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Baydono, Ibrahim, and Johan Hultenheim. "Picassos arm : En ritande SCARA-robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296332.
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En SCARA-robot som ritar kräver en hög noggrannhet och precision. Syftet med detta projekt är att skapa en robotarm som kan rita bilder som generas av en användare i ett ritprogram, armens rörelse beräknas med hjälp av inverskinematik. Projektet undersöker hur precisionssäker roboten är samt dennes snabbhet. Under projektets gång har upprepade tester gjorts för att mäta dessa egenskaper. Roboten uppnådde en hög grad av noggrannhet när den gjorde punkter på samma ställe upprepade gånger, men den har svårt att med hög precision återskapa bildens korrekta geometri, detta visas med ett test då den skall rita en cirkel. Detta kan bero på flera olika faktorer. Det mest sannolika är att det finns glapp i armarnas kuggremsdrift, när roboten gör en cirkulär rörelse så uppkommer felet när någon av armarna byter rörelseriktning. I rapporten redogörs hur roboten har konstruerats och programmerats.A SCARA-robot that draws requires a high level of precision and accuracy. This project aims to build a three degree of freedom robot arm that uses inverse kinematics, to draw a picture that has been assigned to it. The project explores the robot’s accuracy as well as its speed. Several measurements were conducted during the project to assess the Robot Arm’s reliability. When the robot makes points in the same position several times, it achieves near-perfect precision, but it has trouble recreating the proper geometrics of the picture being drawn. It may be caused by a variety of factors, it is most likely caused by a play in the timing belt. When the robot performs a circular movement, the problem arises when one of the arms switches its direction. In this paper, the robot’s construction and programming are described.
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Rybár, Šimon. "Konstrukce průmyslového robotu typu "SCARA" s elektrickými pohony základního kinematického řetězce, umístěnými na základně robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-254412.
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The theme of the thesis is a structural design of the robotic system SCARA. Thesis at the start clarifies the definition of robots and industrial robots. Next it deals with kinematic structures, from basic to more advnced structures, including SCARA type robot. The next chapter describes parts used in design of industrial robots. In the fourth chapter, the table provides an overview of currently available SCARA robots and their attributes. The rest of the thesis itself consists of machine design from determining the required parameters to 3D design. This section also contains extensive computational parts and justifies the choice of the components.
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Ndita, Jean. "Développement d'une interface de contrôle et d'identification de robot «Application : Robot IBM 7576 type scara»." Thesis, Université Laval, 2006. http://www.theses.ulaval.ca/2006/23899/23899.pdf.
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Jean, Ndita. "Développement d'une interface de contrôle et d'identification de robot : "application : robot IBM 7576 type scara"." Master's thesis, Université Laval, 2006. http://hdl.handle.net/20.500.11794/18415.
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Baharin, Iskandar Bin. "Kinematics, dynamics and vision sensing in a modified SCARA-type robot." Thesis, University of Bradford, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.292625.
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BALDHAGEN, FREDRIK, and ANTON HEDSTRÖM. "Chess Playing Robot : Robotic arm capable of playing chess." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279829.
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The purpose of this thesis was to create a robot that through the use of visual recognition and robotics could play chess.The idea for this project came from the fact that there is an increasing demand for smart robots that can make their own decisions in a changing environment, and the fact that chess has recently seen a surge of new players. The optimal design of the arm making the moves was decided to be of SCARA type, which is a common robotic arm that excels in pick-and-place operations. The movement of the arm was driven by two stepper motors connected to a Raspberry Pi and an external power supply. Movement in the Z-direction was achieved through the use of a servo motor driving a gear rack vertically. A camera was placed above the chessboard, and through the use of numerous programs and functions, images were converted to chess notation which was then sent to a chess engine running on the Raspberry Pi. The visual recognition worked optimally when the chessboard was well and evenly lit. When lighting was poor, values that defined colors could be changed, allowing for proper evaluation of the colors, however when the illuminance dropped below 15 lux the blue pieces became indistinguishable from the black squares and therefore the visual recognition stopped working.Syftet med det här examensarbetet var att skapa en robot som genom användning av bildigenkänning och robotik kunde spela schack. Idén till detta projekt kom från det faktum att det finns ett ökande behov av smarta robotar som kan fatta sina egna beslut i en förändring miljö och det faktum att schack nyligen har sett en ökning av nya spelare. Den optimala utformningen av armen som flyttar pjäserna beslutades vara av SCARA-typ, som är en vanlig robotarm som utmärker sig i ’pick-and-place’ operationer. Armens rörelse drivs av två stegmotorer anslutna till en Raspberry Pi och en extern strömkälla. Rörelse i Z-riktningen uppnåddes genom användning av en servomotor som drev en kuggstång vertikalt. En kamera placerades ovanför schackbrädet, och genom användning av flera program och funktioner konverterades bilder till schacknotation som sedan skickades till en schackmotor som körs på Raspberry Pi. Bildigenkänningen fungerade optimalt när schackbrädet var väl och jämnt upplyst. När belysningen var dålig kunde värden som definierade färger ändras för att möjliggöra korrekta utvärderingar av färgen, men när belysningsnivån sjönk under 15 lux blev de blå pjäserna oskiljbara från de svarta rutorna och programmet slutade därför att fungera
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Pal, Surinder. "Design and remote control of a Gantry mechanism for the SCARA robot." [College Station, Tex. : Texas A&M University, 2007. http://hdl.handle.net/1969.1/ETD-TAMU-1570.
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Farah, Jacques. "Développement d'une loi de commande avancée pour la maitrise des vibrations des robots sériels à liaisons flexibles." Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC002/document.
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De nos jours, les exigences en productivité dans le monde industriel imposent aux robots un comportement optimal en termes de précision géométrique et dynamique, et en termes de temps de réponse. Ainsi, la présence des flexibilités dans les liaisons pivots des structures mécaniques légères se déplaçant à grande vitesse et sous charges importantes peut limiter dynamiquement la précision et le temps de stabilisation sur la pose finale du robot. La problématique traitée dans ces travaux concerne la maîtrise des vibrations des robots sériels à liaisons flexibles durant les opérations de prise et dépose (Pick and Place).Dans ces travaux, nous effectuons une modélisation et une identification expérimentale des paramètres géométriques et dynamique d’un robot à liaisons flexible. Ce modèle sera utilisé dans la synthèse d’une loi de commande basée modèle dédiée aux robots à flexibilité articulaire. Cette stratégie permet de réduire les vibrations lors des phases exigeantes dynamiquement. Des simulations sur un robot Scara sont alors conduites pour valider la pertinence de cette loi de commande qui intègre un modèle des flexibilités présentes dans les liaisons pivots dans le schéma de commande. Nous appliquons sur le même simulateur du robot à liaisons flexibles trois autres stratégies de commande afin de faire une comparaison (commande PD, commande dédiée aux robots rigides et commande ne considérant pas les amortissements). Le schéma de la loi de commande basée modèle permet de respecter la précision de pose finale avec une diminution du temps de stabilisation. Finalement, Le calcul de l’erreur d’asservissement nous a permis de constater l’influence des erreurs de modélisation de la flexibilité sur la précision de la tâche. Dans ce contexte, une analyse de sensibilité aux paramètres influents est établieNowadays, the demand of productivity in the industrial world of robotics require robots to behave optimally in terms of geometric and dynamic accuracy and response time. Thus, the presence of flexibilities in rotational joints can dynamically limit the position control of manipulators having lighter arms, higher payload-to-weight ratio and doing tasks at high speed. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks. In this work, we carry out modelling and experimental identification of the geometric and dynamic parameters of a robot with flexible joints. This model is then used in the synthesis of a model-based control law dedicated to manipulators with flexible joints. This strategy reduces vibrations resulting from joints sensitivity during dynamically demanding phases. Simulations on a Scara robot are then conducted to validate the relevance of the proposed control law which integrates joint flexibilities in the form of a feedback loop in the control diagram. To this end, three other control strategies (PD control, control dedicated to rigid structures and control not considering damping) are applied to the same simulator in order to make a comparative analysis. The diagram of the model-based control law allows to respect the set point with a reduction in the stabilization time.Finally, the calculation of the servo error allowed us to see the influence of flexibility modeling errors on the accuracy of the task. In this context, the sensitivity of this control law is evaluated through a sensitivity analysis
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Štěpánek, Vojtěch. "Vývoj a návrh nízkonákladového manipulátoru pro interakci s okolím." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382122.
