No description available.

No description available.

Robotic rehabilitation and assessment of the human upper-limb following stroke is currently limited in part by the inability of robots to replicate natural motion. In particular, motion of the shoulder girdle is usually neglected, despite the fact that the shoulder girdle is necessary to stabilize and orient the upper-limb during activities of daily living. Without direct control of the shoulder girdle, it is not possible to monitor or prevent a patient from making compensatory movements, which inhibits functional recovery, nor is there a means to properly regain strength and coordination. The more the robot is able to realistically mimic upper-limb motion, the more able the robot will be to assist with true functional movement training, which gives the patient the best chance of motor recovery. To address this issue, a new adjustable robotic exoskeleton called MEDARM is proposed for rehabilitation and assessment of the shoulder complex. MEDARM provides independent control of six degrees of freedom of the upper-limb: two at the sternoclavicular joint, three at the glenohumeral joint and one at the elbow. A key design feature of the new robot is an innovative curved track mechanism actuated by a cable-drive transmission system. To facilitate a performance evaluation of this new mechanism, a planar version of MEDARM was designed. A full prototype of this planar robot was constructed and several fundamental metrics, including friction, inertia, and compliance, were used to test its mechanical performance. Additionally, the functionality of the robot was examined using preliminary data recorded during a standard reaching task, and by implementing some basic rehabilitation algorithms. This thesis describes the design of MEDARM and its planar counterpart in detail and the performance evaluation of the prototype is presented. / Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2008-08-13 21:19:14.335

No description available.

Though lots of numerical methods have been proposed in the literature to optimize me-chanical structures at the final stage of the design process, few designers use these tools since the first stage. However, a minor modification at the first step can bring significant change to the global performances of the structure. Usually, during the initial stage, models are based on theoretical and empirical equations, which are often characterized by mixed variables: continuous (e.g. geometrical dimensions), discrete (e.g. the cross section of a beam available in a catalogue) and/or integer (e.g. the number of layers in a composite material). Furthermore, the functions involved may be non differentiable, or even discontinuous. Therefore, classical algorithms based on the computation of sensi-tivities are no more applicable. Consequently, to solve these problems, the most wide-spread meta-heuristic methods are evolutionary algorithms (EAs), which work as follows: the best individuals among an initial population of randomly generated potential solutions are favoured and com-bined (by specific operators like crossover and mutation) in order to create potentially better individuals at the next generation. The creation of new generations is repeated till the convergence is reached. The ability of EAs to explore widely the design space is useful to solve single-objective unconstrained optimization problems, because it gener-ally prevents from getting trapped into a local optimum, but it is also well known that they do not perform very efficiently in the presence of constraints. Furthermore, in many industrial applications, multiple objectives are pursued together. Therefore, to take into account the constrained and multicriteria aspects of optimization problems in EAs, a new method called PAMUC (Preferences Applied to MUltiobjectiv-ity and Constraints) has been proposed in this dissertation. First the user has to assign weights to the m objectives. Then, an additional objective function is built by linearly aggregating the normalized constraints. Finally, a multicriteria decision aid method, PROMETHEE II, is used in order to rank the individuals of the population following the m+1 objectives. PAMUC has been validated on standard multiobjective test cases, as well as on the pa-rametrical optimization of the purge valve and the feed valve of the Vinci engine, both designed by Techspace Aero for launcher Ariane 5. The second step of the thesis consists in incorporating an inference engine within the optimization scheme in order to take expert rules into account. First, information about conception and design is collected among engineers expert in a specific domain. In the case of the valves designed by Techspace Aero, the expert rules are rules of thumb based upon experience, and related to the leakages, the choice of the materials for the different parts of the structure, etc. Then, each potential design generated by the EA is tested and repaired (with a given probability) according to the user-defined rules. This approach seems very efficient in reducing the size of the search space and guiding the EA towards the global feasible optimum.

No description available.

No description available.

This report presents a thesis work on advanced level in the course PPU502 – Product development. The thesis work has investigated the outcome of applying the Product Development Process in the development of a production system, through a case study at Munters Europe AB. The case study aimed to examine, map, analyze and develop a manufacturing process that currently consists of manual and time consuming operations. The purpose of this thesis was to investigate the versatility of the knowledge obtained during the MSc program Innovation and Product Design, as a result of the markets expectations of engineering graduates to be generalists with good ability to apply their skills in more than one area. The methodological approach in this thesis is based on the research process that Kothari (2004) presents and are modified in to 4 phases. Phase 1 defines the project and establishes research questions that are used as guidelines for the work. Phase 2 includes the case study, where the Product Development Process was implemented in the development a manufacturing process. Phase 3 consists of data collection, where quality assuring and general methods for developing production systems were identified. Phase 4 compares the empirical results from the case study with the collected data, describes differences of the methods and analyzes the outcome. / Denna rapport presenterar ett examensarbete på avancerad i kursen PPU502 – Produktutveckling. Examensarbetet har undersökt utfallet av att tillämpa produktutvecklingsmetoder vid utveckling av ett produktionssystem, genom en fallstudie vid Munters Europe AB. Fallstudien syftade till att granska, kartlägga, analysera och utveckla en tillverkningsprocess som, i dagsläget, består av en del manuella operationer. Syftet med examensarbetet var att undersöka mångsidigheten av den erhållna kunskap från civilingenjörsutbildningen Innovation och Produktdesign då marknaden förväntar sig att civilingenjörer ska vara generalister med god förmåga att tillämpa sin kompetens på fler än ett område. Metodiken i detta arbete grundar sig i forskningsprocessen som Kothari (2004) presenterar och är modifierad till 4 faser. Fas 1 definierar projektet och upprättar frågeställningar som sedan styr arbetet. Fas 2 innehåller fallstudien, där produktutvecklingsprocessen har följts för att utveckla en tillverkningsprocess. Fas 3 består av datainsamling där kvalitetssäkra, allmänna metoder för utveckling av produktionssystem har identifierats. Fas 4 jämför empirin från fallstudien med de insamlade data och redogör skillnader samt analyserar utfallet.

