly the management of communication between units are presented. At the end of the work is the description of testing and verification of the concept.
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Dvořák, Jaroslav. "Návrh robotické buňky pro svařování s více roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229173.
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The aim of this thesis is to design a robotic cell with two welding robots and rotary table in two designs and to compare different types of control. These designed alternatives evaluate possibly using of its parts. These designed variants compare physically and financially.
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Nevřiva, Václav. "Inteligentní manipulace s laboratorními objekty pomocí robotu ABB YuMi." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442858.
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The aim of the master thesis is to design a laboratory station and a control program operated by a collaborative robot IRB 14000 YuMi using an integrated effector camera to identify laboratory objects and control the progress of the task. In the introductory part, collaborative robots are briefly introduced, the IRB 14000 on which the task is implemented and the RobotStudio development environment together with the IntegratedVision extension are described in more detail. The following chapters describe the laboratory task itself, its solution and testing of the designed program.
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Grund, Olof. "Trådlösa tvättrobotar : Trådlös internetåtkomst för Envirologic ABs tvättrobotar." Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-226246.
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Envirologic AB tillverkar tvättrobotar för diverse miljöer. Idag behöver man ta sig tillroboten för att konfigurera robotens inställningar. Istället vill man nu att trådlöstkunna göra ändringar över internet. På marknaden finns det en mängd olika varianterav objekt som kan koppla upp sig mot nätverk men till detta ställs det även en delkrav som att roboten måste enkelt kunna koppla upp sig mot ett lokalt Wifi och gåförbi lokala brandväggar m.m. Rent konstruktionsmässigt måste lösningen ha antenneroch roboten måste fortsatt vara IP67-klassad. Lösningen heter Tosibox. Tosibox använder sig av VPN-teknik och kan enkeltinstalleras i roboten med hjälp av dess två antenner. Vidare har Tosibox utveckladmjukvara för att enkelt nå roboten över internet.
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Calle, Ortiz Eduardo R. "Robot-Enhanced ABA Therapy: Exploring Emerging Artificial Intelligence Embedded Systems in Socially Assistive Robots for the Treatment of Autism." Digital WPI, 2019. https://digitalcommons.wpi.edu/etd-theses/1349.
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In the last decade, socially assistive robots have been used in therapeutic treatments for individuals diagnosed with Autism Spectrum Disorders (ASDs). Preliminary studies have demonstrated positive results using the Penguin for Autism Behavioral Intervention (PABI) developed by the AIM Lab at WPI to assist individuals diagnosed with ASDs in Applied Behavioral Analysis (ABA) therapy treatments. In recent years, power-efficient embedded AI computing devices have emerged as a powerful technology by reducing the complexity of the hardware platforms while providing support for parallel models of computation. This new hardware architecture seems to be an important step in the improvement of socially assistive robots in ABA therapy. In this thesis, we explore the use of a power-efficient embedded AI computing device and pre-trained deep learning models to improve PABI’s performance. Five main contributions are made in this work. First, a robot-enhanced ABA therapy framework is designed. Second, a multilayer pattern software architecture for a robot-enhanced ABA therapy framework is explored. Third, a multifactorial experiment is completed in order to benchmark the performance of three popular deep learning frameworks over the AI computing device. Experimental results demonstrate that some deep learning frameworks utilize the resources of GPU power while others utilize the multicore ARM-CPU system of the device for its parallel model of computation. Fourth, the robustness of state-of-the-art pre-trained deep learning models for feature extraction is analyzed and contrasted with the previous approach used by PABI. Experimental results indicate that pre-trained deep learning models overcome the traditional approaches in some fields; however, combining different pre-trained models in a process reduces its accuracy. Fifth, a patient-tracking algorithm based on an identity verification approach is developed to improve the autonomy, usability, and interactions of patients with the robot. Experimental results show that the developed algorithm has the potential to perform as well as the previous algorithm used by PABI based on a deep learning classifier approach.
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Burns, Maureen, and n/a. "ABC Online: Becoming the ABC." Griffith University. School of Arts, Media and Culture, 2004. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20040520.111544.
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This thesis combines histories of the implementation of ABC Online (the website of the Australian Broadcasting Corporation, Australia's largest national Public Service Broadcaster) with the political philosophies of Foucault, and of Deleuze and Guattari. Following the Deleuzian argument that institutions of enclosure are in crisis because they exist in between diagrams of the disciplinary and control societies, the thesis tests each of the Foucauldian diagrams of discipline, governmentality and control against the ABC as Public Service Broadcaster. It explores issues such as which ABC strategies belong to which diagram, and the ways in which changes in communications technologies altered governing rationales of these diagrams at the ABC. The thesis uses the implementation of ABC Online to explore the idea of the ABC in the late 1990s as operating in between social diagrams. One way of examining this 'in between-ness' is to use the Public Service Broadcasting idea as an instance of arboreal thinking and the internet idea as rhizomic. The thesis employs that model to argue that Public Service Broadcasting as it is practised is not merely an arboreal assemblage, and that actual implementations of the internet are more than merely rhizomic assemblages. The thesis details some of the earliest relations between broadcasting and the internet at the ABC, and describes the relations between rhizomic and arboreal images of the ABC at particular sites and in various discourses. This examination concludes that both ways of imagining the ABC - the arboreal and the rhizomic - have been essential to the success of ABC Online. While the position of the ABC in between social diagrams caused a sense of crisis, ABC Online was in fact successful largely because of its position in between social diagrams. Not only was ABC Online remarkably successful in its first five years, but it was successful in ways which could not be accommodated in such documents as the ABC Charter. The public silences of ABC Online both allowed it to thrive, and conversely supported arboreal stratified ways of defending the ABC. Defences of the ABC that used arboreal thinking as a rhetorical strategy continued to dominate public discussion of the ABC, despite the successes of contrary examples in practice. One such example was the successful implementation of Radio Australia Online at a time when the Mansfield Review sought to limit the scope of the ABC to domestic free-to-air broadcasting. When some ABC Online practices were publicised in relation to the proposed Telstra deal, the resultant controversy concentrated on the non-commercial/commercial boundary at the ABC. The controversy also highlighted fears that the Online environment may alter the ethical relations between the ABC and its publics. In particular, the ethical goals of independence and integrity were perceived as being under threat in the World Wide Web environment. These goals were further problematised within the organisation by the demands of interactive subsites. These subsites demonstrated an altered ethical relation between the ABC and its user in the online environment of the control society.
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Omidvar, Amir Hossein. "Multi robot inspection in jet engine blades by using ABC algorithm." reponame:Repositório Institucional da UFABC, 2017.
Find full textAbstract:
Orientador: Prof. Dr. Luiz de Siqueira Martins-FilhoDissertação (mestrado) - Universidade Federal do ABC, Programa de Pós-Graduação em Engenharia Mecânica, 2017.
