Le dévracage robotisé est une tâche industrielle en forte croissance visant à automatiser le déchargement par unité d’une pile d’instances d'objet en vrac pour faciliter des traitements ultérieurs tels que la formation de kits ou l’assemblage de composants. Cependant, le modèle explicite des objets est souvent indisponible dans de nombreux secteurs industriels, notamment alimentaire et automobile, et les instances d'objet peuvent présenter des variations intra-classe, par exemple en raison de déformations élastiques.Les techniques d’estimation de pose, qui nécessitent un modèle explicite et supposent des transformations rigides, ne sont donc pas applicables dans de tels contextes. L'approche alternative consiste à détecter des prises sans notion explicite d’objet, ce qui pénalise fortement le dévracage lorsque l’enchevêtrement des instances est important. Ces approches s’appuient aussi sur une reconstruction multi-vues de la scène, difficile par exemple avec des emballages alimentaires brillants ou transparents, ou réduisant de manière critique le temps de cycle restant dans le cadre d’applications à haute cadence.En collaboration avec Siléane, une entreprise française de robotique industrielle, l’objectif de ce travail est donc de développer une solution par apprentissage pour la localisation des instances les plus prenables d’un vrac à partir d’une seule image, en boucle ouverte, sans modèles d'objet explicites. Dans le contexte du dévracage industriel, notre contribution est double.Premièrement, nous proposons un nouveau réseau pleinement convolutionnel (FCN) pour délinéer les instances et inférer un ordre spatial à leurs frontières. En effet, les méthodes état de l'art pour cette tâche reposent sur deux flux indépendants, respectivement pour les frontières et les occultations, alors que les occultations sont souvent sources de frontières. Plus précisément, l'approche courante, qui consiste à isoler les instances dans des boîtes avant de détecter les frontières et les occultations, se montre inadaptée aux scénarios de dévracage dans la mesure où une région rectangulaire inclut souvent plusieurs instances. A contrario, notre architecture sans détection préalable de régions détecte finement les frontières entre instances, ainsi que le bord occultant correspondant, à partir d'une représentation unifiée de la scène.Deuxièmement, comme les FCNs nécessitent de grands ensembles d'apprentissage qui ne sont pas disponibles dans les applications de dévracage, nous proposons une procédure par simulation pour générer des images d'apprentissage à partir de moteurs physique et de rendu. Plus précisément, des vracs d'instances sont simulés et rendus avec les annotations correspondantes à partir d'ensembles d'images de texture et de maillages auxquels sont appliquées de multiples déformations aléatoires. Nous montrons que les données synthétiques proposées sont vraisemblables pour des applications réelles au sens où elles permettent l'apprentissage de représentations profondes transférables à des données réelles. A travers de nombreuses expériences sur une maquette réelle avec robot, notre réseau entraîné sur données synthétiques surpasse la méthode industrielle de référence, tout en obtenant des performances temps réel. L'approche proposée établit ainsi une nouvelle référence pour le dévracage orienté-objet sans modèle d'objet explicite. / Referred to as robotic random bin-picking, a fast-expanding industrial task consists in robotizing the unloading of many object instances piled up in bulk, one at a time, for further processing such as kitting or part assembling. However, explicit object models are not always available in many bin-picking applications, especially in the food and automotive industries. Furthermore, object instances are often subject to intra-class variations, for example due to elastic deformations.Object pose estimation techniques, which require an explicit model and assume rigid transformations, are therefore not suitable in such contexts. The alternative approach, which consists in detecting grasps without an explicit notion of object, proves hardly efficient when the object geometry makes bulk instances prone to occlusion and entanglement. These approaches also typically rely on a multi-view scene reconstruction that may be unfeasible due to transparent and shiny textures, or that reduces critically the time frame for image processing in high-throughput robotic applications.In collaboration with Siléane, a French company in industrial robotics, we thus aim at developing a learning-based solution for localizing the most affordable instance of a pile from a single image, in open loop, without explicit object models. In the context of industrial bin-picking, our contribution is two-fold.First, we propose a novel fully convolutional network (FCN) for jointly delineating instances and inferring the spatial layout at their boundaries. Indeed, the state-of-the-art methods for such a task rely on two independent streams for boundaries and occlusions respectively, whereas occlusions often cause boundaries. Specifically, the mainstream approach, which consists in isolating instances in boxes before detecting boundaries and occlusions, fails in bin-picking scenarios as a rectangle region often includes several instances. By contrast, our box proposal-free architecture recovers fine instance boundaries, augmented with their occluding side, from a unified scene representation. As a result, the proposed network outperforms the two-stream baselines on synthetic data and public real-world datasets.Second, as FCNs require large training datasets that are not available in bin-picking applications, we propose a simulation-based pipeline for generating training images using physics and rendering engines. Specifically, piles of instances are simulated and rendered with their ground-truth annotations from sets of texture images and meshes to which multiple random deformations are applied. We show that the proposed synthetic data is plausible for real-world applications in the sense that it enables the learning of deep representations transferable to real data. Through extensive experiments on a real-world robotic setup, our synthetically trained network outperforms the industrial baseline while achieving real-time performances. The proposed approach thus establishes a new baseline for model-free object-oriented bin-picking.

