The open bin packing problem (OBPP) is a new variant of the well-known bin packing problem. In the OBPP, items are packed into bins so that the total content before the last item in each bin is strictly less than the bin capacity. The objective is to minimize the number of bins used. The applications of the OBPP can be found in the subway station systems in Hong Kong and Taipei and the scheduling in manufacturing industries. We show that the OBPP is NP-hard and propose two heuristic algorithms instead of solving the problem to optimality. We propose two offline algorithms in which the information of the items is known in advance. First, we consider the First Fit Decreasing (FFD) which is a good approximation algorithm for the bin packing problem. We prove that its asymptotic worst-case performance ratio is no more than 3/2. We observe that its performance for the OBPP is worse than that of the BPP. Consequently, we modify it by adding the algorithm that the set of largest items is the set of last items in each bin. Then, we propose the Modified First Fit Decreasing (MFFD) as an alternative and prove that its asymptotic worst-case performance ratio is no more than 91/80. We conduct empirical tests to show their average-case performance. The results show that in general, the FFD and MFFD algorithms use no more than 33% and 1% of the number of bins than that of optimal packing, respectively. In addition, the MFFD is asymptotically optimal when the sizes of items are (0,1) uniformly distributed. / Ph. D.

L'analyse et la compréhension du comportement d'applications parallèles sur des plates-formes de calcul variées est un problème récurent de la communauté du calcul scientifique. Lorsque les environnements d'exécution ne sont pas disponibles, la simulation devient une approche raisonnable pour obtenir des indicateurs de performance objectifs et pour explorer plusieurs scénarios ``what-if?''. Dans cette thèse, nous présentons un environnement pour la simulation off-line d'applications écrites avec MPI. La principale originalité de notre travail par rapport aux travaux précédents réside dans la définition de traces indépendantes du temps. Elles permettent d'obtenir une extensibilité maximale puisque des ressources hétérogènes et distribuées peuvent être utilisées pour obtenir une trace. Nous proposons un format dans lequel pour chaque événement qui apparaît durant l'exécution d'une application, nous récupérons les informations sur le volume d'instructions pour une phase de calcul ou le nombre d'octets et le type d'une communication. Pour obtenir des traces indépendantes du temps lors de l'exécution d'applications MPI, nous devons les instrumenter pour récupérer les données requises. Il existe plusieurs outils d'instrumentation qui peuvent instrumenter une application. Nous proposons un système de notation qui correspond aux besoins de notre environnement et nous évaluons les outils d'instrumentation selon lui. De plus, nous introduisons un outil original appelé Minimal Instrumentation qui a été conçu pour répondre au besoins de notre environnement. Nous étudions plusieurs méthodes d'instrumentation et plusieurs stratégies d'acquisition. Nous détaillons les outils qui extraient les traces indépendantes du temps à partir des traces d'instrumentations de quelques outils de profiling connus. Enfin nous évaluons la procédure d'acquisition complète et présentons l'acquisition d'instances à grande échelle. Nous décrivons en détail la procédure pour fournir un fichier de plateforme simulée réaliste à notre outil d'exécution de traces qui prend en compte la topologie de la plateforme cible ainsi que la procédure de calibrage par rapport à l'application qui va être simulée. De plus, nous montrons que notre simulateur peut prédire les performances de certains benchmarks MPI avec moins de 11% d'erreur relative entre l'exécution réelle et la simulation pour les cas où il n'y a pas de problème de performance. Enfin, nous identifions les causes de problèmes de performances et nous proposons des solutions pour y remédier. / Analyzing and understanding the performance behavior of parallel applicationson various compute infrastructures is a long-standing concern in the HighPerformance Computing community. When the targeted execution environments arenot available, simulation is a reasonable approach to obtain objectiveperformance indicators and explore various ``what-if?'' scenarios. In thiswork we present a framework for the off-line simulation of MPIapplications. The main originality of our work with regard to the literature is to rely on\tit execution traces. This allows for an extreme scalability as heterogeneousand distributed resources can be used to acquire a trace. We propose a formatwhere for each event that occurs during the execution of an application we logthe volume of instructions for a computation phase or the bytes and the type ofa communication. To acquire time-independent traces of the execution of MPI applications, wehave to instrument them to log the required data. There exist many profilingtools which can instrument an application. We propose a scoring system thatcorresponds to our framework specific requirements and evaluate the mostwell-known and open source profiling tools according to it. Furthermore weintroduce an original tool called Minimal Instrumentation that was designed tofulfill the requirements of our framework. We study different instrumentationmethods and we also investigate several acquisition strategies. We detail thetools that extract the \tit traces from the instrumentation traces of somewell-known profiling tools. Finally we evaluate the whole acquisition procedureand we present the acquisition of large scale instances. We describe in detail the procedure to provide a realistic simulated platformfile to our trace replay tool taking under consideration the topology of thereal platform and the calibration procedure with regard to the application thatis going to be simulated. Moreover we present the implemented trace replaytools that we used during this work. We show that our simulator can predictthe performance of some MPI benchmarks with less than 11\% relativeerror between the real execution and simulation for the cases that there is noperformance issue. Finally, we identify the reasons of the performance issuesand we propose solutions.

