Relevant bibliographies by topics / Pick-a-Path

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Pick-a-Path'

Author: Grafiati
Published: 4 June 2021
Last updated: 10 February 2022

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Journal articles on the topic "Pick-a-Path"

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Savage, Neil. "Career counselling: Pick a path." Nature 517, no. 7536 (January 2015): 645–47. http://dx.doi.org/10.1038/nj7536-645a.

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Han, Luhua, Hanping Mao, Jianping Hu, and Kunpeng Tian. "Development of a doorframe-typed swinging seedling pick-up device for automatic field transplantation." Spanish Journal of Agricultural Research 13, no. 2 (May 29, 2015): e0210. http://dx.doi.org/10.5424/sjar/2015132-6992.

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<p>A doorframe-typed swing seedling pick-up device for automatic field transplanters was developed and evaluated in a laboratory. The device, consisting of a path manipulator and two grippers, can move the pins slowly to extract seedlings from the tray cells and return quickly to the pick-up point for the next extraction. The path manipulator was constructed with the creative design of type-Ⅱ mechanism combination in series. It consists of an oscillating guide linkage mechanism and a grooved globoidal cam mechanism. The gripper is a pincette-type mechanism using the pick-up pins to penetrate into the root mass for seedling extraction. The dynamic analysis of the designed seedling pick-up device was simulated with ADAMS software. Being the first prototype, various performance tests under local production conditions were conducted to find out the optimal machine operation parameters and transplant production conditions. As the gripper with multiple fine pins was moved by the swing pick-up device, it can effectively complete the transplanting work cycle of extracting, transferring, and discharging a seedling. The laboratory evaluation showed that the pick-up device equipped with two grippers can extract 80 seedlings/min with a 90% success and a 3% failure in discharging seedlings, using 42-day-old tomato plantlets. The quality of extracting seedlings was satisfactory.</p>
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Smith, Annie. "Clicking a Collaborative Path: Exploring What (re)Conciliation Can Look Like in Inheritance: a pick-the-path experience." Theatre Research in Canada 42, no. 1 (May 2021): 120–38. http://dx.doi.org/10.3138/tric.42.1.f02.

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Cet article part d’un entretien avec des membres de l’équipe de création du spectacle Inheritance : a pick-the-path experience, présenté par les compagnies Alley Theatre et Touchstone Theatre, en collaboration avec le Vancouver Moving Theatre et le Centre d’amitié autochtone de Vancouver. Inheritance propose au public d’explorer les dynamiques sous-jacentes à la (ré)conciliation en choisissant comment se déroulera sur scène un récit où la souveraineté des Autochtones sur le territoire s’oppose au privilège des colons dans une cabane isolée en Colombie-Britannique. La personne qui mène les entretiens découvre la genèse du projet et son développement, et on lui explique comment la participation du public détermine le déroulement de l’intrigue.
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Ahn, Gilseung, Myunghwan Park, You-Jin Park, and Sun Hur. "Interactive Q-Learning Approach for Pick-and-Place Optimization of the Die Attach Process in the Semiconductor Industry." Mathematical Problems in Engineering 2019 (February 18, 2019): 1–8. http://dx.doi.org/10.1155/2019/4602052.

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In semiconductor back-end production, the die attach process is one of the most critical steps affecting overall productivity. Optimization of this process can be modeled as a pick-and-place problem known to be NP-hard. Typical approaches are rule-based and metaheuristic methods. The two have high or low generalization ability, low or high performance, and short or long search time, respectively. The motivation of this paper is to develop a novel method involving only the strengths of these methods, i.e., high generalization ability and performance and short search time. We develop an interactive Q-learning in which two agents, a pick agent and a place agent, are trained and find a pick-and-place (PAP) path interactively. From experiments, we verified that the proposed approach finds a shorter path than the genetic algorithm given in previous research.
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Sahu, Supriya, and Bibhuti Bhusan Choudhury. "Fuzzy Logic Based Path Planning for Industrial Robot." International Journal of Manufacturing, Materials, and Mechanical Engineering 8, no. 3 (July 2018): 1–11. http://dx.doi.org/10.4018/ijmmme.2018070101.

