Este trabalho trata do estudo de robôs de arquitetura paralela, focando na modelagem e otimização dos mesmos. Não foi construído nenhum tipo de protótipo físico, contudo os modelos virtuais poderão, no futuro, habilitar tal façanha. Após uma busca por uma aplicação que se beneficie do uso de um robô de arquitetura paralela, fez-se uma pesquisa por arquiteturas viáveis já existentes ou relatadas na literatura. Escolheu-se a mais apta e prosseguiu-se com os estudos e modelagem cinemática e dinâmica, dando uma maior ênfase na cinemática e dinâmica inversa, esta última utilizando a formulação de Newton - Euler. Foi construído um simulador virtual em ambiente MATLAB 6.5, dotado de várias capacidades como interpolação linear e circular, avanço e uso de múltiplos eixos coordenados. Seu propósito principal é o de demonstrar a funcionalidade e eficácia dos métodos utilizados. Depois foi incorporado ao simulador um algoritmo de cálculo do volume de trabalho da máquina que utiliza alguns dados do usuário para calcular o volume, que pode ser aquele atrelado a uma postura em particular ou o volume de trabalho de orientação total. Algoritmos para medir o desempenho da máquina quanto à uniformidade e utilização da força dos atuadores foram construídos e também incorporados ao simulador, que consegue mostrar o elipsóide de forças ao longo de quaisquer movimentos executados pela plataforma móvel. Quanto à otimização, parte do ferramental previamente construído foi utilizado para que se pudesse chegar a um modelo de uma máquina que respeitasse restrições mínimas quanto ao tamanho e forma de seu volume de trabalho, mas ainda mantendo o melhor desempenho possível dentro deste volume. / This work is about the study of parallel architecture robots, focusing in modeling and optimization. No physical prototypes were built, although the virtual models can help those willing to do so. After searching for an application that could benefit from the use of a parallel robot, another search was made, this time for the right architecture type. After selecting the architecture, the next step was the kinematics and dynamics analysis. The dynamics model is developed using the Newton ? Euler method. A virtual simulator was also developed in MATLAB 6.5 environment. The simulator?s main purpose was to demonstrate that the methods applied were correct and efficient, so it has several features such as linear and circular interpolations, capacity to use multiple coordinate systems and others. After finishing the simulator, an algorithm to calculate the machine workspace was added. The algorithm receives as input some desired requirements regarding the manipulator pose and then calculates the workspace, taking into consideration imposed constraints. Lastly, algorithms capable to measure the manipulator?s performance regarding to its actuator and end-effector force relationship were also incorporated into the simulator that calculates the machine?s force ellipsoid during any movement, for each desired workspace point. For the optimization procedures, some previously developed tools were used, so that the resulting model was capable to respect some workspace constraints regarding size and shape, but also maintaining the best performance possible inside this volume.