The goal of this final thesis is to evaluate the performance of chosen CAM software in robotic deburring of cast parts while using external tool. For this purpose, an analysis of program’s functions was carried out and toolpath-making strategies were compared. The most appropriate strategy for mentioned technology was chosen based on this analysis. The generation of a toolpath was described on the example of real part from automotive industry. In order to simulate real machining process, a model of workspace was created, proper tool with spindle was selected and a method of clamping the workpiece was designed. A postprocessor was created, and so was the robot program, after successful simulation, as a foundation for possible practical test. PowerMill software proved to be not very suitable for this kind of machining application, mainly because of high amount of time consumed during the whole process. So the original idea of replacing classical on-line programming with this software is not advised.

Submitted by Filipe dos Santos (fsantos@pucsp.br) on 2016-10-04T16:55:07Z No. of bitstreams: 1 Elke Siedler.pdf: 3997182 bytes, checksum: 62ce9e3751a28ee7854b1910b4a7007a (MD5) / Made available in DSpace on 2016-10-04T16:55:07Z (GMT). No. of bitstreams: 1 Elke Siedler.pdf: 3997182 bytes, checksum: 62ce9e3751a28ee7854b1910b4a7007a (MD5) Previous issue date: 2016-06-24 / Conselho Nacional de Desenvolvimento Científico e Tecnológico / The use of the internet in various instances of life implies changes in cognitive processes, in order to generate changes in ways of doing, speaking and perceiving dance. The objective of this thesis is to reflect on the relational processes between body and dance, outlined in the interweaving of on-line and off-line environments. The main hypothesis is that there is production of knowledge in the on-off-line experiences flow, and this relationship can enhance the experience in dance activating the cognitive network that constitutes it. To understand these cognitive aspects, the research is grounded on the concept of "extended mind" (CLARK, 2003, 2008) and bodymedia theory (KATZ and GREINER, 2005). The on-off-line media convergence phenomenon (CASTELLs, 2009; JENKINS, 2009; SODRÉ, 2002) is analyzed as a metaphor (LAKOFF & JONHSON, 1999) for the organization and materialization of thoughts in dance. New ways of thinking-doing and enunciating dances are intrinsic to the processes of perceptual transformations (NOË, 2004). Thus, critical reflections are woven from examples that constitute the empirical corpus of the research such as artistic projects that show new ways to organize and materialize thoughts in dance and also projects responsible for dances displacement processes from the stage to the internet / O uso da internet, em várias instâncias da vida, implica em modificações nos processos cognitivos, de modo a gerar transformações em modos de fazer, falar e perceber a dança. O objetivo desta tese é refletir sobre estes processos relacionais entre corpo e dança, delineados no imbricamento das ambiências on-line e off-line. A hipótese principal é que há uma produção relevante de conhecimento neste fluxo. Para compreender os aspectos cognitivos destas redes, a pesquisa é fundamentada pelo conceito de "mente distendida" (CLARK, 2003, 2008) e pela teoria corpomídia (KATZ e GREINER, 2005). O fenômeno de convergência de mídias (CASTELLS, 2009; JENKINS, 2009; SODRÉ, 2002) é analisado enquanto metáfora (LAKOFF & JONHSON, 1999) para a organização e materialização de pensamentos em dança. Os novos modos de pensar-fazer e enunciar as experiências são intrínsecos aos processos de transformações perceptivas (NOË, 2004). Assim, são tecidas reflexões críticas a partir de exemplos que constituem o corpus empírico da pesquisa: projetos artísticos que evidenciam novos modos de organizar e materializar pensamentos em dança e processos de deslocamento dos palcos para a internet.