A indústria aeroespacial é um dos líderes do mundo que desenvolve um método de inovação, materiais e técnicas de fabricação para aumentar a eficiência, melhorar a segurança e reduzir os custos nesta indústria. Hoje em dia, os pesquisadores também estão buscando melhorar a técnica de inspeção, reduzir o controle, tempo e custo humanos, que são muito importantes para a indústria aeroespacial. Conqunto, as técnicas de inspeção são usadas para melhorar a segurança efetivamente usando esses novos métodos. Atualmente, a demanda por grupos de robôs múltiplos são aumentados, eles foram trabalhados em diferentes campos, como logística, transporte e observação de objetivos. Eles foram usados especialmente para tarefas perigosas, que são difíceis para as pessoas realizar, por exemplo, busca e resgate na área de perigo, exploração planetária e detecção remota. A capacidade dos robôs em tarefas difíceis e também precisa das tarefas nos dá poder para usar robôs múltiplos para inspeção em qualquer campo. O objetivo deste projeto é provar vários robôs para trabalhar na supervisão mínima do humano e trabalhar como um enxame e nosso objetivo principal para implementar o algoritmo ABC para controlar robôs múltiplos. Conqunto esses robôs sejam muito simples como um indivíduo, mas podem completar tarefas complexas e realizar tarefas precisas e de alta sensibilidade. Com esses robôs múltiplos, em vez de uma única inspeção no certo tempo e derrubar o motor a jato, podemos aplicá-los ao motor a jato enquanto o motor a jato está ligado ao avião e podemos implementá-los várias vezes para receber os melhores resultados e Mais segurança.
The aerospace industry is one of the leaders in the world that developing an innovation method, materials and fabrication technique for increasing efficiency, improving safety, and reducing cost in this industry. Nowadays, researchers are also searching to improve the inspection technique, to reduce human supervision, time and cost, which are very important for the aerospace industry. Although, inspection techniques are used to improve safety indeed using these new methods need to reliable as well, to replace the old one. Nowadays demand for groups of multiple robots are increased, they have been worked in different fields such as logistics, transportation, and target observation. They have been used especially for dangerous tasks, which are difficult for humans to perform for instance search and rescue in the hazard area, planetary exploration, and remote detection. The ability of robots in difficult tasks and also accurate to do the tasks gives us power to use multi robots for inspecting in any field. The aim of this project is to prove multi robots can work on the minimum human¿s supervision and work as a swarm and our main goal to implement the ABC algorithm to control multi robots. Although those robots are very simple as an individual but they can complete complex tasks and accomplish precise and high sensitivity tasks. With these multi robots, instead of single inspection in the certain time and tear down the jet engine, we can apply them to the jet engine while the jet engine is attached to the airplane and we can implement them multiple times for receiving the better results and more safety.
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Baťka, Tomáš. "Virtuální zprovoznění robotizované výrobní buňky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444300.
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The diploma thesis deals with the virtual commissioning of robotic workplace designed to engrave board materials and their subsequent packaging. The summary of the knowledge that contributes to the development of the virtual commissioning as well as description of each component of the given robotic cell, are described in the theoretical part. In the practical part are described procedures such as assembling of the simulation model in Process Simulate software, creating the PLC program in integrated development environment TIA Portal or creating visualization for HMI panel. In the end, the actual commissioning of the workplace was performed, followed by additional modification and validation of the robotic program.
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Traynor, Mary. "Root growth in drying soil : a role for ABA?" Thesis, Lancaster University, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322894.
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Hussain, Ahmed. "Soil compaction : mediation of plant responses by root-sourced ABA and ethylene." Thesis, University of Nottingham, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.285458.
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Sivananthan, Malini. "An examination of the relationship between NO, ABA and auxin in lateral root initiation and root elongation in tomato." Thesis, University of Canterbury. Biological Sciences, 2006. http://hdl.handle.net/10092/1375.
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The length of the primary root and the density of lateral roots determine the architecture of the root. In this thesis the effect of NAA, ABA and the NO donor SNP alone as well as the combination of ABA or NAA with SNP on lateral root development was investigated. The interaction between CPTIO, a NO scavenger, and NAA or SNP is also reported. Following preliminary experiments in which it was observed that the aerial part of the seedling influenced LR growth and that there was a possible inhibitory effect of light on cultured root tips, experiments were conducted with excised roots tips in the dark. NAA was shown to have the potential to initiate LRs across a wide concentration gradient with the total number of LRs and initiated lateral root primordia (LRP) remaining constant across the range of concentrations tested. Over the last decade, nitric oxide (NO), a bioactive molecule, has been reported to be involved in the regulation of many biological pathways. The presence of NO in the system provided via sodium nitroprusside (SNP), promoted LRP initiation based on the NAA concentration gradient; but without changing the total LR initiation, that is LRs plus primordia density remained constant along the concentration gradient of NAA. The absence of LR and LRP in the treatments of CPTIO (a NO scavenger) with SNP or NAA suggests that NO regulates LRP initiation triggered by NAA, which is in agreement with the recent paper published after the commencement of this study (Correa-Aragunde et al., 2006). In agreement with previous studies, ABA inhibited lateral root development by reducing LR density and the number of LRs. The experiments with fluridone, an ABA biosynthesis inhibitor, may indicate that endogenous ABA was at sufficient concentrations in the excised root tips to inhibit primordia initiation. In this study, evidence is presented for the first time to show that SNP can relieve the inhibitory effect of ABA on LR density and number of LRs suggesting the NO, released from SNP, acts downstream of ABA. Overall these data confirm a critical role for NO in LR initiation.
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Karlqvist, Vanessa. "Future Assembly Layout Design for assembly of large robots : A state-of-the-art literature review and a Fuzzy AHP analysis for ABB values." Thesis, Mälardalens högskola, Innovation och produktrealisering, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48896.
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Global competition is growing for companies everywhere and the demand for new and improved products are rising for each day that passes. The globalization brings new opportunities as well as new challenges since companies need to stay up to date and implement new technologies to stay competitive. Not only do customers want up to date products, they also want high quality, low price and individualized products, customized for their needs. This puts high demand on manufacturing companies to adapt their businesses, increase product diversity and to being able to introduce new variations and new products quickly. Since the drastic evolution of technology has increased the competitiveness of industrial companies, and the mass customization demands have increased, the necessity to investigate potential system alternatives towards improving production processes, with the help from the new technology, is required. One way of doing this is to revaluate one's assembly layouts since the layout design decision is highly connected to the product portfolio and the production volumes. The specific objective of this thesis is to broaden the case company’s, ABB, knowledge on ways their assembly of large robots can be improved with the focus on potential future assembly solutions. The overall aim of this thesis work is to identify state-of-the-art possible layout design alternatives, evaluate their performances and finding a method of choosing the final layout approach. This is answered by research questions connected to plant layout selection methodology, plant layout options and finally recommendations for the case company. The methodology chosen for deciding the recommended layout is the fuzzy Analytical Hierarchy Process which is a multi-criteria decision-making tool suitable for decision problems with a hierarchical structure, having main attributes and sub attributes connected to each main attribute. Twenty-four attributes were created and ten layouts based on company observations and a literature study. The layout with the highest score was a layout based on a modernized version of the common fixed position layout. The overall recommendation for the case company was to focus on having a layout in the future with focus on a high technology level as well as high flexibility, for also receiving high performance.
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Arruda, Rafael Daboit. "Poda radicular, vigor e produção da pereira Abbé Fetel." Universidade do Estado de Santa Catarina, 2009. http://tede.udesc.br/handle/handle/1079.