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This thesis is focused in design low cost robotic manipulator known as SCARA. Chapters are sorted chronological by degrees of manipulator development. Thesis will present metods of inverse kinematics, that determines intaraction between joint rotation and cartesian coordina-tes of gripper. Next it introduces flowcharts for controlling machine and explains the control software determinater especially for microcontroller called Arduino MEGA.
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Kmelnitsky, Vitaly M. "Automated On-line Diagnosis and Control Configuration in Robotic Systems Using Model Based Analytical Redundancy." Digital WPI, 2002. https://digitalcommons.wpi.edu/etd-theses/167.
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Because of the increasingly demanding tasks that robotic systems are asked to perform, there is a need to make them more reliable, intelligent, versatile and self-sufficient. Furthermore, throughout the robotic system?s operation, changes in its internal and external environments arise, which can distort trajectory tracking, slow down its performance, decrease its capabilities, and even bring it to a total halt. Changes in robotic systems are inevitable. They have diverse characteristics, magnitudes and origins, from the all-familiar viscous friction to Coulomb/Sticktion friction, and from structural vibrations to air/underwater environmental change. This thesis presents an on-line environmental Change, Detection, Isolation and Accommodation (CDIA) scheme that provides a robotic system the capabilities to achieve demanding requirements and manage the ever-emerging changes. The CDIA scheme is structured around a priori known dynamic models of the robotic system and the changes (faults). In this approach, the system monitors its internal and external environments, detects any changes, identifies and learns them, and makes necessary corrections into its behavior in order to minimize or counteract their effects. A comprehensive study is presented that deals with every stage, aspect, and variation of the CDIA process. One of the novelties of the proposed approach is that the profile of the change may be either time or state-dependent. The contribution of the CDIA scheme is twofold as it provides robustness with respect to unmodeled dynamics and with respect to torque-dependent, state-dependent, structural and external environment changes. The effectiveness of the proposed approach is verified by the development of the CDIA scheme for a SCARA robot. Results of this extensive numerical study are included to verify the applicability of the proposed scheme.
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Chaib, Ahmed. "Contribution à l'étude de la précision des robots, application au type scara." Paris 6, 1994. http://www.theses.fr/1994PA066080.
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Le but de cette these est d'etudier la precision absolue d'un robot de type scara dans son espace de travail et de la corriger en effectuant une calibration. Apres avoir presente la notation de denavit-hartenberg (la plus utilisee pour la modelisation dans un processus de calibration), ses limites et les exigences pour obtenir un modele adequat, nous exposons egalement certains travaux de modifications apportees a cette notation afin de la rendre compatible avec notre methode d'identification des defauts geometriques. Nous presentons ensuite quelques uns des appareils les plus utilises pour la mesure de coordonnees articulaires et de positions de l'effecteur du robot dans son referentiel fixe. Le chapitre suivant presente l'algorithme d'etalonnage utilise dans cette etude ainsi que la configuration experimentale. Les mesures effectuees, sur le robot de type scara, aboutissent, dans un premier temps, a une caracterisation de la precision du robot dans son volume de travail, avec la proposition de modele de l'erreur en fonction de la zone de travail. Une seconde partie concerne l'etude de la precision finale du robot apres correction de ses parametres. La comparaison de deux demarches de correction est effectuee. La premiere est basee sur le traitement (donc la correction) par groupe fonctionnel des parametres, la seconde procede a l'identification simultanee de l'ensemble des parametres. Ainsi la contribution predominante des erreurs articulaires a pu etre mise en evidence. En dernier, nous presentons une extension de cette etude en observant le comportement de deux points du robot, l'un lie a sa structure et l'autre a son support d'outil, sous l'effet d'une charge legerement superieure a sa charge nominale. Ceci etablit une sensibilite au chargement plus forte de la liaison prismatique (dans le cas du robot etudie)
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Bier, Carlos Cezar. "Implementação de um algoritmo de controle de força em um manipulador Scara /." Florianópolis, SC, 2000. http://repositorio.ufsc.br/xmlui/handle/123456789/78354.
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Dissertação (Mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico.Made available in DSpace on 2012-10-17T13:12:31Z (GMT). No. of bitstreams: 0Bitstream added on 2014-09-25T19:15:03Z : No. of bitstreams: 1 161842.pdf: 2533717 bytes, checksum: 38ee12f3e5e48ecea4ee3f503e851725 (MD5)
A maior parte dos robôs industriais é empregada em tarefas nas quais o efetuador final não tem contato com o meio. Neste caso o robô necessita ser dotado apenas de um controlador que permita o posicionamento e a orientação do efetuador final de acordo com a exigência da operação. Seu controle é denominado de posição. Quando ha contato com o meio existem forças e momentos atuando no efetuador e no meio. Neste caso, além da posição, é preciso controlar essas forças e momentos de interação. Neste trabalho apresenta-se um estudo de leis de controle de força aplicadas a robôs manipuladores e objetiva comprovar experimentalmente uma técnica de controle simultâneo de força e posição em um robô de porte industrial. Realiza-se um estudo e uma análise sobre as principais técnicas de controle de força aplicadas a robôs manipuladores. Como aplicação, é implementado um algoritmo de controle simultâneo de força e posição, baseado em informações da força de interação do robô com o meio. Este algoritmo é empregado para o seguimento de contornos irregulares pelo efetuador final do robô. A aplicação experimental é realizada em um robô de configuração SCARA, dotado de um sensor de força. O desempenho do controlador é avaliado a partir de dados numéricos obtidos nos experimentos. Os resultados experimentais comprovam a eficiência na utilização da técnica de controle simultâneo de força e posição.