Det finns flera fördelar med robotiserad bågsvetsning jämfört med manuell bågsvetsning. När det gäller produktivitet och repeterbarhet är robot överlägsen människa, vilket gör att produkterna håller jämnare kvalitet. I slutet av 80-talet började offline-programmering att tillämpas. Att programmera en robot offline innebär att utföra programmeringen med dator utan direkt tillgång till roboten. Genom simulering visualiseras ett robotprogram i en grafisk modell av den fysiska robotcellen utan att den fysiska roboten behöver tas ur produktion. För att systemet för offline-programmering (OLP) ska vara effektivt, måste dess modellers kinematik överensstämma med dess fysiska motsvarigheter. En virtuell modell av en cell skiljer sig dock alltid något från verkligheten. Därför krävs kalibrering När simuleringsprogrammet är färdigt och kalibreringen är utförd, ska programmet översättas till ett för roboten specifikt programspråk. Detta görs genom en så kallad translator. Denna rapport har skrivits på uppdrag av Delfoi. Delfoi har i flera år använt sig av DELMIA IGRIP för offline-programmering av bågsvetsningsrobotar. DELMIA har nu gett ut en ny generation program i den gemensamma plattformen V5. Plattformen innehåller bland annat DELMIA V5 Robotics och CATIA V5. Området för bågsvetsning har varit relativt outforskat. Därför vill företaget undersöka hur långt V5 Robotics har utvecklats inom detta område. Syftet är att undersöka om utvecklingen av V5 Robotics kommit tillräckligt långt för att kunna säljas till kund för offline-programmering av bågsvetsning. Arbetet påbörjades genom att kartlägga den arbetsmetodik som Delfoi använder sig av vid bågsvetsning i IGRIP. Detta har skett i programvaran UltraArc, som innehåller IGRIP’s applikation för bågsvetsning. Dessutom gjordes en kartläggning av användandet av AMP, Arc weld Macro Programming, vid offline-programmering av bågsvetsning. Nästa del var att ta fram en metodik för bågsvetsning i V5 Robotics. De båda programmen och dess metodik har sedan jämförts, för att ta reda på om V5 Robotics är tillräckligt utvecklat för att migrera från IGRIP till V5 Robotics. Demonstrationer av arbetssättet i V5 Robotics har genomförts på Delfoi samt hos en av Delfois kunder, BT Industries i Mjölby. Författarnas slutsats är att V5 Robotics är redo att användas för OLP av bågsvetsning. För de företag som använder sig av CATIA V5 finns det stora fördelar med att starta migrationen från IGRIP till V5 Robotics. Metodiken mellan de båda mjukvarorna har stora likheter, men vissa delar har utvecklats till det bättre i V5 Robotics. Dock kan den nya programvaran behöva testas i verkliga projekt för att säkerställa att hela programmeringsprocessen fungerar tillfredsställande innan bytet genomförs. / There are several advantages in robotic arc welding, compared to manual arc welding. When it comes to productivity and repeatability, robot is superior to man, which generates more even quality in products. In the end of the 1980’s, offline programming was put into practice. To program a robot offline means to perform the programming on a computer with no direct access to the robot. Through simulation, the robot program is visualized as a graphic model of the actual workcell, without having to take the actual robot out of production. For the offline programming system (OLP) to be efficient, the kinematics of the models need to correspond to its physical counterpart. A virtual model is always slightly different from the reality. That is why calibration is necessary. When the simulation program is complete and the calibration is done, the program needs to be translated to the language of the target robot. This is done through a post processor. This thesis was written as an assignment from the company Delfoi. Delfoi has been using DELMIA IGRIP for offline programming of robotic arc welding for several years. DELMIA now has released a new generation of programs in the common platform V5. The platform includes for example DELMIA V5 Robotics and CATIA V5. The area of arc welding has been relatively unexplored. That is why the company wants to investigate how far V5 Robotics has developed in this area. The purpose is to investigate if the development of V5 Robotics has come far enough for V5 Robotics to be taken to customers for OLP of arc welding. The work was begun by surveying the methodology