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Previous issue date: 2009-05-29The present study was conducted at Frutirol Agrícola Ltda company, located in Vacaria, Rio Grande do Sul, Brazil, at an orchard sitted at 980m altitude, with about 809 HF and soil classified as typical dystrophic Latossol Bruno. Were studied the effects of different levels of root pruning on shoot growth and fruit production in Abbé Fetel pear plants cultivar grafted on quince Adams spaced at 0,7 x 3,0m. Root pruning of pear trees were held along the plot through an agricultural implement coupled to the tractor, in the east-west direction (plots direction), in August 2006 and August 2008, receiving the following treatments: control without pruning, pruning only on the north, at 20cm and 35 cm from the trunk; pruning only on the south, at 20 cm and 35 cm from the trunk at depth of 30-40 cm. Each prunning distance corresponded to a treatment . The variables collected at field were: trunk diameter, cup (crown) volume, branches length, number of buds, number of fruits; at laboratory were evaluated the phisycal-chemichal characteristics of fruits such as: fruit weight, total soluble solids, pH, acidity and pulp firmness. Through this study it can be concluded that root pruning at the distance of 20cm from the trunk is the most indicated to vigour control in Abbé Fetel plants and it ensures higher production efficiency, being also the distance that caused a higher average for the variable fruit weight, and lower average for the variable pulp firmness
O presente trabalho foi conduzido na empresa Frutirol Agrícola Ltda em Vacaria -RS, Brasil, em um pomar localizado a 980m de altitude, com cerca de 809 horas frio anuais, e solo classificado como Latossolo Bruno distrófico típico. Foram avaliados os efeitos de diferentes níveis de poda de raízes sobre o crescimento da parte aérea e da produção de frutos de plantas de pêra da cultivar Abeé Fetel enxertadas sobre marmelo Adams em um espaçamento de 0,7 x 3,0m. A poda das raízes das plantas de pereira foi feita ao longo da linha por meio de um implemento agrícola acoplado ao trator, em agosto de 2006 e em agosto de 2008, recebendo os seguintes tratamentos : testemunha (sem poda), poda somente do lado norte, a 20 e 35cm do tronco; poda somente do lado sul, a 20 e 35cm do tronco na profundidade de 30 - 40cm. Cada distância de poda correspondeu a um tratamento. As variáveiscoletadas a campo foram: diâmetro do tronco, volume de copa, comprimento de ramos, número de gemas, número de frutos; em laboratório foram avaliadas as características físico-químicas dos frutos tais como: peso de frutos, sólidos solúveis totais, pH, acidez e firmeza de polpa. Através deste estudo pode-se concluir que a poda radicular na distância de 20cm do tronco é a mais indicada para controle do vigor de plantas de Abeé Fetel e garante a maior eficiência produtiva, sendo também a distância que ocasionou maior média para a variável peso de frutos, e menor média para a variável firmeza de polpa
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Hansson, Niklas, and Eleonore Nyberg. "Prestandajämförelse av ABBs EGM och Permanova Lasersystems externaxel för fogföljning." Thesis, Högskolan Väst, Avdelningen för Industriell ekonomi, Elektro- och Maskinteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-14415.
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Syftet med denna studie är att jämföra två olika lösningar för fogföljning med svetsrobot. I nuläget används en extern sjunde axel utgiven av Permanova, denna jämförs med programvara från ABB vid namn EGM. Främst skall dödtid och tidskonstant fastställas och jämföras för systemen. Problematiken med detta var främst osäkerheten i den okulära inspektion av graferna som gav värdena. Ytterligare ett problem, som dessutom försvårade avläsningarna, var att det förekom störningar i processen som orsakade förvrängda kurvor. Experimenten utfördes på en modell av den riktiga processen. I den modellerade processen anslöts ingen svetsanordning till roboten, istället monterades en laseravståndsgivare som mätte mot ett parallellt metallblock. Den sjunde axeln var ansluten vid alla test för att säkerställa att resultaten var jämförbara med hänseende till vikten som belastar robotarmen. Varje testfall hade olika parametrar, så som hastighet och avstånd från robotbas. Flera experiment gjordes med samma parametrar för att säkerställa bra resultat. Analys av insamlade data gjordes bland annat genom att liknande stegsvar av första ordningen jämfördes med experimentets stegsvar. Det estimerade stegsvarets värden finjusterades tills dess att de båda stegsvaren var någorlunda lika, dock är mänsklig faktor mycket relevant i denna analys. Resultatet visade en klar fördel med Permanovas sjunde axel i både minskad dödtid och tidskonstant. Exempelvis var det filtrerade medelvärdet för dödtiden med EGM 266 ms och en standardavvikelse på 20,8 ms, medan det för Permanova är nere på 11,5 ms och standardavvikelse på 2,0 ms. De filtrerade tidskonstanterna följde samma trend och uppgick till 68 ms, standardavvikelse 13,5 ms, för EGM respektive 33 ms och standardavvikelse 4,8 ms för Permanova. Det var överraskande att skillnaden mellan EGM och Permanovas sjunde axel var så pass stor, men sjunde axeln verkar helt klart vara bäst lämpad för en sådan här process på grund av dess mycket snabbare dödtid och tidskonstant. Då EGM presterade så mycket sämre anses den inte lämplig för applikationer i lasersvetsning på PTC.The purpose of this study is to compare solutions for seam tracking with a welding robot. At the moment the used solution is an external seventh axis made by Permanova which is going to be compared to software made by ABB called EGM. The primary comparisons shall be done regarding the dead time and the time constant of the two processes. A primary problem with this was the uncertainty that comes with ocular inspection of the graphs in order to extract relevant values. Another problem, that also made construing the curves harder, was that there were some disturbances that caused distorted curves. Experiments were done on a model of the actual process, meaning that no welding equipment was connected to the robot in this model process. Instead a laser sensor was mounted onto the robot that measured against a parallel metal block. The seventh axis was connected for all tests to make sure that the results were comparable when it comes to the weight that the robot arm is burdened with. Each experiment had different parameters, such as speed and distance from the robot's base. Several tests were made with the same parameters to make sure that good results were had. One method used for analysis of gathered data was comparing a similar first order system to the step response of different experiments. The values of this approximate step response were tweaked until both step responses were fairly similar, however, the human factor is very relevant in this analysis. The results showed a clear advantage towards Permanova's seventh axis in both decreased dead time and time constant. For example, the filtered mean value for the dead time with EGM was 266 ms and a standard deviation of 20,8 ms, while Permanova clocked in at 11,5 ms with a standard deviation of 2,0 ms. The filtered time constants followed the same trend and were at 68 ms, standard deviation of 13,5 ms, for EGM and 33 ms, standard deviation of 4,8 ms, for Permanova. It was quite surprising how big the difference was between EGM and Permanova's seventh axis, but the seventh axis was without a doubt the solution best suited to this kind of process. Due to the lacking performance from EGM it is determined to be unfit for laser welding applications at PTW.
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Sayed, Mohammed Abd El-Aziz Abd El-Haliem [Verfasser]. "QTL Analysis for Drought Tolerance Related to Root and Shoot Traits in Barley (Hordeum vulgare L.) / Mohammed Abd El-Aziz Abd El-Haliem Sayed." Bonn : Universitäts- und Landesbibliothek Bonn, 2011. http://d-nb.info/101624875X/34.
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Benameur, Nasser. "Outils d'aide à la synthèse de programmes de robot : Approche basée sur le formalisme du langage Z." Valenciennes, 1991. https://ged.uphf.fr/nuxeo/site/esupversions/43a4b7df-03c6-4844-abbe-cc0b4bcc8292.
