Download or read book Contribution l am lioration de la pr cision absolue des robots parall les written by Ahmed Joubair and published by . This book was released on 2012 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Contribution l am lioration de la pr cision des robots parall les written by David Corbel and published by Omniscriptum. This book was released on 2015-08-24 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt: Un des enjeux actuels de la recherche sur les robots paralleles est de concilier grandes capacites dynamiques et bonne precision. Les travaux presentes dans cette these contribuent a la resolution de cette problematique. Trois approches ont ete considerees: l'etalonnage geometrique a partir de mesures externes, l'utilisation de la redondance metrologique et enfin l'application du principe de mesure dissociee. Ces approches ont ete mises au point, testees et validees sur des robots paralleles bien connus de type Delta ou hexapode mais egalement sur un robot a redondance d'actionnement, le robot ARCHI."
Download or read book Contribution l am lioration de la pr cision des robots parall les written by David Corbel and published by . This book was released on 2008 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: Un des enjeux actuels de la recherche sur les robots parallèles est de concilier grandes capacités dynamiques et bonne précision. Les travaux présentés dans cette thèse contribuent à la résolution de cette problématique. Trois approches ont été considérées : l'étalonnage géométrique à partir de mesures externes, l'utilisation de la redondance métrologique et enfin l'application du principe de mesure dissociée. Tout d'abord, l'étalonnage géométrique classique d'un robot Delta linéaire puis du premier prototype du robot Par4 sont présentés. Cette méthode, bien qu'efficace dans le cas de problèmes quasi-statiques, s'avère insuffisante lorsque des efforts appliqués sur la structure du robot entraînent des déformations de celui-ci. Le cas des robots parallèles à redondance d'actionnement présente ainsi la particularité d'être difficile à étalonner car des contraintes internes peuvent apparaître dans ces mécanismes et déformer leur structure. C'est pourquoi une méthode pour transformer la redondance d'actionnement en redondance cinématique a été proposée. La redondance métrologique a également été étudiées et plusieurs méthodes tirant profit de cette redondance ont été analysées et testées. Enfin, le concept de dissociation entre l'actionnement et la mesure est introduit. Ce concept, novateur en robotique parallèle, repose sur la séparation entre la transmission du mouvement et des efforts et la mesure de l'état du robot. Ce concept a été appliqué sur une machine-outil à structure parallèle et un prototype a été réalisé. Des lois de commande ont été testées et les résultats en termes d'amélioration de la précision sont présentés
Download or read book Contribution l identification de param tres g om triques et non g om triques d un mod le de robot written by Jean-Luc Caenen and published by . This book was released on 1993 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les outils actuels de conception assistée par ordinateur permettent la simulation et la programmation d'applications automatisées complexes. Ce type de programmation impose cependant de nouvelles contraintes sur la qualité des sites robotisés: la précision de positionnement est nécessaire. L’étalonnage vise à améliorer cette précision par l'identification des paramètres des modèles employés lors des simulations. Après une synthèse des recherches actuelles, la notion de limite de précision absolue est définie en se basant sur l'étude des critères normalisés des performances des robots. Une procédure d'identification des paramètres d'un modèle géométrique est alors proposée. Le paramétrage employé permet de modéliser avec une notation unique le robot, sa position dans la cellule et ses outils. La définition et l'identification d'un modèle incluant des paramètres géométriques et non géométriques sont ensuite proposées afin de prendre en compte les phénomènes de flexibilité. L’expérimentation des deux procédures a été réalisée sur différents robots industriels. Une synthèse de résultats est présentée sur dix robots.