By enhancing a real scene with computer generated objects, Augmented Reality (AR), has proven itself as a valuable Human-Computer Interface (HCI) in numerous application areas such as medical, military, entertainment and manufacturing. It enables higher performance of on-site tasks with seamless presentation of up-to-date, task-related information to the users during the operation. AR has potentials in design because the current interface provided by Computer-aided Design (CAD) packages is less intuitive and reports show that the presence of physical objects help design thinking and communication. This research explores the use of AR to improve the efficiency of a design process, specifically in mechanical design. / Singapore-MIT Alliance (SMA)

Este trabalho apresenta um estudo de caso na indústria de implementos e veículos rodoviários para solução do processo específico de movimentação de veículos e carrocerias rodoviárias nas linhas de montagem. A solução é o desenvolvimento do projeto de uma ferramenta pneumática para atender os parâmetros identificados no processo de movimentação utilizando uma metodologia de projeto. A metodologia adotada é uma composição de modelos sugeridos por autores mostrando uma sequência clara e objetiva do ciclo de vida do projeto, estruturada em quatro fases principais: Projeto Informacional, Projeto Conceitual, Projeto Executivo e Otimização de Projeto. A identificação das informações relevantes ao processo de movimentação dos produtos deu início ao Projeto Informacional. Com a finalidade de conhecer melhor as características dos processos dos potenciais usuários da ferramenta, foram levantadas as características e os parâmetros do processo. Os parâmetros abordam as principais grandezas envolvidas no sistema e suas limitações. Os dados resultantes do levantamento foram analisados gerando uma síntese de todos os parâmetros identificados para o desenvolvimento das próximas fases. No projeto conceitual, houve a evolução da solução através do detalhamento de um conceito, escolhido mediante a proposição de alternativas durante a geração de conceitos. O detalhamento é apresentado através de desenhos, segundo a diretriz de projeto orientado ao computador, com base na estrutura funcional de funcionamento da ferramenta, salientando os principais sistemas e suas configurações. Os dimensionamentos são apresentados no projeto executivo e contemplam dois tipos de análise: a análise cinemática e a análise estrutural do sistema. Na análise cinemática são apresentadas duas propostas de configuração para o motor pneumático que será utilizado na ferramenta. As propostas são expostas através de desenhos de montagem, desenhos explodidos e gráficos dos parâmetros do motor pneumático para cada uma das configurações adotadas. Nesta fase também é mostrada a construção do protótipo. Os resultados do projeto são obtidos através da realização de teste em bancada e em campo para confirmação dos parâmetros estabelecidos. Completando o ciclo de vida do projeto, propõem-se as tendências evolutivas, analisando as possíveis melhorias para a ferramenta. As conclusões do trabalho são baseadas nos resultados apresentados nos testes realizados com a ferramenta, na eficiência da metodologia adotada para o desenvolvimento do projeto e na análise do cumprimento dos objetivos definidos no trabalho. / This paper presents a case study in industry of road road vehicles for solution of the specific handling of road vehicles and truck trailers in assembly lines. The solution is to develop the design of a pneumatic tool to meet the criteria identified in the move process using a design methodology. The methodology used is a composite of models suggested by the authors showed a clear sequence and objective of the life cycle of the project, divided into four main phases: Informational Design, Conceptual Design, Executive Design and Optimization Project. The identification of information relevant to the process of transferring products initiated the Informational Design. In order to better understand the nature of the processes of potential users of the tool has been raised the characteristics and process parameters. The parameters to approach the main quantities involved in the system and its limitations. Data from the survey were analyzed by generating a synthesis of all parameters identified for the development of the next phases. In conceptual design, was the evolution of the solution through the details of a concept, chosen by proposing alternatives for the generation of concepts. The detail is presented through drawings, according to the guideline of design aided computer based functional structure operating the tool, highlighting the major systems and their configurations. The detail is presented in the executive project and includes two types of analysis: kinematic analysis and structural analysis of the system. In the kinematic analysis are presented two proposals for setting for the air motor to be used in the tool. The proposals are exposed through the assembly drawings, exploded drawings and graphics of the parameters of the air motor for each of the configurations adopted. This stage is also shown a prototype. The project results are obtained by performing test bench and field tests to confirm the established parameters. Completing the life cycle of the project, propose to the changing trends, and review possible improvements to the tool. The conclusions of the study are based on the results presented in the tests with the tool, the efficiency of the methodology used to develop the design and analysis of compliance with the defined objectives at work.