本研究以台灣客家採茶戲的發展及其文本形成為題，針對客家採茶戲的「劇目形成」、「文本型態」、「劇本改編」進行文學向度的考察。 一、劇目的形成與發展 自從1910年代客家三腳採茶戲發展為改良採茶戲之後，演出場域歷經「內台」、「外台」、「電台」、「文化公演」、「電視台」等不同的表演場域。由於每個場域的性質使然，而有不同的劇目產生、類型的形成，以及表演風格等。 二、文本型態的考察 探討採茶戲常見的兩種文本類型「幕表戲」與「定本戲」，考察文本的特徵及結構、導演的說戲、演員的即興演出，以及民間戲班對於「幕表戲」與「定本戲」的運用。 三、特定作品的跨場域改編 選取黃天敏的內台戲《太平天國》，討論由「定本戲到幕表戲」的改編歷程。以及曾先枝三齣公演代表作《三娘教子》、《李阿三嫁母》、《緣訂三生》，討論「幕表戲到定本戲」的改編歷程。 / The study using the development of Hakka tea-picking drama and its text formation as the topic aims at the repertoire formation, text types, and opera revision as the aspects of literature to review. I. The formation and development of repertoire: The Hakka three-role tea-picking drama has developed as the improved tea-picking opera since the 1910s, the different performing field has experienced of indoor, outdoor, radio station, cultural performance, and TV station, and so on. Due to the impact on each field, there is different generation of repertoires, the formations of types, and performing style, etc.. II. The review of text types: It discusses of two frequently shown text types in the tea-picking opera: scenario drama and standard drama to review the characteristics and structures of text, the director’s explanation of the story, the player’s improvisation, and the folk theatrical troupe’s the applications of scenario drama and standard drama. III. The revision of drama in cross-field theatre There are selected of indoor Taiwan directors’ revised course, Tien-Ming Huang’s discussion of Taiping Heavenly Kingdom from standard drama to scenario drama and Xian-Zhi Zeng’ three represented publications, the discussions of Third Madame educates her son, A-San Li’s remarried mother, and Fate for three lifetimes from scenario drama to standard drama.