used by Delfoi in arc welding in IGRIP. This has been done in the software UltraArc, which consists of the arc welding application from IGRIP. There was also a surveillance of the application of AMP, Arc weld Macro Programming, in offline programming of arc welding. The next step was to evolve a methodology for arc welding in V5 Robotics. The two softwares and their methodologies were then compared to find out whether or not V5 is enough developed for migration from IGRIP to V5 Robotics. Demonstrations of the method of working in V5 Robotics were held on Delfoi and on BT Industries in Mjölby, which is one of Deloi’s clients. The conclusion of the writers is that V5 Robotics is ready to be used in OLP of arc welding. For companies using CATIA V5, there are great advantages in migrating from IGRIP to V5 Robotics. The methodoldgies of the softwares show great similarities, but some parts have been developed to the better in V5 Robotics. Though, the new software needs to be tested in real projects to assure that the entire process of programming functions satisfying before the change is completed.

The author presents novel algorithms to design unconstrained handwriting recognition systems organized in three parts: In Part One, novel algorithms are presented for processing of Arabic text prior to recognition. Algorithms are described to convert a thinned image of a stroke to a straight line approximation. Novel heuristic algorithms and novel theorems are presented to determine start and end vertices of an off-line image of a stroke. A straight line approximation of an off-line stroke is converted to a one-dimensional representation by a novel algorithm which aims to recover the original sequence of writing. The resulting ordering of the stroke segments is a suitable preprocessed representation for subsequent handwriting recognition algorithms as it helps to segment the stroke. The algorithm was tested against one data set of isolated handwritten characters and another data set of cursive handwriting, each provided by 20 subjects, and has been 91.9% and 91.8% successful for these two data sets, respectively. In Part Two, an entirely novel fuzzy set-sequential machine character recognition system is presented. Fuzzy sequential machines are defined to work as recognizers of handwritten strokes. An algorithm to obtain a deterministic fuzzy sequential machine from a stroke representation, that is capable of recognizing that stroke and its variants, is presented. An algorithm is developed to merge two fuzzy machines into one machine. The learning algorithm is a combination of many described algorithms. The system was tested against isolated handwritten characters provided by 20 subjects resulting in 95.8% recognition rate which is encouraging and shows that the system is highly flexible in dealing with shape and size variations. In Part Three, also an entirely novel text recognition system, capable of recognizing off-line handwritten Arabic cursive text having a high variability is presented. This system is an extension of the above recognition system. Tokens are extracted from a onedimensional representation of a stroke. Fuzzy sequential machines are defined to work as recognizers of tokens. It is shown how to obtain a deterministic fuzzy sequential machine from a token representation that is capable'of recognizing that token and its variants. An algorithm for token learning is presented. The tokens of a stroke are re-combined to meaningful strings of tokens. Algorithms to recognize and learn token strings are described. The. recognition stage uses algorithms of the learning stage. The process of extracting the best set of basic shapes which represent the best set of token strings that constitute an unknown stroke is described. A method is developed to extract lines from pages of handwritten text, arrange main strokes of extracted lines in the same order as they were written, and present secondary strokes to main strokes. Presented secondary strokes are combined with basic shapes to obtain the final characters by formulating and solving assignment problems for this purpose. Some secondary strokes which remain unassigned are individually manipulated. The system was tested against the handwritings of 20 subjects yielding overall subword and character recognition rates of 55.4% and 51.1%, respectively.