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Procházka, Petr. "Konstrukce jednoúčelového montážního stroje pro kompletaci rozvaděče plynu v plynovém grilu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417749.
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Objective of this thesis is creating the construction of one-purpose assembly machine for combination of gas switchboard in gas grill assembly, which is top part of the gas cooking grill, consisting of stainless steel plate and burners. There are three types of burners, one small type, two medium types and one big type. Each consists of aluminium body, nozzle, ignition electrode and gas leakage protection fuse. Prior to construction itself, variant solutions of the assembly operations arrangement are designated. From those, the most appropriate one is chosen based on multicriteria weighting method. Construction of assembly line is created using 3D modelling program with necessary design calculations. For selected assemblies and parts, a drawing documentation has been created. Risk analysis and security of the machine’s normal operation is an integral part of the thesis. Risk analysis is created for the machine’s normal operation. In conclusion, the costs of purchasing the assembly line are calculated and the return of the investment for purchasing the machine is assessed.
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Chaile, Alfaro Ismael Fabricio. "Cómo utilizar simuladores basados en multiagentes para scada en aplicaciones del ámbito industrial." Doctoral thesis, Universitat Autònoma de Barcelona, 2016. http://hdl.handle.net/10803/384007.
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Esta tesis aborda el problema de cómo utilizar simuladores ABM para la supervisión, control y adquisición de datos (SCADA) en aplicaciones del área industrial. Mayormente el uso de los simuladores se limita a la etapa de diseño y en algunos casos se extiende a la interacción con el entorno real de manera temporal, como es el caso de HIL o Co-Sim. En este trabajo se propone su uso desde la etapa inicial, hasta el despliegue del mismo, dejando la simulación para SCADA permanente de la aplicación final.
Implementar la solución de esta manera tiene, al menos, una ventaja: la posibilidad de agilizar el despliegue de sistemas que interactúan con la realidad, como es el caso del entorno industrial. Esto se puede lograr por medio de una serie de herramientas que se presentan en esta tesis y que permiten aprovechar gran parte del modelo que ya ha sido verificado y validado mediante simulación y embeber únicamente una pequeña parte del mismo en el componente de la realidad que se desea supervisar y/o controlar. Realizar SCADA en tiempo real utilizando simuladores, como se plantea en esta tesis, presenta un principal desafío, el de poder cerrar el lazo de supervisión y control lo suficientemente rápido para que no haya pérdida de mensajes y datos. Para hacer frente a este desafío, se dota a los componentes de la realidad de una cierta autonomía, convirtiéndolos en agentes y se realiza una representación del entorno real mediante una simulación que se sincroniza con la realidad, todo ello concebido mediante una entidad denominada ALOHA.
ALOHA significa Abstraction/Architecture/Approach that Leads to Organize Hybrid/Heterogeneous Agents y, aunque el nombre representa un acrónimo, parte de una base más filosófica en la que se considera que todo agente ‘educado’ debería saludar al iniciar y finalizar el acto comunicacional.
Utilizar simuladores con el enfoque planteado en esta tesis implica proveer al diseñador de un entorno de trabajo (framework) integrado por herramientas que permitan implementar el modelo del sistema, la arquitectura de control, el agente ALOHA, el modelo de sincronización y una metodología que sugiera cómo llevar a cabo todo el proceso desde el diseño hasta el despliegue.
Implementar lo ya detallado dentro del entorno industrial implica también que esta solución tenga en cuenta los desafíos actuales y futuros de esta área, como pueden ser cuestiones relacionadas con robustez, flexibilidad, adaptabilidad, evolutividad etc., sin perder de vista los requerimientos de las tendencias a nivel industrial como lo son la Industria 4.0, las Smart Factories y el I2oT (de Industrial Internet of Things).
Finalmente, para la validar la hipótesis de esta tesis, se construyeron dos demostradores en dos aspectos distintos del control en el área industrial, el primero relacionado con el sistema de transporte de muestras en laboratorios automáticos utilizando AGVs y el segundo, con el control de un elemento de un sistema de manufactura, representado por una celda de producción compuesta por un brazo neumático. Los dos sistemas han sido desarrollados e implementados con las herramientas elaboradas fruto de este trabajo y los resultados, analizados en cuanto a calidad de sincronización, restricciones de tiempo real y agilidad en cuanto a su implementación.This thesis addresses the problem of how to use ABM simulators for supervisory control and data acquisition (SCADA) of applications in the industrial area. Typically, simulators are used in the design processes of SCADA developments and, in some cases, they require interaction with the real environment temporarily, like when HIL or Co-Sim techniques are used. This work proposes the use of simulators from the initial stage to the deployment phase, keeping them as SCADAs for the final applications. To implement the solution as proposed in this work has, at least, the advantage of shortening the deployment stage of systems that interact with reality, such as the industrial ones. This can be achieved through a series of tools presented in this thesis and that take advantage of as much of the simulation model as possible, i.e. only a small part of the very model that has been verified and validated during simulation is required to be embedded into the real components that will be monitored and/or controlled. To perform real-time SCADA by using simulators, as proposed in this thesis, presents a major challenge, defined as the need of closing the control loop quickly enough to not losing any message. To face this challenge, the components of reality are provided by a certain autonomy, thereby, turning them into agents and, representation of real environment is shown by performing a simulation that is synchronized with reality, all conceived by an entity called ALOHA. ALOHA stands for Abstraction/Architecture/Approach that Leads to Organize Hybrid/Heterogeneous Agents and, although the name is an acronym, it has a philosophical basis which considers that every 'educated' agent should greet at the start and end of the communicational act (as most of humans do). Simulators’ use under the proposed approach involves providing the designer of a working environment (framework) made of tools to implement the system model, the control architecture, the ALOHA agent, the synchronization module, and a methodology to carry the whole process out from early design stages to final deployment phases. The creation of the above mentioned framework in the industrial domain cannot be done without taking into account the current and future challenges in this area, such as issues related to robustness, flexibility, adaptability, scalability, evolvability, etc., without losing sight of the requirements of the industry trends, as presented in Industry 4.0, Smart Factories and I2oT (Industrial Internet of Things), for instance. The hypothesis of this work has been validated by building two distinct demonstrators in the industrial control domain, the first one related to the sample transport system in automated laboratories by using AGVs, and the second one, to a production cell that uses a pneumatic robot-arm. Both systems have been developed and implemented with the tools of this work and results have been analyzed for synchronization quality, real-time constraints and implementation agility.
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Mahout, Vincent. "Récurrences et fonctionnements complexes en robotique dans le contexte de tâches répétitives. Application à une structure SCARA." Toulouse, INSA, 1994. http://www.theses.fr/1994ISAT0037.