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Le processus d'exécution des tâches opératoires est souvent imprédictible; en effet, il obéit rarement à un schéma algorithmique préétabli. Face à cette complexité d'ordre algorithmique, l'une des voies explorées consiste à adopter une démarche systématique visant à introduire davantage de rigueur dans la construction des programmes du robot. Aussi, la contribution de la présente thèse s'attache à proposer les outils de base d'un système d'aide à la synthèse de programmes. Dans la démarche proposée, on distingue conceptuellement deux étapes fondamentales: la spécification, qui est une étape descriptive, dont l'objectif est de fournir, pour une tâche opératoire donnée, une expression abstraite du programme indépendante des contraintes d'implantation, et une étape constructive, qui aboutit à une expression concrète du programme à synthétiser. La première étape effectue, au préalable, l'analyse de l'énoncé d'une tâche selon une méthode basée sur l'approche d'Abbot: son objectif est de définir les différentes entités de base: types, objets, operateurs,. . . Celles-ci sont spécifiées sous formes de clauses dans le formalisme du langage z d'Abrial. La seconde étape s'attache à la construction des modules abstractions a partir des clauses z et la construction proprement dite du programme en utilisant des schémas de programmes. L'intégration de ces différents outils mettant en œuvre l'approche Z a été validée sur des applications du domaine de la robotique d'assemblage
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Antoni, Alandes Regina. "Molecular and genetic analyses of the PP2C-ABA receptor interaction in the abscisic acid signaling pathway." Doctoral thesis, Universitat Politècnica de València, 2013. http://hdl.handle.net/10251/29756.
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La fitohormona ácido abscísico (ABA) juega un papel crucial en el control de la respuesta a estrés y en la
regulación del crecimiento y desarrollo de la planta. La unión del ABA a los receptores intracelulares
PYR/PYL/RCAR conlleva la inhibición de las PP2Cs del clado A tales como ABI1 o HAB1, causando la
activación de la ruta de señalización del ABA. Para obtener más información en la señalización del ABA
nos hemos centrado en la caracterización de miembros de estas dos familias proteicas. Hemos generado
una versión mutada de HAB1 que contiene una mutación en el Trp-385, residuo clave para la interacción
con los receptores y con la molécula de ABA. Como resultado, hab1W385A se mostró refractaria a la
inhibición por los receptores PYR/PYL/RCAR. Así, en ensayos de actividad quinasa in vitro encontramos
que hab1W385A era capaz de desfosforilar a OST1 incluso en presencia de ABA y de los receptores.
hab1W385A y hab1G246D pueden ser clasificadas como mutaciones dominantes hipermórficas. Mientras que
hab1G246D posee una actividad fosfatasa reducida, el nuevo alelo dominante muestra una actividad
idéntica al genotipo salvaje. Líneas transgénicas de Arabidopsis sobreexpresando hab1W385A mostraron
una fuerte insensibilidad al ABA. También hemos analizado el papel de las PP2Cs del clado A
pertenecientes a la rama representada por PP2CA. La generación de un mutante doble pp2ca-1hai1-1,
que muestra mayor sensibilidad a la hormona en comparación con el genotipo salvaje y con los mutantes
sencillos, reveló que HAI1 es un regulador negativo de la ruta de señalización del ABA. El análisis de la
localización subcelular mostró que tanto HAI1 como PP2CA se localizan en el núcleo, aunque también
están presentes en el citosol y en la fracción microsomal. Tres miembros de la rama de PP2CA i.e.:
PP2CA, AHG1 y HAI1, mostraron una inhibición selectiva por los receptores PYR/PYL/RCAR. Estos
resultados sugieren que estos receptores pueden discriminar entre miembros del clado A de las PP2Cs.
pyl8 es el único mutante sencillo que muestra sensibilidad reducida al ABA en ensayos de crecimiento de
raíz. Análisis usando el gen reportero GUS mostraron que PYL8 estaba presente en la estela, en la
epidermis de la raíz y en la caliptra, y la cuantificación de la actividad beta-glucuronidasa en raíz mostró
que PYL8 es uno de los receptores con mayor nivel de expresión. La caliptra juega un papel crucial en la
respuesta hidrotrópica. El estudio de esta respuesta en mutantes múltiples de las PP2Cs y de los
PYR/PYL/RCAR reforzó la idea de que el ABA regula este proceso. Así, mientras el mutante séxtuple
pyr/pyl112458 presentó una curvatura menor al aplicársele un gradiente de humedad, el mutante
cuádruple de las PP2Cs (Qabi2-2) mostró una curvatura más pronunciada en estas condiciones, evitando
las zonas con menor potencial hídrico. Finalmente, en la última parte de este trabajo se utilizaron
abordajes genético-químicos para aumentar la resistencia a la sequía. Hemos llevado a cabo un rastreo
con compuestos químicos para aislar nuevos agonistas del ABA. Basado en datos estructurales de los
receptores, se seleccionaron 500 compuestos que fueron ensayados en Arabidopsis. De estos, el
compuesto 2C06 inhibió el crecimiento de raíz en plantas salvajes más que en mutantes pyr/pyl/rcar
insensibles a ABA y produjo resultados prometedores in vitro al inhibir a las PP2Cs e interaccionar con
éstas en ensayos de doble híbrido.Antoni Alandes, R. (2013). Molecular and genetic analyses of the PP2C-ABA receptor interaction in the abscisic acid signaling pathway [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/29756
TESIS
Premiado
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Hwang, Shih-Ying. "ABA induction of corn flooding tolerance through root lignification : physiological study and molecular cloning of a peroxidase gene /." The Ohio State University, 1993. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487843688957342.
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Manzi, Fraga Matías Jesús. "Involvement of aerial organs on the ABA accumulation in roots of Citrus plants under water deficit." Doctoral thesis, Universitat Jaume I, 2016. http://hdl.handle.net/10803/387227.
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La sequía es una de las situaciones más perjudiciales para el crecimiento y la supervivencia de las plantas. Sin
embargo, las plantas han desarrollado estrategias para afrontar dichas condiciones, incluyendo el rápido incremento
de ácido abscísico (ABA). Se ha popularizado que las raíces son el órgano capaz de detectar la deshidratación en el
substrato, aumentando los niveles de ABA. En esta tesis se ha estudiado la capacidad de las raíces en sintetizar ABA
y la implicación del transporte desde tejidos aéreos. La evidencia presentada en esta tesis sugiere que las raíces de las
plantas cítricas no constituyen una fuente relevante de ABA y por el contrario, siendo las hojas responsables de
mantener la acumulación de ABA en las raíces deshidratas. Además, se sugiere que las hojas juegan un papel clave en
detectar el déficit hídrico y por tanto en desencadenar la acumulación de ABA en hojas y en raíces.Water deficit is one of the most detrimental conditions for plant growth and survival. However, plants have developed several strategies to cope with this condition including the rapid accumulation of abscisic acid (ABA). For years, it has been assumed that dehydration is perceived by roots which stimulate the ABA increase which is further transported to leaves to regulate the stomatal aperture. In this thesis, this model is questioned since several lines of evidence indicate that roots could not sustain larger increases of ABA. Here it is provided evidence that roots of Citrus plants are not an important source of ABA under water deficit and conversely, leaves sustain the accumulation of ABA in those dehydrated roots. Furthermore, data present here suggest that leaves are key not only in providing ABA to roots but also in triggering the water stress responses which lead to the ABA accumulation in both, leaves and roots.