<p>Det finns flera fördelar med robotiserad bågsvetsning jämfört med manuell bågsvetsning. När det gäller produktivitet och repeterbarhet är robot överlägsen människa, vilket gör att produkterna håller jämnare kvalitet. I slutet av 80-talet började offline-programmering att tillämpas. Att programmera en robot offline innebär att utföra programmeringen med dator utan direkt tillgång till roboten. Genom simulering visualiseras ett robotprogram i en grafisk modell av den fysiska robotcellen utan att den fysiska roboten behöver tas ur produktion. För att systemet för offline-programmering (OLP) ska vara effektivt, måste dess modellers kinematik överensstämma med dess fysiska motsvarigheter. En virtuell modell av en cell skiljer sig dock alltid något från verkligheten. Därför krävs kalibrering När simuleringsprogrammet är färdigt och kalibreringen är utförd, ska programmet översättas till ett för roboten specifikt programspråk. Detta görs genom en så kallad translator.</p><p>Denna rapport har skrivits på uppdrag av Delfoi. Delfoi har i flera år använt sig av DELMIA IGRIP för offline-programmering av bågsvetsningsrobotar. DELMIA har nu gett ut en ny generation program i den gemensamma plattformen V5. Plattformen innehåller bland annat DELMIA V5 Robotics och CATIA V5. Området för bågsvetsning har varit relativt outforskat. Därför vill företaget undersöka hur långt V5 Robotics har utvecklats inom detta område. Syftet är att undersöka om utvecklingen av V5 Robotics kommit tillräckligt långt för att kunna säljas till kund för offline-programmering av bågsvetsning.</p><p>Arbetet påbörjades genom att kartlägga den arbetsmetodik som Delfoi använder sig av vid bågsvetsning i IGRIP. Detta har skett i programvaran UltraArc, som innehåller IGRIP’s applikation för bågsvetsning. Dessutom gjordes en kartläggning av användandet av AMP, Arc weld Macro Programming, vid offline-programmering av bågsvetsning. Nästa del var att ta fram en metodik för bågsvetsning i V5 Robotics. De båda programmen och dess metodik har sedan jämförts, för att ta reda på om V5 Robotics är tillräckligt utvecklat för att migrera från IGRIP till V5 Robotics. Demonstrationer av arbetssättet i V5 Robotics har genomförts på Delfoi samt hos en av Delfois kunder, BT Industries i Mjölby.</p><p>Författarnas slutsats är att V5 Robotics är redo att användas för OLP av bågsvetsning. För de företag som använder sig av CATIA V5 finns det stora fördelar med att starta migrationen från IGRIP till V5 Robotics. Metodiken mellan de båda mjukvarorna har stora likheter, men vissa delar har utvecklats till det bättre i V5 Robotics. Dock kan den nya programvaran behöva testas i verkliga projekt för att säkerställa att hela programmeringsprocessen fungerar tillfredsställande innan bytet genomförs.</p> / <p>There are several advantages in robotic arc welding, compared to manual arc welding. When it comes to productivity and repeatability, robot is superior to man, which generates more even quality in products. In the end of the 1980’s, offline programming was put into practice. To program a robot offline means to perform the programming on a computer with no direct access to the robot. Through simulation, the robot program is visualized as a graphic model of the actual workcell, without having to take the actual robot out of production. For the offline programming system (OLP) to be efficient, the kinematics of the models need to correspond to its physical counterpart. A virtual model is always slightly different from the reality. That is why calibration is necessary. When the simulation program is complete and the calibration is done, the program needs to be translated to the language of the target robot. This is done through a post processor.</p><p>This thesis was written as an assignment from the company Delfoi. Delfoi has been using DELMIA IGRIP for offline programming of robotic arc welding for several years. DELMIA now has released a new generation of programs in the common platform V5. The platform includes for example DELMIA V5 Robotics and CATIA V5. The area of arc welding has been relatively unexplored. That is why the company wants to investigate how far V5 Robotics has developed in this area. The purpose is to investigate if the development of V5 Robotics has come far enough for V5 Robotics to be taken to customers for OLP of arc welding.