A contribuição e objetivo desta tese é desenvolver um modelo de redes neurais artificiais, baseado em princípios de memória associativa, capaz de resolver o problema de planejamento e controle ponto a ponto de trajetória de um braço mecânico imerso em um ambiente parcialmente conhecido e/ou sujeito a ruídos. O modelo proposto é formado por dois planos: plano seqüência temporal e plano ângulo. Para o plano seqüência temporal, o novo modelo proposto chamado de Memória Associativa Multidirecional Temporal (TMAM) é capaz de armazenar e recuperar n-tuplas de informações, lidar com informações ruidosas e/ou incompletas e aprender seqüências temporais. TMAM utiliza representação contínua e realimentação autoassociativa. O plano ângulo é formado pelo modelo RBF que é responsável por produzir as informações de ângulos das juntas do braço mecânico. A composição dos dois planos forma o sistema completo que é responsável pelo planejamento e controle ponto a ponto de trajetória. Em resumo, o sistema recebe informações do ponto origem e do ponto alvo, estabelece uma trajetória para atingir o ponto alvo a partir do ponto de origem e transforma os pontos espaciais da trajetória em valores de ângulos das juntas. Os resultados obtidos mostram que o modelo TMAM é capaz de recuperar, interpelar e extrapolar pontos nas seqüências, é capaz de gerar trajetórias, de memorizar seqüências de diferentes tamanhos e de lidar com duas trajetórias ao mesmo tempo. O modelo apresenta também rápido treinamento. O modelo RBF é capaz de recuperar as saídas desejadas apresentando um erro pequeno e é capaz de receber um padrão que apresenta um ponto final inatingível e gerar um conjunto de ângulos que representa um ponto final atingível. / The aim of this project is to develop an artificial neural networks model based on principles of associative memory. This neural network model must be able to solve the problem of trajectory planning and point to point control of a robot arm, which is located in a partially known and/or noisy environment. The proposed model is composed by two surfaces: the temporal sequence surface and the angle surface. For the temporal sequence surface the new propose model Temporal Multidirectional Associative Memmy (TMAM) is able to store and recall n-tuplas of information, to deal with noisy and/or incomplete information and to learn temporal sequences. TMAM uses a continuas representation and autoassociative feedback. A RBF model is used to implement the angle surface, which is liable for producing the angle information for the joint of the robot arm. The two surfaces compose the whole system which is liable for the trajectory planning and system control. Hence, the system receives information about the initial point and the target point, constructs the trajectory to reach the target point from the initial point and converts the spatial points which compose the trajectory, in values of joint angles. The obtained results show that TMAM model can recall, interpolate and extrapolate points in the sequences. The model has the ability of generating new trajectories and memorizing different size of sequences at the same time. This model also shows fast learning. The RBF model can recall the desired outputs with a small error and can receive a pattern which is formed by an unreachable final point and generate a set of angles which, in turn, represent a reachable final point.

Orientadores: Helder Anibal Hermini, Paulo R. G. Kurka / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-10T05:53:08Z (GMT). No. of bitstreams: 1 Mendes_EduardoFelippeAguiar_M.pdf: 4299696 bytes, checksum: d73355f383b74bd0e49b3bc2473e5b6b (MD5) Previous issue date: 2007 / Resumo: Este trabalho visou o estudo de manipuladores à semelhança do membro superior humano. Após o estudo do membro superior humano e dos robôs antropomórficos disponíveis tanto na industria quanto no meio acadêmico, utilizaram-se teorias de modelagem geométrica, cinemática direta e cinemática inversa para realizar o modelo de um manipulador robótico antropomórfico. A partir desse modelo desenvolveu-se um software em LabVIEW de Cinemática Direta e Cinemática Inversa de operação em tempo real. Com a intenção de verificar os acionadores mais apropriados disponíveis atualmente, um estudo de músculos artificiais se seguiu, onde se observou a maior viabilidade do músculo artificial de SMA ativado eletricamente. Um protótipo de junta acionada por músculos artificiais foi desenvolvido e controlado via computador. Como resultado deste trabalho conclui-se que há ainda muito para ser desenvolvido na área de manipuladores antropomórficos, principalmente no que diz respeito aos músculos artificiais / Abstract: This work sought the study of manipulators to the similarity of the human superior member. After the study of human superior member, and of anthropomorphics robotics available in the industries and in the academic middle, it was used theories of geometric modelling, direct kinematics modelling and inverse kinematics modelling to make the model of a anthropomorphic robotic manipulator. With that model it grew a software in LabVIEW of real time Direct Kinematics and Inverse Kinematics. With the intention of verifying the available most appropriate actuators, a study of artificial muscles was proceeded, where the largest viability of the artificial muscle of SMA activated electrically was observed. A joint prototype actuated by artificial muscles was developed and controlled through computer. As a result of this work it is ended that there is still a lot to be developed in the area of anthropomorphic manipulators, mainly in what it concerns the artificial muscles / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