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Kaluzhna, Yevgeniya. "Budování vztahu se zákazníky v rámci Supply Chain Managementu." Master's thesis, Vysoká škola ekonomická v Praze, 2011. http://www.nusl.cz/ntk/nusl-142275.
Full textAbstract:
Application of supply chain management is still relatively recent practice, but it's importance is growing over time. Today, in the era of customer centricity, in order to become competitive firms shouldn't avoid collaboration with it's supply chain partners. Purpose of my thesis was to find out how supply chain management can contribute to building relationship with customers, who are the basis of any existing company. First part summarizes knowledge about supply chain, compeptitive strategies, customers, types of supply chains and customer relationship management. Particular part is dedicated to customer service and how supply chain management can contribute to it's improving. It describes also what meaning has customer service for future competitiveness. In second part, I presented the case of Zappos.com. E-retailer, which aligning entire functional strategies and whole supply chain to common strategic purpose managed to build excellent relationship with it's customers.
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Subramanian, Senthil. "Short blue root (sbr), an arabidopsis mutant that ectopically over-expresses and ABA- and auxin-inducible transgene Dc3-GUS and has defects in the cell wall /." View Abstract or Full-Text, 2002. http://library.ust.hk/cgi/db/thesis.pl?BIOL%202002%20SUBRAM.
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Thesis (Ph. D.)--Hong Kong University of Science and Technology, 2002.Includes bibliographical references (leaves 238-266). Also available in electronic version. Access restricted to campus users.
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Rodríguez, Solovey Leisa Natacha. "IDENTIFICATION OF TARGETS AND AUXILIARY PROTEINS OF PYR/PYL/RCAR ABA RECEPTORS: PROTEIN PHOSPHATASES TYPE 2C (PP2Cs) AND C2-DOMAIN ABA-RELATED PROTEINS (CARs)." Doctoral thesis, Universitat Politècnica de València, 2015. http://hdl.handle.net/10251/58862.
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[EN] ABSTRACT
Abscisic acid (ABA) signaling plays a critical role in regulating root growth and root system architecture. ABA-mediated growth promotion and root tropic response under water stress are key responses for plant survival under limiting water conditions. In this work, we have explored the role of Arabidopsis (Arabidopsis thaliana) PYR/PYL/RCAR receptors (PYRABACTIN RESISTANCE1 (PYR1)/PYR1 LIKE (PYL)/REGULATORY COMPONENTS OF ABA RECEPTORS) for root ABA signaling. As a result, we discovered that PYL8 plays a nonredundant role for the regulation of root ABA sensitivity. Unexpectedly, given the multigenic nature and partial functional redundancy observed in the PYR/PYL family, the single pyl8 mutant showed reduced sensitivity to ABA-mediated root growth inhibition. This effect was due to the lack of PYL8-mediated inhibition of several clade A phosphatases type 2C (PP2Cs), since PYL8 interacted in vivo with at least five PP2Cs, namely HYPERSENSITIVE TO ABA1 (HAB1), HAB2, ABAINSENSITIVE1 (ABI1), ABI2, and PP2CA/ABA-HYPERSENSITIVE GERMINATION3 as revealed by tandem affinity purification and mass spectrometry proteomic approaches.
Membrane-delimited abscisic acid (ABA) signal transduction plays a critical role in early ABA signaling, but the molecular mechanisms linking core signaling components to the plasma membrane are unclear. We show that transient calciumdependent interactions of PYR/PYL/RCAR ABA receptors with membranes are mediated through a 10-member family of C2-domain ABA-related (CAR) proteins in Arabidopsis thaliana. Specifically, we found that PYL4 interacted in an ABA-independent manner with CAR1 in both the plasma membrane and nucleus of plant cells. CAR1 belongs to a plant-specific gene family encoding CAR1 to CAR10 proteins, and bimolecular fluorescence complementation and coimmunoprecipitation assays showed that PYL4-CAR1 as well as other PYR/PYL-CAR pairs interacted in plant cells. The crystal structure of CAR4 was solved, which revealed that, in addition to a classical calcium-dependent lipid binding C2 domain, a specific CAR signature is likely responsible for the interaction with PYR/PYL/RCAR receptors and their recruitment to phospholipid vesicles. This interaction is relevant for PYR/PYL/RCAR function and ABA signaling, since different car triple mutants affected in CAR1, CAR4, CAR5, and CAR9 genes showed reduced sensitivity to ABA in seedling establishment and root growth assays. In summary, we identified PYR/PYL/RCAR-interacting partners that mediate a transient Ca2+-dependent interaction with phospholipid vesicles, which affects PYR/PYL/RCAR subcellular localization and positively regulates ABA signaling.[ES] RESUMEN La señalización por la hormona vegetal ácido abscísico (ABA) desempeña un papel crítico en la regulación del crecimiento de la raíz y en la arquitectura del sistema radical. La promoción de crecimiento de la raíz en condiciones de estrés hídrico mediada por ABA es clave para la supervivencia de las plantas bajo condiciones limitantes de agua. En este trabajo, hemos explorado el papel de los receptores PYR/PYL/RCAR (PYRABACTIN RESISTANCE1 (PYR1)/PYR1 LIKE (PYL)/ REGULATORY COMPONENTS OF ABA RECEPTORS) de Arabidopsis (Arabidopsis thaliana) en la ruta de señalización de ABA en raíz. Así, hemos descubierto que el receptor de ABA PYL8 juega un papel no redundante en la regulación de la percepción de ABA en raíz. Inesperadamente, dada la naturaleza multigénica y la redundancia funcional parcial observada en la familia PYR/PYL/RCAR, el mutante pyl8 fue el único mutante sencillo de pérdida de función de los receptores PYR/PYL/RCAR que mostraba una sensibilidad reducida a la inhibición del crecimiento mediada por ABA en raíz. Este efecto se debe a la falta de inhibición mediada por PYL8 de varias fosfatasas del grupo A tipo 2C (PP2Cs), ya que PYL8 es capaz de interactuar in vivo con al menos cinco PP2Cs, denominadas HYPERSENSITIVE TO ABA1 (HAB1), HAB2, ABAINSENSITIVE1 (ABI1), ABI2, and PP2CA/ABA-HYPERSENSITIVE GERMINATION3 según lo han revelado la purificación por afinidad en tándem (TAP por sus siglas en inglés) y estudios proteómicos de espectrometría de masas. La transducción de la señal del ABA localizada en la membrana plasmática celular juega un papel crucial en los pasos iniciales de la señalización de la fitohormona, pero los mecanismos moleculares que unen los componentes básicos de la señalización y la membrana plasmática no están claros. Estudiando las interacciones de los receptores del ABA PYR/PYL/RCAR con la membrana plasmática hemos encontrado que éstos pueden interaccionar transitoriamente con ella de forma dependiente de calcio gracias a una familia de proteínas con dominios C2 relacionadas con la ruta de señalización de ABA (denominadas C2-domain ABA-related (CAR) proteins). Específicamente, se encontró que PYL4 interacciona de manera independiente de ABA con CAR1 tanto en la membrana plasmática como en el núcleo de las células vegetales. La proteína CAR1 pertenece a una familia multigénica constituida por 10 miembros en Arabidopsis thaliana, desde CAR1 hasta CAR10, y que solo se encuentra en plantas. Los ensayos de complementación bi-molecular de fluorescencia y de co-immunoprecipitación confirmaron la interacción en células vegetales tanto de PYL4-CAR1 como de otras parejas de PYR/PYL-CAR. La cristalización de la proteína CAR4 reveló que, además de un dominio C2 clásico de unión a lípidos dependiente de calcio, las proteínas de la familia CAR presentan un dominio específico que probablemente es responsable de la interacción con los receptores PYR/PYL/RCAR y de su posterior reclutamiento a las vesículas de fosfolípidos. Esta interacción es relevante para la función de los receptores PYR/PYL/RCAR en la señalización del ABA, ya que diferentes mutantes triples car de pérdida de función, que tienen afectados los genes CAR1, CAR4, CAR5, y CAR9, demostraron una reducción de la sensibilidad al ABA en ensayos de establecimiento de plántula y crecimiento de la raíz. En resumen, hemos identificado nueva familia de proteínas que son capaces mediar las interacciones transitorias dependientes de Ca2+ con vesículas de fosfolípidos, lo que a su vez afecta localización de PYR/PYL/RCAR y regula positivamente la señalización de ABA.