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This article describes how industrial robots are generally used to perform different tasks in industries, such as pick and place, and many more operations in industries. Among these, pick and place is a very common and frequently used task. Path planning is the most important thing in order to make any process more economical. The main focus of the research is to design a fuzzy control system for path planning for industrial robots using artificial intelligence using fuzzy logic. For the analysis, ten different tasks are tested. For fuzzy logic systems, three membership functions are analyzed and compared to find the best result. From the research, it has been found that a Gaussian membership function gives more accurate result in comparison to the other two membership functions.
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Lee, Chi-Guhn, Marina A. Epelman, Chelsea C. White, and Yavuz A. Bozer. "A shortest path approach to the multiple-vehicle routing problem with split pick-ups." Transportation Research Part B: Methodological 40, no. 4 (May 2006): 265–84. http://dx.doi.org/10.1016/j.trb.2004.11.004.

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Yang, Chuan Hua, Xian Fa Fang, Xin Jin, Zhong Jun Liu, Jun Liu, and Yu Hui Guo. "Motion Analysis for Vegetable Potted Seedling Pick-Up Mechanism with Double Crank Geared Linkages." Applied Mechanics and Materials 529 (June 2014): 218–23. http://dx.doi.org/10.4028/www.scientific.net/amm.529.218.

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The semi-automatic feeding mechanism of vegetable transplanter was nacelle basket type which is available with manual feeding for transplanting vegetable potted seedlings. However, the efficiency is lower to meet the needs. To improve it, a new design of the potted seedling pick-up mechanism with double crank geared five-bar linkages model was expounded for automatic seedling picking. The kinematics model of the pick-up mechanism was established by mathematical analysis method. The influence of the structural parameters on the motion trajectory and relative velocity of the seedling pick-up arm cusp was investigated. The design of optimization objective for picking vegetable potted seedling was proposed. Meanwhile, the optimal parameter combination of the pick-up mechanism was obtained by using MATLAB based on the objective. With it, when the seedlings pot were being pulled out, the path of the seedling pick-up arm inserting was straightly and more perpendicular to potted seedling. Furthermore, the velocity of seedling taking and dropping cusps were relatively lower in order to meet the speeds demand of seedling picking up with seedling feeding in automatic way.
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Chiang, Chin-Lung, and Rong-Fong Fung. "Mechanical design and motion analysis of a pick-and-place mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 12 (December 1, 2008): 2463–73. http://dx.doi.org/10.1243/09544062jmes1155.

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The purpose of this research is to propose a mechanical design and kinematic analysis for a pick-and-place mechanism (PPM), which is applied to automation equipments and press fabrication industries. To obtain all the possible dimensions of gear pairs, a programming software is developed by using Visual Basic (VB) language. From the path of motion, the geometric relationship between the planetary gear and internal gear will generate an approximate square path (ASP). By intercepting some portion of this ASP and utilizing one servomotor to drive the arm of the planetary gear, a new type of PPM is designed. To verify its performance, experiments and numerical simulations of motion analyses are performed and compared. The PPM could also be combined with other mechanisms to construct new systems with one input servomotor and multiple output manipulators.
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Wang, Peng Chong, Yang Xu, Qing Nan Cai, Song Li, and Ying Zhong Tian. "A Path Recognition Algorithm Based on Image Process for Smart Car." Advanced Materials Research 684 (April 2013): 410–13. http://dx.doi.org/10.4028/www.scientific.net/amr.684.410.

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Intelligence is a trend in the development of vehicles. This smart car system uses CCD camera to get images. The process is divided into three parts: image acquisition, extract centerline and path recognition. In this paper, it tells how to pick up the effective information of the road and predict the trend of black-line. Experiments show that the tracking movement of the smart car is real-time, efficient and intelligent, which has achieved the expected goals.
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Banks, Jessica E. "Is a straight line the shortest path?" Mathematical Gazette 102, no. 553 (February 8, 2018): 1–12. http://dx.doi.org/10.1017/mag.2018.2.