Download or read book Autonomous Mobile Robots and Multi Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-12-16 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Download or read book Contribution la mod lisation des robots parall les written by Diane Douady and published by . This book was released on 1991 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: LA PLUPART DES ROBOTS ACTUELLEMENT UTILISES DANS L'INDUSTRIE SONT DES ROBOTS A ARCHITECTURE SERIELLE. LES RECHERCHES SUR L'AMELIORATION DES STRUCTURES PASSENT PAR LE DEVELOPPEMENT DE NOUVELLES ARCHITECTURES; C'EST POURQUOI DES ARCHITECTURES DITES PARALLELES ONT ETE DEVELOPPEES. DEPUIS UNE DIZAINE D'ANNEES, DES RECHERCHES MULTIPLES SONT EFFECTUEES DANS CE DOMAINE. CE TRAVAIL CONTRIBUE A CE DEVELOPPEMENT. UN INCONVENIENT IMPORTANT DES ROBOTS PARALLELES ACTUELS RESIDE DANS LEUR FAIBLE VOLUME DE DEBATTEMENT. CELUI QUE NOUS AVONS DEVELOPPE CONSERVE LES QUALITES PRINCIPALES DES STRUCTURES PARALLELES TOUT EN POSSEDANT UN VOLUME DE TRAVAIL SUFFISAMMENT IMPORTANT. L'ETUDE QUE NOUS PRESENTONS VA DE LA CONCEPTION A LA REALISATION D'UN NOUVEAU ROBOT. LES MODELES GEOMETRIQUES INVERSE ET DIRECT DE CE ROBOT Y SONT DEVELOPPES; LE MODELE DIRECT FAIT APPEL A UNE METHODE ITERATIVE. UNE ETUDE THEORIQUE EN FOURNIT LES POSITIONS SINGULIERES PAR UNE METHODE GEOMETRIQUE PROCHE DE LA GEOMETRIE DE GRASSMANN. UNE APPLICATION NUMERIQUE DES RESULTATS TROUVES MONTRENT QUE LE PROTOTYPE DEVELOPPE NE COMPREND PAS DE POSITIONS SINGULIERES DANS SON VOLUME DE TRAVAIL. LES STRUCTURES PARALLELES POSSEDENT DES QUALITES INTRINSEQUES DE PRECISION, DE RIGIDITE ET DE SOLIDITE ENTRAINANT DES AVANTAGES D'UNE IMPORTANCE FONDAMENTALE POUR LA ROBOTIQUE TELLES QUE GRANDES VITESSES, FIABILITE ET EFFICACITE. L'ETUDE ET LE DEVELOPPEMENT DE CES STRUCTURES DOIVENT ENCORE ETRE POURSUIVIS ET DEVRAIENT PERMETTRE DE COUVRIR UN PLUS LARGE SPECTRE DE TACHES ROBOTIQUES
Download or read book Your Mindful Compass written by Andrea Maloney Schara and published by . This book was released on 2013-12-01 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Your Mindful Compass" takes us behind the emotional curtain to see the mechanisms regulating individuals in social systems. There is great comfort and wisdom in knowing we can increase our awareness to manage the swift and ancient mechanisms of social control. We can gain greater flexibility by seeing how social controls work in systems from ants to humans. To be less controlled by others, we learn how emotional systems influence our relationship-oriented brain. People want to know what goes on in families that give rise to amazing leaders and/or terrorists. For the first time in history we can understand the systems in which we live. The social sciences have been accumulating knowledge since the early fifties as to how we are regulated by others. S. Milgram, S. Ashe, P. Zimbardo and J. Calhoun, detail the vulnerability to being duped and deceived and the difficulty of cooperating when values differ. Murray Bowen, M.D., the first researcher to observe several live-in families, for up to three years, at the National Institute of Mental Health. Describing how family members overly influence one another and distribute stress unevenly, Bowen described both how symptoms and family leaders emerge in highly stressed families. Our brain is not organized to automatically perceive that each family has an emotional system, fine-tuned by evolution and "valuing" its survival as a whole, as much as the survival of any individual. It is easier to see this emotional system function in ants or mice but not in humans. The emotional system is organized to snooker us humans: encouraging us to take sides, run away from others, to pressure others, to get sick, to blame others, and to have great difficulty in seeing our part in problems. It is hard to see that we become anxious, stressed out and even that we are difficult to deal with. But "thinking systems" can open the doors of perception, allowing us to experience the world in a different way. This book offers both coaching ideas and stories from leaders as to strategies to break out from social control by de-triangling, using paradoxes, reversals and other types of interruptions of highly linked emotional processes. Time is needed to think clearly about the automatic nature of the two against one triangle. Time and experience is required as we learn strategies to put two people together and get self outside the control of the system. In addition, it takes time to clarify and define one's principles, to know what "I" will or will not do and to be able to take a stand with others with whom we are very involved. The good news is that systems' thinking is possible for anyone. It is always possible for an individual to understand feelings and to integrate them with their more rational brains. In so doing, an individual increases his or her ability to communicate despite misunderstandings or even rejection from important others. The effort involved in creating your Mindful Compass enables us to perceive the relationship system without experiencing it's threats. The four points on the Mindful Compass are: 1) Action for Self, 2) Resistance to Forward Progress, 3) Knowledge of Social