La fermeture de couche de l'oscillateur harmonique à N=40 dans le 68Ni est faible et perd sa rigidité après l'enlèvement (ou l'ajout) de paires de protons. Les calculs effectués dans cette région de masse prédisent un nouvel îlot d'inversion à N=40 semblable à celui à N=20 et montrant que le placement de l'orbital neutron 2d5/2 est un ingrédient essentiel pour l'interprétation de la structure nucléaire à N≈40. La différence d'énergie 1g9/2-2d5/2 a été déterminée dans le noyau 69Ni en utilisant la réaction de transfert d'un neutron d(68Ni,p) en cinématique inverse. L'expérience réalisée au GANIL utilisait un faisceau de 68Ni à 25,14 MeV/u. Les noyaux 68Ni séparés par le spectromètre LISE3 ont ensuite interagit avec une cible de CD2 d'épaisseur 2,6 mg/cm2. Le dispositif expérimental était composé principalement des détecteurs CATS/MUST2-S1/EXOGAM couplés à une chambre d'ionisation et un scintillateur plastique. Les moments angulaires et les facteurs spectroscopiques de l'état fondamental (Jπ = 9/2+) et d'un doublet d'états ( Jπ = 5/2+) autour de 2,48 MeV, associés à la population des orbitales 1g9/2 et 2d5/2, ont été obtenus après la comparaison des sections efficaces différentielles et des calculs ADWA. Les spins des états observés ont été attribués après comparaison aux calculs de modèles en couches dans un grand espace de valence. La position de l'orbitale 2d5/2 dans 69Ni a été établie pour la première fois. Nos mesures confirment l'hypothèse de la faible différence d'énergie (≈2,5 MeV) entre l'orbitale neutron 2d5/2 et l'orbitale 1g9/2 et son importance pour décrire la structure des noyaux autour de N=40. / The harmonic oscillator shell closure at N=40 in 68Ni is weak and loses its strength when removing (or adding) pair of protons. Calculations performed in this mass region predict a new island of inversion at N=40 similar to the one at N=20. Using a large valence space, the neutron orbital 2d5/2 is shown to be a crucial ingredient for the interpretation of the nuclear structure at N≈40. The neutron 1g9/2-2d5/2 energy difference has been determined in 69Ni using the d(68Ni,p) transfer reaction in inverse kinematics. The experiment performed at GANIL used a 68Ni beam at 25.14 MeV/u seperated by the LISE3 spectrometer was impinging a CD2 target of 2.6 mg/cm2 thickness. The experimental setup consisted of CATS/MUST2-S1/EXOGAM detectors coupled to an ionization chamber and a plastic scintillator. The angular momenta and spectroscopic factors of the ground state (Jπ = 9/2+) and a doublet of states ( Jπ = 5/2+) around 2.48 MeV corresponding to the population of the 1g9/2 and the 2d5/2 orbitals, were obtained from the comparison between the experimental cross-sections as a function of the proton detection angle and ADWA calculations. The spins of the observed states were assigned by comparaison to large scale Shell-Model calculations. The position of the 2d5/2 orbital in 69Ni has been established for the first time. Our measurements support the hypothesis of a low-lying 2d5/2 orbital (≈2,5 MeV) with respect to the 1g9/2 neutron orbital and thus its major role in the structure of the nuclei around N=40.

Tato diplomová práce má za cíl seznámit čtenáře se stále ještě relativně novou a neznámou oblastí matematiky, s geometrickou algebrou. Nejdříve jsou uvedeny základní definice a poté jsou studovány vlastnosti obecné geometrické algebry. Další velká část textu se věnuje Konformní geometrické algebře, která je v současnosti jedna z nejvíce zkoumaných a aplikovaných geometrických algeber. Jsou popsány její algebraické a geometrické vlastnosti, konkrétně schopnost reprezentovat určité geometrické objekty jako vektory. Taktéž umožňuje počítat jejich průniky a konformní transformace. Další část textu je zaměřena na aplikace Konformní geometrické algebry, nejdříve k popisu kinematiky robotické ruky a poté v binokulárním viděni.

This paper deals with studying skeletal animation techniques, and the subsequent design and implementation of skeletal animation extension for the GPUEngine library. The theoretical part describes the techniques of animation, skeletal animation and skinning. The following is an analysis of existing skeletal animation systems. The proposed solution seeks to reduce the data redundancy in the memory while rendering more skeletal models. According to the design a basic skeletal animation system has been implemented. Furthermore, a demonstration application has been created showing the skeletal system's use. The resulting skeletal system can be used in simple 3D applications and can serve as a basis for further works.