[CAT] RESUM La senyalització per l'hormona vegetal àcid abcíssic (ABA) exerceix un paper crític en la regulació del creixement de l'arrel i també en l'arquitectura del sistema radical. La promoció del creixement de l'arrel en condicions d'estrés hídric, regulada per ABA és clau per la supervivència de les plantes sota condicions limitants d'aigua. Amb aquest treball, hem investigat el paper dels receptors PYR/PYL/RCAR (PYRABACTIN RESISTANCE1 (PYR1)/PYR1 LIKE (PYL)/ REGULATORY COMPONENTS OF ABA RECEPTORS) d'Arabidopsis (Arabidopsis thaliana) en el camí de senyalització d'ABA en arrel. Així, hem descobert que el receptor d'ABA PYL8 exerceix un paper no redundant en la regulació de la percepció d'ABA en arrel. Inesperadament, donada la naturalesa multigènica i la redundància funcional parcial que s'observa en la família PYR/PYL/RCAR, el mutant pyl8 va ser l'únic mutant senzill de pèrdua de funció dels receptors PYR/PYL/RCAR que mostrava una sensibilitat reduïda a la inhibició del creixement mitjançada per l'ABA en l'arrel. Doncs aquest efecte es deu a la falta d'inhibició regulada per PYL8 de diverses fosfatases del grup A tipus 2C (PP2Cs), ja que PYL8 té la capacitat d'interactuar in vivo almenys amb cinc PP2Cs, anomenades HYPERSENSITIVE TO ABA1 (HAB1), HAB2, ABAINSENSITIVE1 (ABI1), ABI2, and PP2CA/ABAHYPERSENSITIVE GERMINATION3 segons ho han revelat per una banda la purificació per afinitat en tàndem (TAP són les seues sigles en anglés) i per altra banda, estudis proteòmics d'espectrometria de masses. Pel que fa a la transducció del senyal del l'ABA, la qual es localitza en la membrana plasmàtica cel¿lular, juga un paper molt important en els primers instants de la senyalització de la fitohormona, no obstant això els mecanismes moleculars que uneixen els components bàsics d'aquesta senyalització amb la membrana plasmàtica, no es troben del tot clars. Per tant, s'han estudiat les interaccions que tenen els receptors del ABA PYR/PYL/RCAR amb la membrana plasmàtica, i hem trobat que aquests tenen la capacitat d'interaccionar transitòriament amb la membrana de forma dependent al calci, gràcies a una família de proteïnes amb domini C2, les quals es troben relacionades amb la ruta de senyalització d'ABA(anomenades C2domain ABArelated (CAR) proteins).Específicament, es va trobar que PYL4 interacciona d'una manera independent al ABA amb CAR1, tant en la membrana plasmàtica, com en el nucli de les cèl¿lules vegetals. La proteïna CAR1 pertany a la família multigènica constituïda per 10 components en Arabidopsis thaliana, des de CAR1 fins CAR10, que tan sols es troba en plantes. Els assajos de complementació bimolecular de fluorescència i de co-immunoprecipitació, van confirmar la interacció en cèl¿lules vegetals, tant de PYL4CAR1 com d'altres parelles de PYR/PYL-CAR. La cristal¿lització de la proteïna CAR4 va revelar que, a més d'un domini C2 clàssic de unió a lípids dependent del calci, les proteïnes de la família CAR presenten un domini PYR/PYL/RCAR, i del seu posterior reclutament a les vesícules fosfolipídiques. Doncs, aquesta interacció és rellevant en la funció dels receptors PYR/PYL/RCAR, ja que participa en la senyalització del l'ABA. Aquesta interacció es clau per a la funció dels receptors, ja que diferents mutants triples car de pèrdua de funció, els quals posseïxen afectats els gens CAR1, CAR4, CAR5 i CAR9, van mostrar una reducció de la sensibilitat a l'ABA en assajos d'establiment de plàntula i creixement de l'arrel. En conclusió, hem identificat una nova família de proteïnes amb la capacitat d'organitzar les interaccions transitòries dependents del calci amb vesícules de fosfolípids, fet que al seu torn afecta la localització de PYR/PYL/RCAR i regula positivament la senyalització d'ABA.
Rodríguez Solovey, LN. (2015). IDENTIFICATION OF TARGETS AND AUXILIARY PROTEINS OF PYR/PYL/RCAR ABA RECEPTORS: PROTEIN PHOSPHATASES TYPE 2C (PP2Cs) AND C2-DOMAIN ABA-RELATED PROTEINS (CARs) [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/58862
TESIS
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Eskilsson, Niklas, and David Magnuson. "Åtgärder för en effektivare intern materialförsörjning : Genomlysning av förbättringsområden för lager till slutmontering av gruvmaskiner med fördjupning inom frekvensläggning – en studie vid Epiroc Rock Drills AB." Thesis, Linköpings universitet, Logistik- och kvalitetsutveckling, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-157591.