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Is the shortest path from A to B the straight line between them? Your first response might be to think it's obviously so. But in fact you know that it's not quite that straightforward. Your sat-nav knows it's not that straightforward. It asks whether you would like it to find the shortest route or the fastest route, because finding the best path depends on knowing what exactly you mean by ‘long’. Likewise, if you're on a walk in the mountains, there's a good chance you'd rather follow the path around the head of the valley, rather than heading down the steep slope and up the other side.The same sorts of considerations apply in mathematical worlds. I use the mountainside image because it is my preferred way of thinking of a Riemannian metric. Pick an abstract surface S. A Riemannian metric on S gives a well-behaved distance function. By force of habit I tend to picture S as sitting somehow within the physical world. Probably, I'm looking at it from the outside. But if I change viewpoint, so that I am walking around on S, I can picture how the topography affects the idea of the ‘shortest path’.
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Dissertations / Theses on the topic "Pick-a-Path"

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Tong, Yuxuan. "Four-bar Linkage Synthesis for a Combination of Motion and Path-point Generation." University of Dayton / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1366643444.

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Wu, Chien-hsin, and 吳建欣. "A Visual Search with Pick-up Balls Robot through Path Planning in Known Environments." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/46177078577884443690.

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碩士
國立臺灣科技大學
資訊工程系
98
The purpose of this paper is to achieve a visual search robot system which has webcam on it. The robot searched and picked up the targets by visual servo control. It also owns the capability of the path planning, and completed the pick-up job in known environment effectively. In terms of detecting the targets, the most important problem is how to find out the targets in the image of the grabbed stream video. In this paper, we take the table-tennis ball for the target. The robot detected the table-tennis balls by template matching, and got the distance and the location of the balls. Finally, we control the robot to pick up the balls. In terms of path planning, we improve the completed coverage path planning to suit our robot system in this paper. By this, the robot can work more effectively in table-tennis training room. On the other hand, we design a special mechanism, and it can pick up the table-tennis balls easily without large energy. After experiments, our system can quickly pick up the table-tennis balls on the ground, and also can dodge the table-tennis tables and the walls. Through the improved path planning and the special mechanism, the athletes will not pick up the balls hardly after training. Therefore, they can train easily and absorbedly.
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Books on the topic "Pick-a-Path"

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Panicked student's guide to choosing a college major: How to confidently pick your ideal path. Indianapolis, IN: JIST Pub., 2011.

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Shatkin, Laurence. Panicked student's guide to choosing a college major: How to confidently pick your ideal path. Indianapolis, IN: JIST Works, 2011.

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Dennis, Darrell, Daniel Arnold, and Medina Hahn. INHERITANCE: A Pick-The-path Experience. Independently Published, 2020.

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Logan, Nora. Murf the Monster (Pick-a-Path). Scholastic Paperbacks, 1985.

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Blossom's bad hair day (Pick a Powerpuff path). Scholastic, 2002.

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Adventure at Camp Schoonover (Pick-a-Path, No 16). Scholastic Paperbacks, 1985.

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Weis, Margaret. Tower of Midnight Dreams (Pick a Path to Adventure). Wizards of the Coast, 1985.

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Tarzan & the Tower of Diamonds # (A Pick a Path to Adventure Book). Wizards of the Coast, 1986.

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The Hot Dog Gang Caper (Pick-A-Path No 15). Scholastic, 1985.

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Lowery, Linda. The Maze and the Magic Dragon (Pick a Path to Adventure). Wizards of the Coast, 1985.

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Book chapters on the topic "Pick-a-Path"

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Silva, João Sousa e., Pedro Costa, and José Lima. "Manipulator Path Planning for Pick-and-Place Operations with Obstacles Avoidance: An A* Algorithm Approach." In Communications in Computer and Information Science, 213–24. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-39223-8_20.

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Sahu, Supriya, and Bibhuti Bhusan Choudhury. "Fuzzy Logic Based Path Planning for Industrial Robot." In Robotic Systems, 355–64. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch018.