Background: Nordic E-commerce group (NECG) consists of affiliated companies NordicInk, NordicFeel and PetsOnline. Three different types of companies in one warehouse area contribute to a wide range of products held in inventory. NECG’s problem derives in the fact that the company’s warehouse layout needs to handle a larger volume of sales, but is not capable of doing this in a structured way today. This matter of fact has led to new thoughts concerning improvements of the layout. The warehouse layout referred to in this thesis includes input and output doors, receiving and outgoing areas, material handling equipment and the placement of articles in inventory. Although article placement is per definition a part of warehouse layout, it will be given extra emphasis in this thesis as it is one of NECG’s most critical issues.   Purpose: The purpose of this thesis is to identify NECG’s current warehouse layout and article placement and the problems associated with it, as well as to provide suggested actions for improvements. This is to be done so NECG can better utilize the warehouse space, and thus prepare the warehouse to handle a larger volume of sales.   Methodology: Qualitative and quantitative data was collected through semi-structured interviews and observations at NECG, as well as through excel files containing transactional data for NordicInk’s products. Through a non-probability, snowball selection the respondents were chosen. There have not been any requirements from NECG regarding confidentiality in terms of the warehouse layout.   Findings: There are a number of suggested actions that NECG may apply to improve the warehouse layout; two separate doors for incoming and outgoing deliveries, one designated receiving and one outgoing area, and a flow shop layout combined with a U-form layout would be the most beneficial for NECG’s warehouse. Furthermore, NECG needs a more consistent article placement and it is recommended for the company to apply a floating location system to its high-picked products and a fixed location system for its low-picked products. This will make NECG take better use of the available space and a more structured warehouse will be achieved. / Bakgrund: Nordic E-commerce Group (NECG) består utav dotterbolagen NordicInk, NordicFeel och PetsOnline. Då lagret består utav tre olika företag finns ett brett utbud av produkter. NECG:s problem härrör i att företagets lagerlayout inte har följt med i företagets utveckling. För att kunna hantera en större försäljningsvolym, behöver lagerområdet kunna hantera nuvarande och framtida lagervolymer, men är inte kapabel till att göra detta på ett strukturerat sätt i dag. Detta har lett till nya tankar om förbättringsförslag kring lagerlayout. I detta examensarbete avser lagerlayout ingående och utgående portar, inkommande och utgående lagringsområden, materialhanteringsutrustning och artikelplacering i lager. Även om artikeln placering är per definition en del av lagerlayout, kommer det att ges extra fokus i detta examensarbete eftersom det är en av NECG mest kritiska frågor.   Syfte: Syftet med detta examensarbete är att identifiera NECG nuvarande lagerlayout och artikel placering samt vilka eventuella problem som finns, för att kunna ge förslag på förbättringar. Detta ska göras så att NECG kan utnyttja sitt lagerutrymme bättre och förbereda sig inför ökade försäljningsvolymer.   Metod: Kvalitativ och kvantitativ data samlades in genom semistrukturerade intervjuer och observationer på NECG, samt genom excel filer innehållande transaktionsdata kring NordicInk’s produkter. Genom ett icke-sannolikt, snöbollsurval valdes respondenterna ut. NECG har inte uttryckt några krav om att sekretessbelägga arbetet kring lagerlayout.   Resultat: Det finns ett antal förslag på åtgärder som NECG kan tillämpa för att förbättra lagerlayouten: två separata dörrar för inkommande och utgående leveranser, ett designerat område för inkommande och ett för utgående leveranser samt en flow shop layout kombinerat med en U-form layout skulle vara mest fördelaktigt för NECG:s lager. Vidare behöver NECG en mer konsekvent artikelplacering och det rekommenderas för företaget att tillämpa ett flytande system för dess högfrekvent plockade produkter och ett fast system för dess lågfrekvent plockade produkter. Detta kommer att göra så att NECG bättre utnyttjar det tillgängliga lagerutrymmet och ett mer strukturerat system kommer att uppnås.  Bakgrund: Nordic E-commerce Group (NECG) består utav dotterbolagen NordicInk, NordicFeel och PetsOnline. Då lagret består utav tre olika företag finns ett brett utbud av produkter. NECG:s problem härrör i att företagets lagerlayout inte har följt med i företagets utveckling. För att kunna hantera en större försäljningsvolym, behöver lagerområdet kunna hantera nuvarande och framtida lagervolymer, men är inte kapabel till att göra detta på ett strukturerat sätt i dag. Detta har lett till nya tankar om förbättringsförslag kring lagerlayout. I detta examensarbete avser lagerlayout ingående och utgående portar, inkommande och utgående lagringsområden, materialhanteringsutrustning och artikelplacering i lager. Även om artikeln placering är per definition en del av lagerlayout, kommer det att ges extra fokus i detta examensarbete eftersom det är en av NECG mest kritiska frågor.   Syfte: Syftet med detta examensarbete är att identifiera NECG nuvarande lagerlayout och artikel placering samt vilka eventuella problem som finns, för att kunna ge förslag på förbättringar. Detta ska göras så att NECG kan utnyttja sitt lagerutrymme bättre och förbereda sig inför ökade försäljningsvolymer.   Metod: Kvalitativ och kvantitativ data samlades in genom semistrukturerade intervjuer och observationer på NECG, samt genom excel filer innehållande transaktionsdata kring NordicInk’s produkter. Genom ett icke-sannolikt, snöbollsurval valdes respondenterna ut. NECG har inte uttryckt några krav om att sekretessbelägga arbetet kring lagerlayout.   Resultat: Det finns ett antal förslag på åtgärder som NECG kan tillämpa för att förbättra lagerlayouten: två separata dörrar för inkommande och utgående leveranser, ett designerat område för inkommande och ett för utgående leveranser samt en flow shop layout kombinerat med en U-form layout skulle vara mest fördelaktigt för NECG:s lager. Vidare behöver NECG en mer konsekvent artikelplacering och det rekommenderas för företaget att tillämpa ett flytande system för dess högfrekvent plockade produkter och ett fast system för dess lågfrekvent plockade produkter. Detta kommer att göra så att NECG bättre utnyttjar det tillgängliga lagerutrymmet och ett mer strukturerat system kommer att uppnås.