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Un robot manipulateur est, dans certaines applications, appele a executer des taches repetitives periodiques dans le temps. En considerant cette classe particuliere de mouvement, une methode originale de modelisation de trajectoire repetitive a ete proposee utilisant les fonctions recurrentes et le formalisme des matrices homogenes. Cette methode repose sur l'utilisation de la position reelle du robot (issue des informations fournies par les capteurs proprioceptifs de la structure mecanique articulee) pour calculer la nouvelle consigne a appliquer au systeme. Deux approches se distinguent. La premiere (appelee recurrence directe) utilise les caracteristiques geometriques de la tache pour modeliser des trajectoires definies dans un plan de l'espace cartesien ou de l'espace des variables articulaires. La seconde (appelee recurrence spline) utilise les fonctions polynomiales d'ordre 3 pour modeliser des taches quelconques definies dans l'espace cartesien ou dans l'espace des variables articulaires. Une seconde partie concerne la mise en evidence de fonctionnements complexes (sous-harmoniques, sur-harmoniques, harmoniques fractionnaires et chaos) en considerant un robot scara comme un systeme dynamique non lineaire. Le robot est excite periodiquement par des consignes exterieures correspondant a des taches repetitives. La structure mecanique articulee est etudiee a la fois en boucle ouverte (les consignes exterieures periodiques sont alors des grandeurs de commande envoyees aux actionneurs) et en boucle fermee (les consignes sont dans ce cas des positions/vitesses a atteindre envoyees a une loi de commande de type proportionnelle-derivee). Les techniques utilisees pour la detection et l'analyse des fonctionnements complexes sont les sections de poincare, le balayage d'un plan parametrique et le calcul des courbes de bifurcation. La troisieme partie utilise les fonctions recurrentes (notamment les recurrences splines) pour supprimer les comportements complexes observes precedemment. Les differents resultats proposes mettent en evidence que les recurrences apportent un effet stabilisant sur le systeme etudie (robot et loi de commande) et ameliorent la precision en suivi de trajectoire
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Schrive, Etienne. "Étude et réalisation d'un système de conception assistée par ordinateur pour la robotique : application à la programmation graphique des robots de type SCARA." Montpellier 2, 1988. http://www.theses.fr/1988MON20142.
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Presentation d'un systeme cao, pour la robotique fonctionnant sur microordinateur. Une des applications envisagees concerne la programmation graphique de robots horizontaux. Etude et realisation du systeme sacre
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Yang, Hee Jeong. "Development of SCAR marker linked to a root-knot nematode resistant gene in peanut." Texas A&M University, 2004. http://hdl.handle.net/1969.1/1242.
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Root-knot disease caused by Meloidogyne spp. is the most important nematode disease of peanut. Even though many management strategies have been applied to control this disease on peanut, resistance is the most recommendable. Marker-assisted selection has been used as a useful tool for screening of resistant individuals in segregating populations. However, it requires many laborious steps. Thus, there is a need for PCR - based markers, which are more practical, rapid, and efficient.
In this study, we tried to develop a SCAR marker linked to root-knot nematode resistance locus in peanut based on the RFLP marker R2430E. The entire sequence of R2430E was 2217 bp and contained one putative open reading frame (ORF) of 713 nucleotides. Thirteen primers including 5 forward and 8 reverse primers were synthesized to sequence the entireR2430E. Based on the results of BLAST searches, R2430E appeared to encode an AAA ATPase containing von Willebrand factor type A (VWA) domain from Magnetococcus sp. MC-1 (106 bits).
To determine if there is a portion of the R2430E that hybridizes only to a band co-segregating with the resistance locus, we generated 4 probes spanning different parts of the gene. Southern analysis using these probes revealed identical banding patterns for each probe. Therefore, we concluded that there is very limited if any sequence polymorphism between different alleles detected by the R2430E probe. Additionally, this conclusion is supported by the experiment in which we tested 25 primer pairs derived from the R2430E using genomic DNA from both resistance and susceptible genotypes. In this experiment, all primer pairs amplified identical PCR fragments, suggesting again that there is little or no sequence divergence between putative alleles as differentiated by southern blotting.
To identify possible single nucleotide polymorphisms (SNPs) between polymorphic R2430E RFLP bands, we cloned several fragments that span the entire R2430E transcribed sequence. Surprisingly, no SNPs were identified in the transcribed region of this gene. We propose that polymorphism detected by this RFLP marker is outside of the R2430E.
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Schrive, Etienne. "Etude et réalisation d'un système de conception assistée par ordinateur pour la robotique application à la programmation graphique des robots de type SCARA /." Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb376184954.
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Scarpa, Andrea [Verfasser], and Alexis [Akademischer Betreuer] Maizel. "The Arabidopsis tasiARFs pathway: unraveling its role in root and embryo development / Andrea Scarpa ; Betreuer: Alexis Maizel." Heidelberg : Universitätsbibliothek Heidelberg, 2018. http://d-nb.info/1177385899/34.
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De, Donno Antonio. "Development and control of a robotic system for no-scar surgery." Thesis, Strasbourg, 2013. http://www.theses.fr/2013STRAD046/document.
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La chirurgie sans cicatrices, visant à réaliser des opérations chirurgicales sans cicatrices visibles, est l'avant-garde dans le domaine de la chirurgie mini-invasive. L'absence d'instruments adéquats est l'un des freins à son utilisation en routine clinique. Dans ce contexte, nous introduisons un nouveau robot chirurgical téléopéré, composé d'un endoscope et de deux instruments flexibles, avec 10 DDL motorisés. Cette thèse explore les différentes façons de contrôler le système. La cinématique du robot est analysée et différentes stratégies de contrôle maître/esclave, allant du contrôle articulaire au Cartésien, sont proposées. Ces stratégies ont été testés sur un simulateur virtuel ainsi que sur le système réel en laboratoire et en ex-vivo. Les résultats montrent qu’un seul utilisateur est capable de contrôler le robot et d’effectuer des tâches complexes en utilisant deux interfaces haptiquesNo-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces
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Prokop, Michal. "Model třídicí linky v systému Tecnomatix Process Simulate." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-316268.
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This master‘s thesis is about how to create a virtual model of a sorting line by using Tecnomatix Process Simulate program. In this master‘s thesis is describe non-robotics operation as a controlling conveyor, material flow, working with sensors and simulaton of manufactory process. In the second part of my master’s thesis I realise virtual commissioning for this model of sorting line. I made program for real PLC and conected with model of sorting line via OPC server. I made SCADA aplication for users too. This model will be used in lessons and students will program PLC for controlling. In master’s thesis I explain, how to work in simulation environment Tecnomatix Process Simulate too.
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Manns, Richard Peter Charles. "Repulsive cues and signalling cascades of the axon growth cone." Thesis, University of Cambridge, 2013. https://www.repository.cam.ac.uk/handle/1810/245741.