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This article describes how industrial robots are generally used to perform different tasks in industries, such as pick and place, and many more operations in industries. Among these, pick and place is a very common and frequently used task. Path planning is the most important thing in order to make any process more economical. The main focus of the research is to design a fuzzy control system for path planning for industrial robots using artificial intelligence using fuzzy logic. For the analysis, ten different tasks are tested. For fuzzy logic systems, three membership functions are analyzed and compared to find the best result. From the research, it has been found that a Gaussian membership function gives more accurate result in comparison to the other two membership functions.
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Luz Junior, José Adenilson Gonçalves, José Manoel Balthazar, and Angelo Marcelo Tusset. "Path Planning and SDRE control for a Pick and place SCARA Robot." In Engenharia de Produção: inovação, produção e sustentabilidade 1, 217–32. AYA Editora, 2021. http://dx.doi.org/10.47573/aya.88580.2.11.14.

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Liu, Kai, Hongbo Li, and Zengqi Sun. "Ellipse Detection-Based Bin-Picking Visual Servoing System." In Engineering Creative Design in Robotics and Mechatronics, 114–21. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-4225-6.ch008.

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In this chapter, the authors tackle the task of picking parts from a bin (bin-picking task), employing a 6-DOF manipulator on which a single hand-eye camera is mounted. The parts are some cylinders randomly stacked in the bin. A Quasi-Random Sample Consensus (Quasi-RANSAC) ellipse detection algorithm is developed to recognize the target objects. Then the detected targets’ position and posture are estimated utilizing camera’s pin-hole model in conjunction with target’s geometric model. After that, the target, which is the easiest one to pick for the manipulator, is selected from multi-detected results and tracked while the manipulator approaches it along a collision-free path, which is calculated in work space. At last, the detection accuracy and run-time performance of the Quasi-RANSAC algorithm is presented, and the final position of the end-effecter is measured to describe the accuracy of the proposed bin-picking visual servoing system.
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Scarlat, Cezar. "TODAY’S HIGHER EDUCATION AT A CROSSROADS - The critical point and paradigm shift in the educator’s role." In Advances in Education and Educational Trends Series, 265–77. inScience Press, 2021. http://dx.doi.org/10.36315/2021ead21.

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Observing the different progress rates of the available data, information and knowledge (on one side) and human capacity to process these available data, information and knowledge (on the other side), the author becomes aware of the higher pace of the first –in the midst of impetus of new communication and information technologies –and argues that, at this point in time, we are eye-witnessing a real education paradigm shift. The education system is at a critical point in time (call it critical point in education –CPE) when the educator’s role must change from knowledge repository to skilled, expert knowledge explorer and identifier, switching from teaching the subject to teach students how to pick the right and relevant information related to the subject –from the ocean of available data. The current corona-crisis –which started by the time when the ideas for this chapter were put together –made this question more acute, asking for re-thinking the education system and educator’s role. This chapter launches the thesis of the education paradigm shift –in that respect of the educator’s role in the predictable future, to provoke a discussion, and to open a research path, for higher education strategists, policy makers, scholars and educators.
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Bayly, Brian. "Disequilibrium 3: Internal Variables." In Chemical Change in Deforming Materials. Oxford University Press, 1993. http://dx.doi.org/10.1093/oso/9780195067644.003.0010.