Zoomable user interfaces (ZUIs) have been studied for a long time and many applications are built upon them. Most applications, however, only use two dimensions to express the content. This report presents a solution using all three dimensions where the base features are built as a framework with uniform grids and scene graphs as primary data structures. The purpose of these data structures is to improve performance while maintaining flexibility when creating and handling three-dimensional objects. A 3D-ZUI is able to represent the view of the world and its objects in a more lifelike manner. It is possible to interact with the objects much in the same way as in real world. By developing a prototype framework as well as some example applications, the usefulness of 3D-ZUIs is illustrated. Since the framework relies on abstraction and object-oriented principles it is easy to maintain and extend it as needed. The currently implemented data structures are well motivated for a large scale 3D-ZUI in terms of accelerated collision detection and picking and they also provide a flexible base when developing applications. It is possible to further improve performance of the framework, for example by supporting different types of culling and levels of detail

Purpose – The purpose of the study is to identify a distribution center's deficiencies in the warehouse layout and article placement to enable streamlining in the order picking process.  In order to enable a response to the purpose, the following three questions have been formulated: 1. What problems may occur in the warehouse layout of a distribution center that affects the effectiveness of the order picking process? 2. What problems may occur in the article placement at a distribution center that affects the effectiveness of the order picking process? 3. What improvements can be made to the warehouse layout and article placement at a distribution center to streamline the order picking process? Method – In order to define the problem area, a pilot study was conducted at a distribution center, which formed the purpose and questions of the study. To enable its answer, a case study and literature review has been conducted as methods. The case study consisted of observations, surveys, document studies and benchmarking to generate empirical data to the study. Literature review has been designed to create a theoretical framework around warehouse layout and article placement effect on the order picking process. The data collected has then been analyzed and discussed to enable improvement proposals. Findings – Several problems have been identified in the warehouse layout and article placement that directly impact the order picking process. In order to prevent and change these problems, understanding the complexity of warehouse building is required. It is important to have a clear strategy for which articles that are considered most important to the company. A recommendation may be to place the most high-frequency products in connection with the packing station. Once the strategy is determined, the storage systems can be dimensioned and the route method set. When all these processes interact with each other, a more efficient order pick will occur, which will allow companies to reduce costly waste. Implications – The authors have founded the study within a problem area where there already exist a lot of theories. Therefore the implication of the study consisted of highlighting a new point of view of the already existing theory of warehouse layout, article placement and order picking. The new point of view, therefore, can assist businesses to get a better discussion and understanding of how their warehouse layout and article placement should be designed, which may allow the study to affect the development of other companies. Limitations – The limitations of the study consist of studying only one business as well as some lack of information. Should more businesses and respondents be presented within the study, more deficiencies could have been identified and the results had become more credible and generalizable. Some missing information has also affected the study. Within improvement measures, there was no access to some article information required in the ABC-analysis. Furthermore, poles were discovered in the warehouse layout that affected the formation of the improved warehouse layouts. The lack of information may therefore have affected the final result.

Waste management is a global phenomenon and a challenge to all nations. There is a need to ensure that waste is handled in an environmental friendly and healthy manner. The high rate of unemployment in South Africa leads to elevated poverty, which is one of the most serious socio-economic problems in developing countries. This leads to people opting to work anywhere, particularly in the informal sector for survival. Waste picking is classified as a type of informal employment. In South Africa, the last stage in the life cycle of waste disposal is at the landfill sites. Landfill sites are normally located on the outskirts of towns and away from communities for safety and health reasons. This study researched the working conditions and health status of waste pickers working at some landfill sites in the City of Tshwane Metropolitan Municipality, namely Ga-Rankuwa, Onderstepoort and Hatherly. The study used a multi method approach, where both qualitative and quantitative factors of research were utilized. Data was gathered through survey questionnaire with a sample of 176 waste pickers at three landfill sites, together with unstructured interviews with municipal workers. The researcher also observed how waste pickers work at the landfill sites. Some of the findings of this study are that: • About 66 % of waste pickers at the landfill sites were females with an average age of 45 years. • A majority (93 %) of waste pickers did not reach matric and were not employable in the formal sector • Most waste pickers (53%) work 5 days and a few (41%) work 6 days per week. • Only 22% of participants reported injury at work and 41% consulted the clinic or hospital due to injury or illness. Descriptive statistical results of the study revealed that waste pickers view their health to be fair as compared to their peers but were not satisfied with their working conditions. Waste pickers are aware of stigma including health challenges associated with working at a landfill site and the need of acting appropriately in protecting themselves / Department of Environmental Sciences / M. Sc. (Environmental Management)