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The aim of the work described in this thesis is to investigate the nature and mechanisms of action of repellent cues for growing axons. In particular I try to resolve the controversy in the literature regarding the need for protein synthesis in the growth cone in response to external guidance cues. My results resolve the conflicting data in the literature on Semaphorin-3A signalling, where differing labs had shown that inhibiting protein synthesis either blocks or has no effect upon repulsion. They demonstrate the presence of at least two independent pathways, protein synthesis-dependent mTOR activation and -independent GSK3? activation. The higher sensitivity of the synthesis-dependent pathway, and its redundancy at higher concentrations where synthesis-independent mechanisms can evoke a full collapse response alone, resolve the apparent conflict. My experiments also demonstrated that Nogo-?20, a domain of Nogo-A, requires local protein synthesis to cause collapse. Unlike Semaphorin-3A, the dependence of collapse upon protein synthesis is concentration-independent and does not involve guanylyl cyclase, but it does share a dependence upon mTOR activity and the synthesis of RhoA, sufficient to cause collapse downstream of Semaphorin-3A. The other axon-repelling domain of Nogo-A, Nogo-66, is partially dependent upon the proteasome instead. It does not share a common pathway with Nogo-?20, except that both are RhoA-dependent. I further attempted to identify the nature of a repulsive activity found in grey matter, ruling out a previously suggested candidate identity. Finally, I examined the phenomenon of nitric oxide-induced growth cone collapse. My experiments revealed that S-nitrosylated glutathione causes growth cone collapse through the activity of protein disulphide isomerase. This mechanism shows only a partial dependence upon soluble guanylyl cyclase, but I argue that it has total dependence upon an S-nitrosylated donor. Coupled with its apparent relation to S-palmitoylation, the reciprocal of S-nitrosylation, I propose that nitric oxide causes collapse by crossing the cell membrane to inhibit S-palmitoylation-determined localisation of proteins. These results reveal some of the many pathways involved in growth cone collapse, whose further characterisation may provide new targets for the treatment of injuries of the central nervous system.
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DUARTE, Alexandre Nóbrega. "Tratamento de eventos em redes elétricas: uma ferramenta." Universidade Federal de Campina Grande, 2003. http://dspace.sti.ufcg.edu.br:8080/jspui/handle/riufcg/1457.
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Apresenta uma nova ferramenta para o diagnóstico automático de falhas em redes elétricas. A ferramenta utiliza uma técnica híbrida de correlação de eventos criada especialmente para ser utilizada em redes com constantes modificações de topologia. A técnica híbrida combina o raciocínio baseado em regras com o raciocínio baseado em modelos para eliminar as principais limitações do raciocínio baseado em regras. Com a ferramenta de diagnóstico foi possível validar o conhecimento dos especialistas em sistemas de transmissão de energia elétrica necessário para o diagnóstico de falhas em linhas de transmissão e construir uma base de regras para tal. A ferramenta foi testada no diagnóstico de falhas em linhas de transmissão de um dos cinco centros regionais da Companhia Hidro Elétrica do São Francisco (CHESF) e apresentou resultados satisfatórios de desempenho e precisão.
It presents a new tool for the automatic diagnosis of faults in electric networks. The toot uses a hybrid event correlation technique especially created to be used in networks with constant topological modifications. The hybrid technique combines ruJe-based reasoning with modelbased reasoning to eliminate the main limitations of rule-based reasoning. With the tool it was possible to validate the knowledge acquired from electric energy transmission systems specialists needed for the diagnosis of faults in transmission lines and to construct rules. The tool was tested in the diagnosis of faults in transmission lines of one of the five regional centers of the Companhia Hidro Elétrica do São Francisco (CHESF) and presented satisfactoiy results in terms of performance and precision.
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Chen, Jun-zhe, and 陳鈞哲. "Research of Parallel SCARA Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/92870050900058448249.
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碩士健行科技大學
機械工程系碩士班
103
Automation industry to increase production, yield and stability and reduce labor cost. Robots have been widely used in place of a human arm. In this context .The main purpose development of industrial SCARA robot is usually used in assembly line repeated movement. In the article. In the form of parallel lift arm with parallel use. The study included scraping mechanical design power system design and control software. After the design is assembled will be assembled according to design specifications. We has developed a set of error compensation control software has been used for this purpose after assembly. To test equipment and the amount of movement to achieve the control procedures do precision. About accuracy propaganda error the purpose of. The study will increase after the completion of future infrared detection so that the institution of independent positioning and to add a fully automatic vision systems. Will be automated equipment.
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LIN, WEI-SIANG, and 林偉翔. "A study of SCARA robot." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/06608743192094983899.
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碩士華夏科技大學
智慧型機器人研究所
104
In order to meet the huge needs of today's industry demand, the industry tends to automation. Many countries have developed the researches of robotics and the robot arms. In this thesis, an industrial robot (SCARA -selective compliance assembly robot arm) has developed. This robot is designed in the following specifications: radius of gyration of 400mm, vertical stroke of 300mm, maximum end load of 3kg. Using Solidworks software to design, simulate and verify the workparts by stress-strain and displacement analysis. Workparts Machining workshop, mechanism assembly, wiring, man-machine interface software and PC-based control are carried out in this thesis. The measurement results of positioning accuracy data is collected to computer by using three precision 0.001mm (1μm) digital indicating gages, the well-designed three-dimensional fixture and signal extractor. The measurement results and the motion equation of the robot arm are verified coordinately each other to achieve the accuracy of the measurement robot. Finally, through experimental results, XY-axis positioning accuracy within ± 0.012mm, Repeat accuracy ± 0.04mm or less, in the Z-axis positioning accuracy within ± 0.03mm, a developed SCARA robotic arm needs some improvements to reach the requirements of industry's needs and expectations.
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Chen, Yi-Cheng, and 陳奕郕. "Design and Implementation of SCARA Robot Arms." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/f267s9.
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碩士淡江大學
電機工程學系碩士班
103
Robot arms are mainly using in nowadays industry, especially for SCARA robot arms, since it is one of the automatically machine which is used in most industry. We can find that the SCARA robot arm is used in industry manufacture, medical assistance and military safety, even for searching out space. Being fast and accurate to do the same actions for saving time and improving working efficiency is the strong point of this robot arm. The purpose of this thesis is for designing the SCARA robot arm to write words and draw pictures. There are two kinds of robot arms, including the parts of machine structure controlling board and control algorithm. One is made by acrylic material and three RC server motors and the other one is using Lego NXT and three DC server motors to make up. There is a motor in each side of the SCARA robot arm to control the left, right, front and back movement; it’s for imitating people writing words. The middle motor is for controlling the whole machine up and down movement and it’s imitating for the height when people raising up pens or moving pens for writing. Furthermore, NXC and Arduino are the mainly program for SCARA robot arms in this thesis. These two programs are both similar with C++ programing language so it can promote the convenience for using. The movements of these two kinds of SCARA robots are both using forward and inverse kinematics to make. Finally, it can be proved through experimental results that the two SCARA robot arms both can write words and draw pictures in this thesis.
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SU, Yi-Cheng, and 蘇奕誠. "Motion Control of a SCARA Robot Arm." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/56480090818823560270.
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碩士國立雲林科技大學
電機工程系
103
The thesis mainly develops a SCARA robot arm. with four degrees of freedom(D,O,F) and program, the motion trajectory to finish the assigned task. The controller of the SCARA robot arm is DELTA programmable logic controller(PLC), The controller can drive four AC servo motors, and integrates driver system, to finish driver control and positioning. We program the control command to control the SCARA robot arm to catch the assigned object. The first and the second degree of the robot arm driven horizontal rotary using the shaft, ball screw spline by Delta servo motor mounted on the robot arm. The system uses two DELTA servo-motor drivers to control the two degrees of freedom. These element are in order to achieve linear Z axis of rotational movement the SCARA robot arm uses ball screw spline element. The SCARA robot arm want get positioning accuracy, repeatability, and other items We must control the robot arm on stable condition., the test project to do the testing and validation of the robot arm.