Táto diplomová práca sa zaoberá matematickými aparátmi popisujúcimi doprednú a inverznú kinematiku robotického ramena. Pre popis polohy koncového efektoru, teda doprednej kinematiky, je potrebné zaviesť špeciálnu Euklidovskú grupu zobrazení. Táto grupa môže byť reprezentovaná pomocou matíc alebo pomocou duálnych kvaterniónov. Problém inverznej kinematiky, kedy je potrebné z určenej polohy koncového efektoru dopočítať kĺbové parametre robotického ramena, je v tejto práci riešený pomocou exponenciálnych zobrazení a Grobnerovej bázy. Všetky spomenuté popisy doprednej a inverznej kinematiky sú aplikované na robotické rameno s troma rotačnými kĺbami. Odvodené postupy sú následne implementované a vizualizované v prostredí programu Mathematica.

Rapporten beskriver utvecklingsarbetet och resultatet från utvecklingen av en robotplattform vid namn AIDA (AI Design Assistant), som utvecklades åt Institutionen för datavetenskap vid Linköpings universitet. Plattformen består av en robotarm som utgörs av sex stycken servomotorer, som är anslutna till en enkortsdator. En Android-surfplatta sitter integrerad på robotarmen och har en applikation installerad som utgör användargränssnittet. Tre huvudsakliga funktioner för plattformen utvecklades. Dessa funktioner är objektigenkänning, objektspårning och taligenkänning. Objektigenkänningen kan klassificera fyra olika fruktsorter, objektspårningen kan spåra objekt och följa dem med robotarmen genom inverskinematik, och taligenkänningen kan transkribera tal till text och svara på kommandon. Utifrån resultatet och diskussionen härleds slutsatser över fyra frågeställningar relaterade till utvecklingsarbetet. Projektet utfördes som en del av kursen TDDD96 Kandidatprojekt i programvaruutveckling, och varje projektmedlem har även skrivit ett individuellt bidrag till rapporten som behandlar områden kopplade till projektarbetet. / This report describes the development process and the resulting product from the development of a robot platform named AIDA (AI Design Assistant), that was developed on a request from the Department of Computer and Information Science at Linköping University. The platform consists of a robot arm that is made up by six servo motors connected to a single-board computer. An Android tablet is attached to the robot arm and has an application installed which constitutes the user interface. Three main functions were developed for the platform. These functions constitute object recognition, object tracking, and speech recognition. The object recognition module can classify four different types of fruit, the object tracking module can track objects and follow them by moving the robot arm using inverse kinematics, and the speech recognition module can transcribe speech to text and respond to  audible commands. Conclusions over four questions related to the development of the product are derived from the results and discussion chapters of the report. The project was conducted as a part of the course TDDD96 Software Engineering – Bachelor Project, and each project member has produced an individual contribution to the report which covers subjects related to the project.

The main goal of this project was to familiarize readers with the techniques used in real-time animation of 3D characters. This work is focused on two types of animation: keyframe animation and skeletal animation. There are described algorithms for software and hardware accelerated model deformations, keyframe interpolations, animation blending, inverse kinematics and ragdoll. The result of this project is a framework, which consists of an animation library, examples demonstrating library functions and tools for export animations from 3D Studio Max and MilkShape 3D.

Since the introduction of high end graphical workstations, computer animation has quickly replaced the traditional means of animation. Nowadays computer animation has many applications e.g. video games, motion picture industry, media, weather forecasting and many others. This master thesis discusses various techniques used to created animations using computers. Keyframing, is the most common approach in computer animation. Borrowing its name from the concept of traditional hand animation, the workflow process remained the same. Basic principles of animation using key-frames are explained and an Interactive Animation Editor solution based on keyframing is proposed and the implementation of this editor is described. Editor uses the Kochanek-Bartels interpolation of values between each key-frame.