Full textAbstract:
Epiroc har åtnjutit en längre period av kraftig tillväxt samtidigt som flertalet effektiviseringsprojekt har genomförts med syfte att öka produktionsvolymen för att möta marknadens efterfrågan. Detta genom att bland annat implementera en variant av Lean production – The Way We Produce. En av dessa förändringar är en takad flödesorienterad montering med just-in-time sekvenserad materialförsörjning. Detta har i sin tur ökat kraven på materialförrådet Logistikcenter (LC) där ledningen nu börjat undersöka möjliga effektiviseringsåtgärder. Därav är studiens syfte till att ta fram realiserbara förbättringsförslag för logistikverksamheten vid Logistikcenter tillhörande Epiroc Rock Drills AB i Örebro för att öka effektiviteten och leveranssäkerheten. Studien har genomförts i två faser; identifieringsfasen och fördjupningsfasen. Under identifieringsfasen genomfördes en kartläggning av nuläget i LC, där underlaget för kartläggningen baserar sig på intervjuer, observationer och analyser. Genom en rotorsaksanalys, med målet att identifiera källor till ineffektivitet, kunde nio förbättringsområden identifieras varav en av dessa vidare skulle utredas i fördjupningsfasen. Dessa utvärderades utifrån en effekt-insats matris för att välja det förbättringsområde med störst effektiviseringspotential i förhållande till den förväntande insatsen. Analysmodellen för effekt-insats matrisen var de åtta slöserierna i Lean (Petersson, et al., 2015), dess förväntade påverkan på effektiviteten samt den förväntade komplexiteten av en implementation. Resultatet från rotorsaksanalysen gav artikelklassificering som det primära förbättringsområdet där den undersökta åtgärden var en alternativ tillämpning av frekvensläggning för att minimera rörelsetiden mellan lagerplatser vid plock. Under fördjupningsfasen undersöktes den nuvarande artikelklassificeringen och frekvensläggningen genom syntes av en alternativ modell för klassificeringen av artiklar och lagerplatser utifrån en fördjupad litteraturstudie. För att undersöka om en alternativ klassificering kan öka effektiviteten utvecklades en utvärderingsmodell som modellerar rörelsetiden för historiskt data från plocklistor. Den användes för att testa vilken kombination av storlekar på artikelklasserna som gav den minsta möjliga totala rörelsetiden. En kombination av 60/30/10 % (A/B/C) av det ackumulerade antalet plock gav den lägsta totala rörelsetiden för en plockhistorik på 15 månader med en reduktion av rörelsetiden motsvarande 33 % (1760 h) jämfört mot nuläget. Vidare undersöktes en alternativ sortering av plocklistorna för automathissar respektive pallställage med utvärderingsmodellen som gav en reduktion på 4 % respektive 11 % mot nuläget. Slutligen undersöktes olika former på zonerna för klassificering av lagerplatser i pallställage W3, där utlämningsplatsen är placerad halvvägs in i ställaget. En tyngdpunkt placerat centralt mellan ingången och utlämningsplatsen gav det bästa simuleringsresultatet. Sammanfattningsvis fastställdes artikelklassificering som det förbättringsområde med störst realiserbar effektiviseringspotential med lägst komplexitet utifrån en rotsorsaksanalys. Epiroc rekommenderas att implementera klassificeringsmodellen med tre klasser av storleken 60/30/10 % (A/B/C) av den ackumulerade antalet plockrader, samt att implementera att den alternativa sorteringen av plockrader på plocklistor för pallställage.Epiroc has had a long period of strong growth, where several efficiency projects have been implemented to increase production volume in order to meet market demand. A variant of Lean production has been implemented over several years – called The Way We Produce by Epiroc. A large part of that change has been the implementation of sequenced flow-oriented assembly with just-in-time sequenced material deliveries to the assembly floor. This, in turn, has increased the requirements for the warehouse Logistic Center (LC) and management has now begun to investigate ways to improve efficiency at LC. Hence, the aim of the study is to develop realistic improvement proposals for the logistics operations at Logistics Center of Epiroc Rock Drills AB at Örebro to increase efficiency and delivery reliability. The study has been conducted in two phases; the identification phase and the in-depth phase. During the identification phase, a mapping of the current situation in LC was carried out, where the basis for the survey is based on interviews, observations and analyzes. Through a root cause analysis, with the goal of finding sources of inefficiency, nine areas of improvement could be identified, one of which would be chosen for further investigation in the in-depth phase. The areas of improvement were evaluated with an effect-input matrix to choose the area of improvement that provides the greatest efficiency potential in relation to the expected effort. The analysis model for the effect-input matrix was the eight wastes of Lean based on Petersson et al. (2015), its expected impact on efficiency and the expected complexity of an implementation. The result of the root cause analysis gave article classification as the primary area of improvement, where the measure is an alternative slotting strategy to minimize the movement time between storage locations. During the in-depth phase, the current article classification and frequency setting were examined by synthesis of an alternative model for the classification of articles and storage locations based on an in-depth literature study. To investigate whether an alternative classification can increase efficiency, an evaluation model was developed that models the movement time from historical data from pick lists. It was used to test which combination of sizes for the article classes gave the smallest possible total movement time. A combination of 60/30/10% (A/B/C) gave the lowest total movement time for a picking history of 15 months with a reduction corresponding to 33% (1760 h) compared to the current situation. Furthermore, an alternative sorting of the pick lists for the vertical lift modules and pallet racking was examined with the evaluation model, which gave a reduction of 4% and 11% respectively. Finally, various forms for the zones were examined for the classification of storage locations in pallet rack W3, where the delivery site is located three-quarter way into the pallet rack. A center of gravity for the for the A-class placed between the entrance and the delivery point gave the best simulation result. In summary, the article classification improvement area was established with the greatest realizable efficiency potential with the least effort based on the root cause analysis. Epiroc is recommended to implement the classification model with three classes of size 60/30/10 % (A/B/C) of the accumulated number of picking rows, and to implement that alternative sorting of pick rows on picklists for pallet racking.
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Lightle, Nicole E. "Effects of Air vs. Air+Soil Heating During a Simulated Heat Wave on White Oak (Quercus alba) and Black Oak (Quercus velutina)." University of Toledo / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1365159241.
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Sousa, Paulo Jorge Leitão e. "Development and Simulation of an Automatic Tool Changer for an ABB Robot." Master's thesis, 2019. https://hdl.handle.net/10216/122963.
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Li, Zhenhao. "Tooling ball detecting method design for ABB welding robot in automatic TIG welding process." Thesis, 2010. http://hdl.handle.net/10012/5582.
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This thesis provides the design process for a new tooling ball detection method to calibrate moulds in automatic TIG welding. A mechanical component is designed to locate the tooling ball and convert the position information into analog signals. An electrical component is designed to process signals from the mechanical component and achieve the signal communication process. Finally, the computational component is designed and programmed to receive bits from the electrical component and convert information into position values for the tooling ball. The homogeneous transformation process is mathematically modeled for position computation in a robot system.
The method is significantly different from current methods that have been developed and applied. Firstly, it uses a mechanical-touch style operation to locate the tooling ball with only a one-time detection operation. Secondly, it introduces a new approach for utilizing the joystick. Rather than as a manually operated direction controller for mobile control of devices, the joystick is used as a passive detection angle sensor. In order to properly use the joystick as an angle sensor, the joystick calibration method is also designed and tested.
The designs of the three components are all implemented and tested separately. The results of these tests prove the feasibility of the new detecting method; however, the accuracy of detection is not yet acceptable and further improvements need to be made.
In addition, a vision-based detecting method is also discussed at the end of the thesis. Compared to mechanical touch-style detection, the vision-based detecting method is designed to obtain better performance in a high temperature environment and to automate the tooling ball detecting process.
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Huang, Bo-Yu, and 黃柏育. "A Study on Efficiency of ABB Robot-Based Automatic Production for an Example : Drilling and Milling Machine." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/d5v3xz.
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碩士南開科技大學
車輛與機電產業研究所
102
This dissertation proposed an integration methodology in which traditional industry processing machine integrates automated technigue to promote the efficiency of automation production. Generally, traditional industry processing machine can be broadly divided into the lathe machine, milling machine, planer, grinder, drill press etc. Efficient production emphasizes the characteristic of faster and higher accuracy. Robot arm can achieve the heed under rigorous condition. The ABB robot fits the need of high-efficiency automation. In this research, the analyses of robot hardware and software applications, signal connection and machine communication of mechatronics systems are illustrated. The unmanned process will be an exploring issue in the future.
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Wu, Hongda. "Developing an integrated system for automated picking and sorting using an ABB flexpicker robot : a thesis presented in partial fulfillment of the requirements of the degree of Master of Engineering in Mechatronics at Massey University, Auckland, New Zealand." 2010. http://hdl.handle.net/10179/1684.