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LIN, SHU-XUAN, and 林書玄. "Development of The 4-Axis SCARA Robot Arm." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/27033463062012575709.
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碩士國立雲林科技大學
電機工程系
104
The thesis develops a four axis SCARA robot arm using Delta servo motors and pressure control element. The SCARA robot arm uses PLC-based control system to realize high stability and high precious, and uses vision processing technology to identify color and shape of the objects. In the robot structure, we use the Delta ASDA-MS system as the control core. The ASDA-MS system controls the AC servomotors through the driving devices. The motion trajectories of Delta servo motors are programmed, through the Programmable Logic Controller and motion planning agency itself. The first and second axis are horizontal rotation by two Delta servomotor drivers. Then install the ball screw spline in the second axis of the robot arm through Delta servomotor drivers. And reach Z-axis rotation and linear motion mode. The gripper is driven by a pressure control element, and catches the assigned object. The robot arm can finish the control functions of point-to-point control and continuous path control. Users can program these functions of the robot arm on the user interface. In the experiment results, the SCARA robot arm can reach positioning accuracy and handling test. The thesis finished various functions according to "PMC Robot Competition", such as “positioning accuracy”, “repeatability longitude”, “cycle time”, “goods handling tasks” and “image recognition”.
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HSU, SHIH-HUNG, and 許仕宏. "The Four-axis Scara Robot Design and Development." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/8rajrf.
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碩士正修科技大學
機電工程研究所
105
Different customized design requirements are need in the application of industrial robots in different fields for the product design towards a clearer development process of mathematical modeling, software design, analysis and simulations. This type of models can shorten design cycles, reduce costs, and has lighter structure, smaller inertia, higher accuracy and has a more complete system. This project proposed a 4-DOF plane joint SCARA robot as the research objective where Solidworks design software, and Adams/RecurDyn kinematics and dynamics analysis software were used to complete the system design of the robot. Then, a more suitable motor and drive, and a man-machine interface teach-in controller were selected to complete the SCARA robot prototype development. In this dissertation, the axis configuration of SCARA robot are designed, the motor and transmission system are selected by criterion. in the research, using D-H tramsformation, inverse kinematic equations. Furthermore, kinematic modeling and simulation of SCARA robot based on the objective function such as load workspace volume, speed, and acceleration. After simulation analysis is confirmed, it followed by standardization design for key component and drive elements, and complete the robotic assembly process. Lastly, to ensure the development system in accordance with the requirement. The positioning precision, repeatability, motion planning in terms of minimum cycle time has been made in order to complete the customised task.
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Liu, Yun-Tsun, and 劉允存. "Balanced Movement Control of a SCARA Robot-Inverted Pendulum System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62448405164355450116.
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碩士國立中興大學
電機工程學系所
98
The objective of this thesis is to develop a balancing movement control law for a SCARA (Selective Compliant Assembly Robot Arm) robot, on which an inverted pendulum is mounted. The dynamic equations, which govern the motions of both the robot arm and the inverted pendulum altogether, are derived by using the Denavit-Hartenberg method with coordinate transformations and the Lagrange equations. For the balancing movement control design, several pole-placement feedback gains are first obtained (off-line). They are to locally stabilize the linearized dynamic model at the preselected operating points, which define the robot arm movement trajectory. In between the adjacent operating points, a set of fuzzy rules is applied on-line to interpolate the feedback gains along the trajectory. Finally, to enforce movements of the robot arm from the initial position to the destination position, a fixed magnitude, open-loop control law is applied for a short time period to perturb the arm and then the control law switches to the aforementioned closed-loop state feedback to maintain balance for the inverted pendulum for another short period of time. Such an alternating open-loop versus closed-loop control cycle is maintained until the SCARA robot reaches its destination position, when the control law is switched permanently to the closed-loop state feedback.
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"Développement d'une interface de contrôle et d'identification de robot «Application : Robot IBM 7576 type scara»." Thesis, Université Laval, 2006. http://www.theses.ulaval.ca/2006/23899/23899.pdf.
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LIN, CHIH-CHAO, and 林志超. "Development of the Task Classification System Using the SCARA Robot Arm." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/82498849758114760860.
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碩士國立雲林科技大學
電機工程系
104
In this paper, based on the concept of industrial robots, based on a three-dimensional simulation of the movement of the traveling mode, the image recognition and machine arm for binding to industrial automatic classification for the development of a high degree of stability and high precision, reach multifunction operation of the four axis SCARA robotic arm, the robotic arm architecture, three linear axis X, Y, Z axis and rotation axis C-based Delta servo motor and drive control as one machine-driven architecture, programmatically determine control and operational planning mechanism itself . The use of vacuum suction pressure control, make lessons more solid features and interface with the parameters to achieve precise positioning control in line with demand.
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Kuo, Tzu-Cheng, and 郭子正. "The study on SCARA robot arm for working on 3D route optimization." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/8f5n7r.
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碩士國立中央大學
電機工程學系
105
In the modern community, various robot arms are widely used in different industrial areas. In general, the engineer manually set target point and pathway via the computer in advanced so that the robot arm can strictly move along with the preset path. If there exists a problem of visiting multiple targets, the preset path cannot be ensured that is the best arrangement. In order to improve the production efficiency, the moving cost of the robot arm needs to be reduced to carry out our study purpose. In this paper, we will present an experiment of locking screws to clearly introduce our proposed algorithm. Each point needs to be passed only once for the overall experimental procedure. Obviously, this is a typical travelling salesman problem (TSP). To be honest, the previous algorithms can only solve some problems in 2D space. However, this study is applied to cope with the issue of optimal path of locking screws in 3D space by the Selective Compliance Assembly Robot Arm (SCARA). The heights of screw holes are different when the detected object is 3D structure. Then, it is observed that the path between two points may be obstructed by certain obstacles to seriously disturb the normal work of a robot arm. In order to solve this problem, Kinect is used to build the 3D model of the object and simultaneously detect screw holes based on the image processing method. To avoid the robot arm hitting the obstacle on the path, we have to utilize avoiding algorithm to stop this situation appearance. The avoiding algorithm based on the visibility graph algorithm has been proposed in this study in order to let the general visibility graph algorithm transfer to 3D space. Namely, we propose a strategy to add new nodes so that it can help us easily calculate the moving cost of each point. Substituting the moving cost into TSP to calculate the optimal path where the TSP problem can be solved by the Particle Swarm Optimization (PSO) and 2-Opt algorithms. Finally, transferring the image coordinate to SCARA coordinate to let the robot arm complete the whole task.
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ＢＥＲＡ, BANALATA, and 白若妮. "SCARA Robot Manipulator Controller Design by using the developed Image Processing Algorithm." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/5gn73v.