Systems and the 4) The Ability to Stand Alone. Each gives us a view of the process one enters when making an effort to define a self and build an emotional backbone. It is not easy to find our way through the social jungle. The ability to know emotional systems well enough to take a position for self and to become more differentiated is part of the natural way humans cope with pressure. Now people can use available knowledge to build an emotional backbone, by thoughtfully altering their part in the relationship system. No one knows how far one can go by making an effort to be more of a self-defined individual in relationships to others. Through increasing emotional maturity, we can find greater individual freedom at the same time that we increase our ability to cooperate and to be close to others.
Download or read book Nineteen Eighty Four Science Between Utopia and Dystopia written by E. Mendelsohn and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: Just fifty years ago Julian Huxley, the biologist grandson of Thomas Henry Huxley, published a book which easily could be seen to represent the prevail ing outlook among young scientists of the day: If I were a Dictator (1934). The outlook is optimistic, the tone playfully rational, the intent clear - allow science a free hand and through rational planning it could bring order out of the surrounding social chaos. He complained, however: At the moment, science is for most part either an intellectual luxury or the paid servant of capitalist industry or the nationalist state. When it and its results cannot be fitted into the existing framework, it and they are ignored; and furthermore the structure of scientific research is grossly lopsided, with over-emphasis on some kinds of science and partial or entire neglect of others. (pp. 83-84) All this the scientist dictator would set right. A new era of scientific human ism would provide alternative visions to the traditional religions with their Gods and the civic religions such as Nazism and fascism. Science in Huxley's version carries in it the twin impulses of the utopian imagination - Power and Order. Of course, it was exactly this vision of science which led that other grand son of Thomas Henry Huxley, the writer Aldous Huxley, to portray scientific discovery as potentially subversive and scientific practice as ultimately en slaving.
Download or read book Virtual Crowds written by Nuria Palechano and published by Springer Nature. This book was released on 2022-05-31 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: There are many applications of computer animation and simulation where it is necessary to model virtual crowds of autonomous agents. Some of these applications include site planning, education, entertainment, training, and human factors analysis for building evacuation. Other applications include simulations of scenarios where masses of people gather, flow, and disperse, such as transportation centers, sporting events, and concerts. Most crowd simulations include only basic locomotive behaviors possibly coupled with a few stochastic actions. Our goal in this survey is to establish a baseline of techniques and requirements for simulating large-scale virtual human populations. Sometimes, these populations might be mutually engaged in a common activity such as evacuation from a building or area; other times they may be going about their individual and personal agenda of work, play, leisure, travel, or spectator. Computational methods to model one set of requirements may not mesh well with good approaches to another. By including both crowd and individual goals and constraints into a comprehensive computational model, we expect to simulate the visual texture and contextual behaviors of groups of seemingly sentient beings. Table of Contents: Introduction / Crowd Simulation Methodology Survey / Individual Differences in Crowds / Framework (HiDAC + MACES + CAROSA) / HiDAC: Local Motion / MACES: Wayfinding with Communication and Roles / CAROSA: Functional Crowds / Initializing a Scenario / Evaluating Crowds
Download or read book Pre Menopause Menopause and Beyond written by Martin Birkhaeuser and published by Springer. This book was released on 2018-01-30 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume represents an up-to-date overview on pre-Menopause and Menopause, with their respective clinical implications and therapies. The aim is to clarify possible doubts and clinical approaches to this particular period in a woman’s life and how to face it, both offering solutions to actual problems and focusing on the potential impact of preventive medicine in improving women’s health and quality of life. The volume is published within the International Society of Gynecological Endocrinology (ISGE) Series, and is based on the 2017 International School of Gynecological and Reproductive Endocrinology Winter Course. This book, covering a very wide range of topics with particular focus on fertility in pre- and peri-menopausal women, climacteric and menopausal symptoms, impact of PCOS on post-menopausal health, breast disease, surgical treatments and therapies, will be an invaluable tool for gynecologists, endocrinologists, and experts in women’s health.