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In Chapters 2, 3, and 4, the usefulness of the concept chemical potential has been explored for describing and predicting movement of material from point to point in space—from a location where a component's potential is high to a location where its potential is lower. But chemical potential influences another type of material behavior as well, as in the example at the end of Chapter 2, the polymerization of vinyl chloride. The polymerization is a process that runs at a certain rate, like diffusion of salt, and the rate depends on the potential difference between the starting state and the end state; but unlike diffusion of salt, there is no overall movement from one location to a new location—the vinyl chloride simply polymerizes where it is. There are movements, of course, on the scale of the interatomic distances, but nothing corresponding to the 4 m of travel that appears in the discussion of the dike. If no travel is involved, it is not so easy to calculate a potential gradient along the travel path and go on to predict a rate of response. Yet there definitely is a rate of response, even with PVC polymerizing. The purpose of this chapter is to consider this matter; we shall then be equipped to begin considering nonhydrostatic conditions. The essential idea is to represent all possible degrees of polymerization along an axis, as in Figure 5.1. The figure is drawn to represent a condition where the chemical potential per kilogram is greater in the monomer form than in the dimer form, i.e., a condition where the material polymerizes spontaneously. Suppose we know the chemical potential per kilogram for all degrees of polymerization and also, at some temperature, the rates at which 2 forms from 1, 3 forms from 2, etc. (per kg of the starting form in a pure state). Then we arbitrarily pick a distance on the horizontal axis to separate point 1 from point 2.
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Fish, Stanley. "Don’t Let Anyone Else Do Your Job." In Save the World on Your Own Time. Oxford University Press, 2008. http://dx.doi.org/10.1093/oso/9780195369021.003.0009.

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Of course, there’s no shortage of people who will step in to do your job if you default on it. The corporate world looks to the university for its workforce. Parents want the university to pick up the baton they may have dropped. Students demand that the university support the political cause of the moment. Conservatives believe that the university should refurbish and preserve the traditions of the past. Liberals and progressives would like to see those same traditions dismantled and replaced by what they take to be better ones. Alumni wonder why the athletics teams aren’t winning more. Politicians and trustees wonder why the professors aren’t teaching more. Whether it is state legislators who want a say in hiring and course content, or donors who want to tell colleges how to spend the funds they provide, or parents who are disturbed when Dick and Jane bring home books about cross-dressing and gender change, or corporations that want new departments opened and others closed, or activist faculty who urge the administration to declare a position on the war in Iraq, there is no end of interests intent on deflecting the university from its search for truth and setting it on another path. Each of these lobbies has its point, but it is not the university’s point, which is, as I have said over and over again, to produce and disseminate (through teaching and publication) academic knowledge and to train those who will take up that task in the future. But can the university defend the autonomy it claims (or should claim) from public pressures? Is that claim even coherent? Mark Taylor would say no. In a key sentence in the final chapter of his book The Moment of Complexity (2001), Taylor declares that “the university is not autonomous but is a thoroughly parasitic institution, which continually depends on the generosity of the host so many academics claim to reject.” He continues: “The critical activities of the humanities, arts, and sciences are only possible if they are supported by the very economic interests their criticism so often calls into question.”
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Conference papers on the topic "Pick-a-Path"

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Mondragon, Carlos, and Reza Fotouhi. "Kinematics and Path Planning of a Six-Degrees-of-Freedom Robot Manipulator." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13475.

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This paper introduces a strategy to accomplish pick-and-place operations for a six-degrees-of-freedom (6-DOF) robotic arm attached to a wheeled mobile robot. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. This paper presents an approach for solving the inverse kinematics problem and planning collision-free paths. An Iterative Inverse Kinematics method (IIK) was introduced to find multiple configurations for the manipulator along a given path. The IIK method takes advantage of a specific geometric characteristic of the manipulator, in which several joints share a common plane. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of a path planning algorithm introduced here. Other methods, also implemented in the current project, which describe the manipulator and its capabilities, are presented elsewhere [1]. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations for a 6-DOF manipulator.
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Tong, Yuxuan, David H. Myszka, and Andrew P. Murray. "Four-Bar Linkage Synthesis for a Combination of Motion and Path-Point Generation." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12969.

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This paper develops techniques that address the design of planar four-bar linkages for tasks common to pick-and-place devices, used in assembly and manufacturing operations. Pick-and-place tasks often require the exact position and orientation of an object (motion generation) at the end points of the task. Within the range of movement, the motion restrictions are less rigorous with only the position of the object (path-point generation) being specified to avoid obstacles. Established synthesis theory has been developed for either motion generation or path-point generation tasks. This paper presents four-bar linkage synthesis methods for tasks that include a combination of motion and path requirements. This synthesis challenge is addressed via two approaches: Geometric Constraint Programming (GCP) and numerical solutions to synthesis equations. Using GCP, a step-by-step methodology has been established to find solutions to these synthesis challenges. Using numerical methods, techniques are presented to formulate kinematic chain constraint equations and solve for appropriate link lengths and pivot locations. Examples of various combinations of motion and path-point generation are presented.
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Mondragon, Carlos, and Reza Fotouhi. "Dynamics and Motion Control of a 6-DOF Robot Manipulator." In ASME 2012 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/imece2012-89585.