El proceso que pasa una vacuna a través de la cadena de suministro de frío tiende a requerir un estándar de alta calidad. La importancia de este producto para el consumo humano se ha vuelto necesaria en todo el mundo. Esta investigación tendrá en cuenta los principales factores que afectan la eficiencia y el rendimiento del producto sensible a la temperatura; Se aplicará una herramienta que mejore las condiciones en el almacenamiento y en el método de trabajo enfocado bajo un análisis de operación. Además de esto, analizaremos un estudio de caso de un operador logístico en Perú, se propondrán mejoras en los procesos más importantes y críticos. Como método de validación, se utilizará una simulación del modelo propuesto y se llevará a cabo utilizando el software Arena. Las técnicas de distribución de la planta también se aplicarán para evaluar el diseño. Los resultados disminuyen el proceso de selección en un 27% y eliminan los errores que ocurren. En un nuevo diseño, el costo del viaje disminuye en un 48%. Otro resultado que tiene un impacto directo en la cadena es la reducción sistemática del costo asociado con el suministro y la cadena de la vacuna, que en promedio se reduce en un 10% del total. / The process that a vaccine passes through the cold supply chain tends to require a high quality standard. The importance of this product for human consumption has become necessary throughout the world. This research will take into account the main factors that affect the efficiency and performance of the temperature sensitive product; a tool will be applied that improves the conditions in the storage and in the method of work focused under an analysis of operation. In addition to this, we will analyze a case study of a logistics operator in Peru, improvements in the most important and critical processes will be proposed. As a validation method, a simulation of the proposed model will be used and will be carried out using the Arena software. Plant distribution techniques will also be applied to evaluate the design. Results decrease the selection process by 27% and eliminate errors that occur. In a new design, the cost of the trip decreases by 48%. Another result that has a direct impact on the chain is the systematic reduction of the cost associated with the supply and chain of the vaccine, which on average is reduced by 10% of the total. / Trabajo de investigación

The aim of this master’s thesis is to describe the Robotic Vision for Bin Picking usage and creating an application for the realization of this task. This application will be able to distinguish several objects based on data from a camera with deep perception and should find the location of object, recognize it and determine its location and orientation. Bin Picking is one of the biggest challenges in today's automation.

From an overview of most commonly used kinematic conceptions of robotic manipulators, the conception of Cartesian robot was identified as the most suitable for the given task of colony picking. A control system consisting of two modular parts has been designed for the colony picking robot. ColonyCounter module is a set of image processing libraries for identification of microbial colonies in image data and precise localization of individual colonies. This has been achieved by combination of multiple methods, most importantly connected components labelling and Hough circular transform. The second module – ColonyPicker – utilizes output of ColonyCounter module to plan the picking and placing of colonies. Subsequently it controls the transfer process itself using an innovative task planning and executing system.

Title: Anisotropy of the upper mantle under the Northern Apennines based on data from the international experiment RETREAT (Italy) Author: Helena Munzarová Department: Department of Geophysics Supervisor of the master thesis: RNDr. František Gallovič, Ph.D. Department of Geophysics Consultant of the master thesis: RNDr. Jaroslava Plomerová, DrSc. Institute of Geophysics, Czech Academy of Sciences Abstract: In this master thesis, we process data recorded during the passive seismic experiment RETREAT (2003-2006) in the Northern Apennines with the aim to explore the upper mantle structure in the region. Active orogeny in the Northern Apennines relates to the collision of the Tyrrhenian and Adriatic (subducting westward) plates and is accompanied by an eastward retreat of the trench. Directional dependences of P-wave travel-time deviations together with variations of the fast split polarization azimuths of teleseismic SKS waves are derived from data recorded during experiment RETREAT. Both the fossil anisotropic structure in the mantle lithosphere and the anisotropy due to the present-day flow in the sub-lithospheric mantle are sources of the observed velocity-anisotropy patterns. Thick continental Adriatic plate can be divided into at least two sub-regions with their own fossil fabrics. We have also tried to...