Download or read book Thinking About Exhibitions written by Bruce W. Ferguson and published by Routledge. This book was released on 2005-08-11 with total page 520 pages. Available in PDF, EPUB and Kindle. Book excerpt: An anthology of writings on exhibition practice from artists, critics, curators and art historians plus artist-curators. It addresses the contradictions posed by museum and gallery sited exhibitions, as well as investigating the challenge of staging art presentations, displays or performances, in settings outside of traditional museum or gallery locales.
Download or read book Mathematics as a Service Subject written by A. G. Howson and published by Cambridge University Press. This book was released on 1988-05-27 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the 1987 International Commission on Mathematical Instruction conference, this volume comprises key papers on the role of mathematics in applied subjects.
Download or read book The Sense of Decadence in Nineteenth Century France written by Koenraad W. Swart and published by Springer Science & Business Media. This book was released on 2013-11-11 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: "It was the best oftimes. It was the worst oftimes. " The famous open ing sentence ofCharles Dickens' Tale oJ Two Cities can serve as a motto to characterize the mixture of optimism and pessimism with which a large number of nineteenth-century intellectuals viewed the con dition of their age. It is nowadays hardly necessary to accentuate the optimistic elements in the nineteenth-century view of history; many recent historians have sharply contrasted the complacency and the great expectations of the past century with the fears and anxieties rampant in our own age. It is often too readily assumed that a hundred years ago all leading thinkers as weil as the educated public were addicted to the cult of progress and ignored or minimized those trends of their times that paved the way for the catastrophes of the twentieth century. In the nineteenth century the intoxicating triumphs of modern science undeniably induced the general public to believe that pro gress was not an accident but a necessity and that evil and immo rality would gradually disappear. Yet fears, misgivings, and anxieties were not as exceptional in the nineteenth century as is often imagined. Such feelings were not restricted to a few dissenting philosophers and poets like Schopenhauer, Kierkegaard, 'Dostoevsky, Baudelaire, and Nietzsche.
Download or read book The African Charter on the Rights and Welfare of the Child written by Thoko Kaime and published by PULP. This book was released on 2009 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: The African Charter on the Rights and Welfare of the Child: A socio-legal perspectiveby Thoko Kaime2009ISBN: 978-0-9814420-4-4Pages: xii 247Print version: AvailableElectronic version: Free PDF available.
Download or read book Predicting Structured Data written by Neural Information Processing Systems Foundation and published by MIT Press. This book was released on 2007 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: State-of-the-art algorithms and theory in a novel domain of machine learning, prediction when the output has structure.
Download or read book Understanding Richard Powers written by Joseph Dewey and published by Univ of South Carolina Press. This book was released on 2002 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dewey contends that while Powers's novels investigate the most pressing issues of the new millennium, the novelist is most deeply interested in the same thematic argument that consumed Ralph Waldo Emerson and Emily Dickinson - the problem of the self, the deep and unshakable loneliness that has always been at the heart of the American literary imagination."--BOOK JACKET.
Download or read book Translation and Meaning written by Marcel Thelen and published by Lodz Studies in Language. This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents new and innovative ideas on the didactics of translation and interpreting. They include assessment methods and criteria, assessment of competences, graduate employability, placements, skills labs, the perceived skills gap between training and profession, the teaching of terminology, and curriculum design.