</p><p>The work was begun by surveying the methodology used by Delfoi in arc welding in IGRIP. This has been done in the software UltraArc, which consists of the arc welding application from IGRIP. There was also a surveillance of the application of AMP, Arc weld Macro Programming, in offline programming of arc welding. The next step was to evolve a methodology for arc welding in V5 Robotics. The two softwares and their methodologies were then compared to find out whether or not V5 is enough developed for migration from IGRIP to V5 Robotics. Demonstrations of the method of working in V5 Robotics were held on Delfoi and on BT Industries in Mjölby, which is one of Deloi’s clients.</p><p>The conclusion of the writers is that V5 Robotics is ready to be used in OLP of arc welding. For companies using CATIA V5, there are great advantages in migrating from IGRIP to V5 Robotics. The methodoldgies of the softwares show great similarities, but some parts have been developed to the better in V5 Robotics. Though, the new software needs to be tested in real projects to assure that the entire process of programming functions satisfying before the change is completed.</p>

A grande maioria dos robôs industriais disponíveis no mercado é de alto desempenho, principalmente com relação à precisão de posicionamento. Este aspecto é um dos fatores que mais influencia no seu preço final, levando em consideração toda a complexa cadeia de elementos que fazem com que o robô opere corretamente, desde os motores e componentes mecânicos, passando pela arquitetura e sistemas de controle até o sistema de programação. Tendo isto em vista, este trabalho visa projetar um robô industrial com preço mais acessível, adequado para o uso em processos industriais que não necessitem altos níveis de precisão. Para a redução de custos de fabricação e de componentes do robô, este trabalho viabiliza o uso de atuadores pneumáticos lineares como fonte motriz, pois os mesmos são relativamente baratos, leves, não poluentes, de fácil montagem e operação, além de apresentarem uma boa relação peso/potência. Para tanto, foi implementado uma estratégia de controle por modos deslizantes com objetivo de superar as dificuldades impostas pelo comportamento não-linear dos componentes pneumáticos. Com relação à redução de custos de programação e operação do robô, desenvolveu-se um ambiente de programação off-line, através de softwares de auxilio à manufatura e de engenharia usualmente encontrados em ambientes industriais. A estratégia fundamental neste trabalho, foi o desenvolvimento de uma metodologia de projeto própria, concebida especificamente para a aplicação em projetos de robôs industriais, com os atributos de facilidade de execução e modularidade das fases envolvidas. A qual, no presente trabalho, apresenta o desenvolvimento de um robô cartesiano com três graus de liberdade acionado por atuadores pneumáticos lineares. / The great majority of industrial robots available in the market have high performance, especially relative to position accuracy. This aspect is one of the factors that most influence its final price, taking into account all complicated web elements that makes the robot operates in the correct form, since the actuators and the constructive part, passing by the architecture and control systems until the system of programming. According to these, the present work aims to project an industrial robot with more accessible costs, adequate to use in industrial process that not require high level of accuracy. For the reduction of manufacture and components costs of the robot, this work make viable to use of pneumatic actuators like a motive source, because are relatively cheap, light, not pollutants, easy assembly and operation, besides presenting a good relation weight/power. For such purpose, the strategy of control was implemented by sliding mode control for the objective to surpass the difficulties imposed by the non-linear behavior of the pneumatic components. About the reduction of programming and operation costs of the robot, an off-line programming environment was developed through manufacturing aided software and a software of engineering both usually found in industrial environments. The basic strategy in this work, was the development of an own methodology of project, conceived specifically for the application in projects of industrial robots, with the attributes of easiness of execution and modularization of the wrapped phases. That methodology, in the present work, presents the development of a Cartesian robot with three degrees of freedom actuated by pneumatic servo drive.