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Content on CD can be found with print thesis held at Turitea library, Palmerston North. Content: Chapter 8 Appendix 8.1. PLC Code 8.2. Mean-Shift Code 8.3. Webcam Interface HTML Code 8.4. PIC18F4520In the rapid development of flexible automation and the broad application of computer technology, industrial monitor software has played an integral role in all kinds of industrial areas. It allows operators to monitor and control a plant in real-time with feedback from any number of processes. Traditionally industrial monitor software exhibits low efficiency, lack of reliability, non-reconfigurable and does not support multi-communication protocols, as is required for the exchange of data from outside of the factory. (Fan, 2006) Configuration software is basically type of the industrial automation and process monitor and control application. It supports Human Machine Interface (HMI), Supervisory Control and Data Acquisition (SCADA) system, realizes interlink between low level device and upper management network. Nowadays, with the advent of Configuration Software, engineers can readily construct field control systems with minimal developmental time and cost while allowing the combination of a plethora of user requests and control. The primary objective of this thesis is to develop a web base application with surveillance ability to realize remote control of an ABB IRB 340 Flexpicker robot through Siemens Programmable Logic Controller (PLC) system. The communication between the application and robot system is to be built using configuration software to link a number of third party devices through the inclusion of OLE for Process Control (OPC) techniques, graphical design editors, web navigators, and tag management. The thesis also introduces a vision system with trig-board design for object recognition and tracking.
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Kästner, Ralf Müller Steffen. "Probabilistic planning with multimodal : human-robot dialog systems /." 2006. http://www.gbv.de/dms/ilmenau/abs/525262822kaest.txt.
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Li-HengTai and 戴立恒. "Development of Simulator for Humanoid Robot Gait Pattern Generation by using CPG and ABC Algorithm." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/41915705703400830956.
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碩士國立成功大學
電機工程學系碩博士班
101
This thesis focuses on developing a simulator with high integration ability and practicality. It can be applied to test the competitions of RoboCup, adjust motion of robots, and realize gait learning method in a virtual environment. By transmitting and receiving data such as visual image, commands of motors, and judgments of strategy between programs, simulator can easily be combined with other software. This simulator is mainly constructed with two free open sources, Open Graphics Library (OpenGL) and Open Dynamic Engine (ODE). The architecture model of the robot named David II, which is the second generation adult sized humanoid robot developed by our laboratory, the aiRobots. In terms of gait learning, we use central pattern generator (CPG) to build a fast and stable walking locomotion. Two pairs of neural oscillators are arranged to control positions of the robot's ankles. Furthermore, artificial bee colony (ABC) algorithm is chosen to train the parameters of CPG with feedback signals of accelerometer and gyro. Dynamic time warping technique is utilized to synthesize an appropriate fitness function. Finally, the developed simulator can successfully learn the best gait pattern for an adult sized humanoid robot to achieve 18.5cm/s forward walking speed by proposed method. Furthermore, the one-on-one soccer competition in humanoid league of RoboCup can be effectively demonstrated in the investigated simulator.
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Klopf, Johannes Linß Gerhard. "Optimierung der Root Cause Analyse im Qualitätsmanagement der BMW Group im Fachbereich Fahrdynamik /." 2008. http://www.gbv.de/dms/ilmenau/abs/567816141klopf.txt.
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Tseng, I.-Chieh, and 曾怡潔. "A group of novel ABA/stress induced highly proline-rich glycoproteins regulate rice root growth." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/42476219066154576202.
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博士國防醫學院
生命科學研究所
101
ABA treatment, salinity or water-deficit stress induces the expression of a family of four genes, Repetitive Proline Rich Protein (RePRP) in the roots of rice (Oryza sativa). These genes encode two subclasses of novel proline-rich glycoproteins with highly repetitive PX1PX2 motifs, OsRePRP1 and OsRePRP2. OsRePRP orthologues exist only in monocotyledonous plants and their functions are virtually unknown. OsRePRPs are heavily glycosylated with arabinose and glucose on multiple hydroxyproline residues. They are significantly different from arabinogalactan proteins (AGPs) with glycan chains composed of arabinose and galactose. Immuno-gold labeling and expressions of OsRePRP-GFP reveal that a fraction of this protein is localized to the plasma membrane. Moreover, OsRePRPs specifically interact with a polysaccharide, arabinogalactan. ABA treatment increases OsRePRP expression preferentially in the elongation zone of young rice roots. Over-expression of OsRePRP2.1 in transgenic rice reduces root cell elongation in the absence of ABA, similar to the effect of ABA on wild type roots. Conversely, simultaneous knockdown of the expression of OsRePRP1 and OsRePRP2 reduces the root sensitivity to ABA, indicating that OsRePRP proteins play an essential role in ABA/stress regulation of root growth and development. It is suggested that OsRePRP1 and OsRePRP2 are functionally redundant suppressors of root cell expansion and probably act through interactions with cell wall components near the plasma membrane.
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Moeser, Joachim. "Nahrungsökologie des invasiven Maisschädlings Diabrotica virgifera virgifera LeConte in Europa." Doctoral thesis, 2003. http://hdl.handle.net/11858/00-1735-0000-0006-AB5B-1.
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Gargoš, Ondřej. "Mechanismy reakce exodermis na dostupnost živin v prostředí." Master's thesis, 2021. http://www.nusl.cz/ntk/nusl-445731.
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in English The apoplastic barriers of the root (endodermis and exodermis) represent an important regulatory mechanism for the uptake of water and nutrients from the environment, ensuring its selectivity. In addition, both layers respond to stress factors by altering its rate and degree of cell wall modification, which affects the transport properties of the root and represents adaptive plants to high heterogeneity of the soil environment. Apoplastic barriers also respond to the availability of mineral nutrients. This issue has recently been intensively studied and a number of ambiguities persist. Interestingly, the deficiency of some mineral nutrients stimulates the differentiation of barriers, while the deficiency of other mineral nutrients delays the differentiation. In addition, different plant species react differently to the deficiency of the same element. Another interesting aspect is the fact that the reaction of the endodermis and exodermis is localized and takes place mainly in that part of the root system which is directly exposed to the stress factor. This phenomenon has been observed with cadmium toxicity, but more recently with local nutrient deficiencies (nitrogen and potassium) in Zea mays. This diploma thesis deals with the functional significance of localized enhancing or delaying...
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Hiu, Shuxian. "Validation of de novo Bioinformatic Predictions of Arabidopsis thaliana Cis-regulatory Elements using in planta GUS Expression Assays." Thesis, 2012. http://hdl.handle.net/1807/32468.
Full textAbstract:
The study of cis-regulatory elements (CREs) will allow for increased understanding of regulation and lead to insight regarding the mechanisms governing growth, development, health, and disease. The aim of this study was to characterize the de novo in silico predictions of Arabidopsis CREs. Eight synthetic and 30 native promoter-constructs containing an eGFP/GUS reporter protein were generated for cold, genotoxic, heat, osmotic, and salt stress; the circadian clock; ABA signaling; root and epidermis tissue. Constructs were stably transformed into A. thaliana Col-0 and the effects of the CREs were evaluated by in planta stress or tissue assays using GUS expression levels. Results reveal a novel genotoxic element that specifically directs GUS expression in rosette leaves during genotoxic stress. Results also look promising for novel epidermis and root-specific elements. Results of these assays validate the de novo prediction pipeline's ability to identify novel and known CREs related to abiotic stress.