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碩士明志科技大學
機械工程系機械與機電工程碩士班
108
Robotic Manipulators play a very important role in today’s Industrial Automation. In this research, we have tried to develop a SCARA pick and place system by integrating the vision system and control. The vision system uses a Digital Image Processing algorithm to identify various shapes, colors, orientation and depth of an object, it was programmed in MATLAB software and then combined with the control program in LabVIEW to complete the system. A PCI-1265, 6-axis motion control card is used to control the different axis of the robotic arm. The robotic arm is then made to trace the path with the help of a control law such as PID, SMC, etc. The control performances are recorded and compared. This research work aims to provide a methodology to complete a pick and place SCARA robot system and apply better control laws to enhance the precision and accuracy of the system and thus help in future automation needs.
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Jane, Cu-Yi, and 詹昆益. "The Distributed Controllers by using MCS-51 Processors for a SCARA Robot." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/86224309649915515299.
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碩士國立台灣工業技術學院
機械工程技術研究所
85
In this thesis, a central-distributed multiprocessor controller with MCS-51 series processors is designed for a SCARA type robot. The primary node is PC central controller which communicates with other 8751 microcontrollers using a RS232 to RS422 converter. The communication program has function of asynchronous network communication. The 8751 microcontroller was worked as a local controller to control the motion of each axis of the manipulator. A PID and an intelligent FUZZY controllers were implemented on there distributed local controllers. These secondary nodes connect individually with the PC central controller which integrates feedback singles from each axis and employs a speed regulator to adjust the path tracking speed based on the contour error. For this whole servo control structure, the control circuit, communication circuit, and the control and communication software programs were designed and implemented. This central-distributed control structure is suitable for any kind of robot, and different controlstrategies can be employed on this control system for suitable adaptability. The experimental results show that this control architecture has reasonable performance in robotic trajectory tracking control.
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Chen, Chi-Bin, and 陳旗斌. "Novel Kinematic Calibration and Fuzzy Gravity Compensation of an Industrial Delta Scara Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/n3pqe6.
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碩士國立中興大學
電機工程學系所
106
This thesis presents a new kinematic calibration method and a fuzzy gravity compensation approach to improving position accuracy of an industrial SCARA robot. Two calibration systems are developed using two laser displacement meters and an FARO laser tracker in order to conduct calibration experiments by sensing position information of the tool end point of a SCARA robot. After a four-step calibration procedure being proposed, a set of kinematic calibration equations are first derived in details, and then them are used to obtain corrected link lengths and angular offsets of the first two links of the SCARA robot. A fuzzy gravity compensation method is proposed to compensate for the height accuracy of the end-effector of the robot under a payload by using a set of if-then fuzzy rules. Several simulations and experimental results are conducted to validate the proposed kinematic calibration and fuzzy gravity compensation methods. In comparison with positioning accuracy before and after calibration, the proposed kinematic calibration method is able to effectively reduce the SCARA positioning errors, thereby significantly improving the absolute position accuracy of the SCARA robot. Through the experimental results, the fuzzy gravity compensation method is also shown effective in reducing the z-axis errors and increasing its practicability significantly.
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Chan, Jung-Chung, and 陳韻中. "An Adaptive Controller based on Multi-processor for a Direct-Drive SCARA Robot." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/32238853011070879815.
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碩士國立雲林科技大學
電機工程技術研究所
85
This paper presents a direct adaptive controller for trajectory tracking of high-speed robots such as a direct-drive SCARA robot. In this robot, nolinear effects due to centrifugal, Coriolis, and inertial forces are more important than friciton and gravity forces, unlike most industrial robots. The control law of the adaptive scheme consists in a PD regulator plus feedforward compensation of full dynamics. The feedforward terms are adjusted by an adaptation law so that the steady-state position errors are zero. It should be noted that with this adaptive controller, the joint accelerations measurement is not required and no inversion of estimated mass matrix in involved. The tracking performance of the controller applied to a 2-dof SCARA is illustrated by a real-time implementation based on multi-processer.
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Tan, Meng-Huan, and 譚孟桓. "The Application of A SCARA Robot with Vision System on the Object Directional Clip." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/07745863448879972550.
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碩士龍華科技大學
機械工程系碩士班
102
Industry tends to automation, the use of robots have become diversified. The robot arm with perception, can acquire the information about the work environment, obtain better protection in an unsafe environment and also rise the efficiency of the production line. The machine vision is used to emulate human vision for the measurement, the defects, the positioning and the identification. In this paper, a visual servo control system on the object directional clip is implemented with a SCARA robot arms and the machine vision. This entire system including image processing and the robot motion control is developed in LabVIEW environment. The machine vision is applied for the directional correction when the robot tries to clip the object. The procedures of the image processing are the image high-pass filter, the edge detects and the straight edge finding. The angle directional correction is computed by the curve fitting function with the image information. Through the experiments, the visual feedback system is used to assure the directional correction when the SCARA robot tried to clip the object. The results are completed and assured.
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WANG, Zong-Kun, and 王宗崑. "An Investigation on Enhanced IntelligentImage System with SCARA Robot forImproving the Accuracy of DIP Component Placed on PCB." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/16404408366015576828.
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碩士義守大學
機械與自動化工程學系
102
The objective of this study is to improve the accuracy of pick-n-place the DIP (Dual In line Package) component of SMT (Surface Mount Technology) on PCB (Print Circuit Board) by the SCARA robot with coordinate auto-compensation technique. Teach-Mode robot picks up the SMT component from the original position and moves to the placement position by input the pulse. The data of the transformation of coordinates are then recorded and sequentially keyed-in each axis’s pulse to reach the specified position. The machine vision system developed in this research is using video cameras to photo the anchor points on PCB, feedback the images to computational system, calculate coordinate compensation by transformation, rotation and inverse-kinematics. The determined x-y position and rotation angle can then be applied to the precise location for the SCARA robot. In this study, the image-positioned system of pick-n-place SMD (Surface Mount Device) is referred to develop a new machine vision system. Robotic movement and position are auto-calculated based on inverse kinematics with enhanced intelligent image system. Experimental results demonstrate the accuracy of DIP component placed on PCB has been dramatically improved.
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Huang, Chao-Min, and 黃昭閔. "Online payload identification, Auto gain tuning and Trajectory following for SCARA robots." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/45shhg.
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碩士國立雲林科技大學
機械工程系
105
This research investigates the Scara robot in rapid positioning. The load inertia is uncertain in advance. Using the same servo gains for all payloads causes some problems, like overshoot, positioning errors and lower efficiency. The research goal is to enable the system to identify the load inertia, and tune gains automatically. In the thesis, an industrial Scara robot is used as the experimental platform. Firstly, we deduce and analyze the dynamic system. The dynamic equation is used to simulate the positioning effect and performance of the system. A table relating the load to the optimal controller gains is established by the response of the experiments, and is integrated into the controller. Finally T-Curve trajectories for the target are used to optimize the reaction. Experiments show that the settling time with auto-gain-tuning and T-Curve trajectories is reduced by more than 40% compared to the situations with fixed gain control. Keywords：Scara、robot arm、auto-tuning、load identification、T-Curve、pathplanning
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Huang, Shih-Hung, and 黃世宏. "Establishment of micropropagation and hairy root system in Gentiana scabra, and comparative analysis among Taiwan-specific Gentiana species and G. scabra." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/61589511036586451297.