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This research work is to control motion of a manipulator attached to a mobile robot for pick-and-place operations; this is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. In this paper a strategy to accomplish pick-and-place operations, using a six degree-of-freedom robotic arm, is presented. Such operations are completed by creating a collision-free path to move an object from an initial to a final position. The collision-free path is planned by considering the entire workspace of the manipulator. The workspace is defined as the subtraction of the stationary objects and the robot volumes from all of the possible reachable points of the robotic arm. Once the path is planned, the kinematics of the manipulator is considered. Although this project can be applied into a wide range of applications, it is mainly intended to be used for medical robotic assistance. Simulation results for several different paths are presented. The simulation results were verified with experimental results, although not shown here.
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Barnard, Cornelius J., Sébastien Briot, and Stéphane Caro. "Trajectory Generation for High Speed Pick and Place Robots." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82197.

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Currently parallel robots are finding more and more acceptance in high-speed pick-and-place operations. As for all high-speed mechanisms, vibratory phenomena appear and deteriorate accuracy and dynamic performance at the terminal positions of the pick-and-place path. This paper aims to evaluate the effectiveness of several pick-and-place trajectories in terms of vibration reduction. To address this problem, an elastodynamic model of a five bar mechanism is developed and its behaviour is simulated as it traverses each trajectory. Spectral analysis of the vibrations allows the quality of the vibration reduction to be quantified. The results show that the first and second natural frequencies of the system are excited. It is also shown that long cycle times with smooth motion profiles improve residual error norms, but are outperformed by their discontinuous counterparts when short cycle times are imposed.
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Naranjani, Yousef, and Jian-Qiao Sun. "A Multi-Objective Path Planning Algorithm for Mobile Robots Based on Cellular Automata." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46960.

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Many real-world applications of robot path planning involves not only finding the shortest path, but also achieving some other objectives such as minimizing fuel consumption or avoiding danger areas. This paper introduces a 2D path planning scheme that solves a multi-objective path planning problem on a 3D terrain. This allows the controller to pick the most suitable path among a set of optimal paths. The algorithm generates a cellular automaton for the terrain based on the objectives by applying various weighting factors via an evolutionary algorithm and finds the optimal path between the start point and the goal for each set of parameters considering static obstacles and maximum slope constraints. All the final trajectories share the same characteristic that they are non-dominated with respect to the rest of the set in the Multi-Objective Optimization Problems (MOP) context. The objectives considered in this study includes the path length, the elevation changes and avoiding the radars. Testing the algorithm on several problems showed that the method is very promising for mobile robot path planning applications.
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Myszka, David H., Austin M. Fischer, and Andrew P. Murray. "A Study on the Influence of Planar Mechanism Design on Energy Use During Controlled Movements." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85650.

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This paper presents a study on the energy utilization of planar automation mechanisms that operate with controlled moves. Designers of factory automation for pick & place tasks often select multiple degree-of-freedom robotic devices. With multiple degrees-of-freedom, task flexibility is available, but many operations require little or no flexibility. The majority of research on the energy usage of these robot devices for pick & place tasks focuses on path planning. The study presented in this paper explores the energy savings in using low degree-of-freedom devices and the influence of design parameter selection. Energy predictor equations are developed and confirmed through experimentation. Various positioning mechanisms of differing dimensions are studied for trends in energy utilization. Lastly, an actuator control strategy is proposed for further reducing energy requirements. The study concludes that energy usage can be substantially decreased in pick & place applications by reducing the degrees of freedom of the device, implementing a prudent mechanism architecture, ideally selecting mechanism dimensions and optimally controlling the actuator(s).
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Hatamleh, Khaled S., Mohammad Al-Shabi, Qais A. Khasawneh, and Mohammad Abo Al-Asal. "Application of SMC and NLFC Into a PRRR Robotic Arm." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-39136.