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博士朝陽科技大學
應用化學系生化科技博士班
101
Gentiana scabra commonly known as “LongDan” belongs to the genus Gentiana (Gentianaceae), mainly found in mountain valleys of middle China. Gentiana has been widely used as traditional medicine in China as well as in other parts of the world. It has medicinal properties, such as protection of liver, gallbladder and stomach, immune and central nervous system modulator and anti-inflammatory, anti-allergic, anti-pathogens activities. Over exploitation and ecological destruction of the natural habitats in recent years leads to severe shortage of this species, while the market demands are ever increasing. The potential of tissue culture can be exploited for rapid multiplication of this plant species and it might be an important step to meet the ever increasing demand. In this context, the first part of the study involved establishment of efficient micropropagation system as well as optimization of medium components and ventilation enclosure types. Half strength MS (1/2 MS) medium supplemented with 1 mg/l BA, 3% sucrose and 0.3% gelrite was found to be best for multiple shoots propagation (8.8 shoots per explants in average). Healthy growth of the plantlets and greater number of roots were observed on 1/2 MS supplemented with 3% sucrose, 0.1 mg/l 1-naphthaleneacetic acid (NAA) and 0.3% gelrite. Under the established optimized culture medium with gaseous exchange using enclosure type 2AF 4-wk, then 4DP 4-wk; resulted 100% ex-vivo survival rate of the plantlets without acclimatization process. The second part of the study was aimed at the establishment of a hairy root culture system to obtain a greater yield of medicinally important ingredients in a shorter time period. Leaf explants were infected with Agrobacterium rhizogenes (ATCC15834), which induced hairy roots up to 21%. The transformed hairy root lines were confirmed by PCR using rolB and rolC gene-specific primers. The hairy root biomass was greater (35.6 fold higher) on B5 (Gamborg et al., 1968) liquid medium after 4 weeks of growth. Quantitative analysis of hairy root extracts showed 0.78, 1.70 and 43.26 mg/g loganic acid, swertiamarin and gentiopicroside accumulation respectively. On the other hand, 1.4- and 2.5- fold higher gentiopicroside and swertiamarin were observed in the presence of 1.0 mg/l NAA as compared to the commercial Gentiana herb. The final part of the study covered chemoprofiling and antioxidant as well as free radical scavenging activity of different varieties of Gentiana. It was found that G. davidii var. formosana (GDF) exhibited higher gentiopicroside and swertiamarin contents with better antioxidant ability and free radical scavenging activities than Chinese Longdan. This finding might explore the medicinal potential of GDF. Another variety, G. scabrida var. punctulata (GSP) was found to have the strongest antioxidant ability and free radical scavenging activities which suggested a possible use of GSP as a source of natural antioxidant agents for industrial purpose. This study also identified Taiwan-specific Gentiana spp., G. davidii var. formosana (GDF), G. arisanensis (GA) and G. scabrida var. punctulata (GSP) that are phylogenetically different from G. scabra. This information will help to identify and development of elite Taiwan-specific Gentiana spp. for better prospects.
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Liao, Che-Hung, and 廖哲鋐. "Studies on the production of gentiopicroside and swertiamarin in hairy root liquid culture of Gentiana scabra Bunge." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/92226407099635708780.
Full textAbstract:
碩士朝陽科技大學
應用化學系生化科技碩博士班
103
Gentiana scabra Bunge, commonly known as ‘Longdan’ is a perennial plant belonging to Gentianaceae family. In traditional Chinese medicine, roots of ‘Londan’ are used to prevent indigestion, anorexia and gastric infections. Due to an extensive medicinal use, wild G. scabra plants are in huge demand resulting in its over exploitation and decline in wild populations. Hence, it is necessary to find alternative method for production of active compounds without destruction of wild plants. The aim of the present study is to optimize hairy root culture system in order to improve production of root biomass and pharmaceutically important compounds of G. scabra. Hairy roots obtained from leaf explants of G. scabra infected with Agrobacterium rhizogenes were used as starting material. The rapidly growing hairy roots of five transgenic lines HR-32, HR-35, HR-36, HR-39, and HR-49 were cultured in semi-solid Woody Plant Medium (WPM) for four weeks. Of these five, line HR-32 yielded the highest root biomass (2.74 g dw/petri-dish), hence, it was selected for further experiments. Hairy roots of HR-32 were cultured in liquid medium of five different basal media like Murashige and Skoog (MS), WPM, B5, 1/2B5, and N6. After four weeks of culture, the highest root biomass (4.56 g dw/L) was obtained in B5 liquid medium. Also, it produced maximum Gentiopicroside (29.0 mg dw/g) and Swertiamain (2.2 mg/g dw), therefore, all further experiments were carried out with B5 medium alone. In order to determine whether liquid or semi-solid medium is better for production of root biomass and bioactive compounds, experiments were performed with liquid and semi-solid media or alternate subculture on solid to liquid or solid to solid medium. Also, certain medium components play an important role in production of root biomass and active compounds. Therefore, further experiments were carried out to optimize components like sucrose (10 – 70 g/L), Potassium nitrate (6.2, 12.4, 24.7 and 37.1 mM), ammonium sulfate (05, 1, 1.5 and 2 mM) and copper sulfate (12.5, 25, 50 and 75 μg/L) in the B5 medium. Root biomass in both semi-solid medium and liquid cultures was recorded. Production of Gentiopicroside and Swertiamarin in semi-solid and liquid cultures was estimated by High Performance Liquid Chromatography (HPLC) analysis. Among different sucrose concentrations in the medium, a supplement of 50g/L sucrose resulted in the highest biomass (5.49 g dw/L) production. While, sucrose at 70g/L supported maximum Gentiopicroside (29.2 mg/g) and Swertiamarin (1.6 mg/g) production. Potassium nitrate at 24.7mM in the medium supported the highest biomass of 8.51 g dw/L with Gentiopicroside and Swertiamarin contents as 49.2 mg/g and 3.1 mg/g, respectively. The maximum root biomass (6.68g d.w/L) among different concentrations of Ammonium sulfate was recorded at 2mM. The contents of Gentiopicroside and Swertiamarin were 56.6 mg/g and 2.9 mg/g, respectively. There was a marginal difference in biomass production at different levels of Copper sulfate, however, Copper sulfate at 75 μg/L in the medium supported highest contents of Gentiopicroside (40.0 mg/g) and Swertiamarin (2.1 mg/g). The results obtained in present study indicate that the concentration of carbon source (sucrose) and nitrogen level in the medium affect the hairy root growth and production of Swertiamarin and Gentiopicroside in cultures of G. scabra. Also, present study affirms that there is a possibility of producing the bioactive compounds through hairy root cultures without sacrificing the wild plants of G. scabra Bunge.