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Industrial robotic arms are widely used nowadays. Accuracy and efficiency that fulfill user’s requirements are achieved through robust controller. This paper investigates dynamics modeling and control of a four DOF (PRRR) robot that is dedicated to perform a Pick-and-Place move of a certain product. The arm is undergoing manufacturing process. Forward and inverse kinematics solutions are introduced to solve the joint space trajectories associated with the desired End Effector (EE) Cartesian space path. The performance of two controllers under the presence of model uncertainties is inspected through a simulation study; Non-Linear Feedback Control (NLFC) and Sliding Mode Control (SMC) are designed and tested over the required joint space trajectories and Cartesian space path. Results showed that NLFC achieved better results than SMC in terms of RMSE when model uncertainties were absent. However, when model uncertainties were introduced, SMC performance was more robust than NLFC. Simulation results are very encouraging towards using the SMC over the actual robotic arm.
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8

Soni, Bharat, Utkarsh A. Mishra, and Ameeya Kumar Nayak. "Optimal Control Strategy to Distribute Water Through Loop-Like Planar Networks." In ASME 2020 Fluids Engineering Division Summer Meeting collocated with the ASME 2020 Heat Transfer Summer Conference and the ASME 2020 18th International Conference on Nanochannels, Microchannels, and Minichannels. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/fedsm2020-20097.

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Abstract In this article, loop like planar networks formed by circular cross sectioned conduits with possibly different geometric measurements are studied to supply the required amount of isothermal water within the optimal time and through the shortest path. The flow optimization procedure is controlled by time varying pressures at nodes throughout the network for given specifications about pressure value at multiple demanding and single supply nodes. The flow governing equation is solved analytically to correlate transient flow rate and pressure and then studied using analogous electrical circuit. For each possible path between source and demand node, minimum equivalent flow impedance criterion is considered to pick the optimum path. This sets a multi-objective dynamic flow optimization algorithm and the same is executed under the assumption of fully developed and laminar flow. The optimum flow impedance can further be used to measure the pumping power as the cost of flow of a particular path. The algorithm can be extended to reduce the water wastages by controlling pressures efficiently.
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Germain, Coralie, Stéphane Caro, Sébastien Briot, and Philippe Wenger. "Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13037.

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This paper deals with the design optimization of the IRSBot-2 based on an optimized test trajectory for fast pick and place operations. The IRSBot-2 is a two degree-of-freedom translational parallel manipulator dedicated to fast and accurate pick-and-place operations. First, an optimization problem is formulated to determine the optimal test trajectory. This problem aims at finding the path defined with s-curves and the time trajectory that minimize the cycle time while the maximum acceleration of the moving platform remains lower than 20 G and the time trajectory functions are C2 continuous. Then, two design optimization problems are formulated to find the optimal design parameters of the IRSBot-2 based on the previous optimal test trajectory. These two problems are formulated so that they can be solved in cascade. The first problem aims to define the design parameters that affect the geometric and kinematic performances of the manipulator. The second problem is about the determination of the remaining parameters by considering elastostatic and dynamic performances. Finally, the optimal design parameters are given and will be used for the realization of an industrial prototype of the IRSBot-2.
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Mahling, Dirk. "Energy Management Systems: How They Work and Why They Save Money." In ASME 2005 Power Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/pwr2005-50177.

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Energy management in large buildings and facilities has become a major issue due to the fluctuations of energy supply and demand. Saving energy, in particular electricity, while maintaining an adequate level of comfort for building occupants is a major consideration for those with responsibility for commercial facilities — including financial, operational and engineering personnel. This session first reviews the types of systems that have developed in this space and how they compare, feature by feature. Then, to simplify this landscape from an energy users perspective, an “energy readieness” classification is presented that allows energy users to pick a path and a set of systems that is most approriate for their individual situation.
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