A grande maioria dos robôs industriais disponíveis no mercado é de alto desempenho, principalmente com relação à precisão de posicionamento. Este aspecto é um dos fatores que mais influencia no seu preço final, levando em consideração toda a complexa cadeia de elementos que fazem com que o robô opere corretamente, desde os motores e componentes mecânicos, passando pela arquitetura e sistemas de controle até o sistema de programação. Tendo isto em vista, este trabalho visa projetar um robô industrial com preço mais acessível, adequado para o uso em processos industriais que não necessitem altos níveis de precisão. Para a redução de custos de fabricação e de componentes do robô, este trabalho viabiliza o uso de atuadores pneumáticos lineares como fonte motriz, pois os mesmos são relativamente baratos, leves, não poluentes, de fácil montagem e operação, além de apresentarem uma boa relação peso/potência. Para tanto, foi implementado uma estratégia de controle por modos deslizantes com objetivo de superar as dificuldades impostas pelo comportamento não-linear dos componentes pneumáticos. Com relação à redução de custos de programação e operação do robô, desenvolveu-se um ambiente de programação off-line, através de softwares de auxilio à manufatura e de engenharia usualmente encontrados em ambientes industriais. A estratégia fundamental neste trabalho, foi o desenvolvimento de uma metodologia de projeto própria, concebida especificamente para a aplicação em projetos de robôs industriais, com os atributos de facilidade de execução e modularidade das fases envolvidas. A qual, no presente trabalho, apresenta o desenvolvimento de um robô cartesiano com três graus de liberdade acionado por atuadores pneumáticos lineares. / The great majority of industrial robots available in the market have high performance, especially relative to position accuracy. This aspect is one of the factors that most influence its final price, taking into account all complicated web elements that makes the robot operates in the correct form, since the actuators and the constructive part, passing by the architecture and control systems until the system of programming. According to these, the present work aims to project an industrial robot with more accessible costs, adequate to use in industrial process that not require high level of accuracy. For the reduction of manufacture and components costs of the robot, this work make viable to use of pneumatic actuators like a motive source, because are relatively cheap, light, not pollutants, easy assembly and operation, besides presenting a good relation weight/power. For such purpose, the strategy of control was implemented by sliding mode control for the objective to surpass the difficulties imposed by the non-linear behavior of the pneumatic components. About the reduction of programming and operation costs of the robot, an off-line programming environment was developed through manufacturing aided software and a software of engineering both usually found in industrial environments. The basic strategy in this work, was the development of an own methodology of project, conceived specifically for the application in projects of industrial robots, with the attributes of easiness of execution and modularization of the wrapped phases. That methodology, in the present work, presents the development of a Cartesian robot with three degrees of freedom actuated by pneumatic servo drive.

A grande maioria dos robôs industriais disponíveis no mercado é de alto desempenho, principalmente com relação à precisão de posicionamento. Este aspecto é um dos fatores que mais influencia no seu preço final, levando em consideração toda a complexa cadeia de elementos que fazem com que o robô opere corretamente, desde os motores e componentes mecânicos, passando pela arquitetura e sistemas de controle até o sistema de programação. Tendo isto em vista, este trabalho visa projetar um robô industrial com preço mais acessível, adequado para o uso em processos industriais que não necessitem altos níveis de precisão. Para a redução de custos de fabricação e de componentes do robô, este trabalho viabiliza o uso de atuadores pneumáticos lineares como fonte motriz, pois os mesmos são relativamente baratos, leves, não poluentes, de fácil montagem e operação, além de apresentarem uma boa relação peso/potência. Para tanto, foi implementado uma estratégia de controle por modos deslizantes com objetivo de superar as dificuldades impostas pelo comportamento não-linear dos componentes pneumáticos. Com relação à redução de custos de programação e operação do robô, desenvolveu-se um ambiente de programação off-line, através de softwares de auxilio à manufatura e de engenharia usualmente encontrados em ambientes industriais. A estratégia fundamental neste trabalho, foi o desenvolvimento de uma metodologia de projeto própria, concebida especificamente para a aplicação em projetos de robôs industriais, com os atributos de facilidade de execução e modularidade das fases envolvidas. A qual, no presente trabalho, apresenta o desenvolvimento de um robô cartesiano com três graus de liberdade acionado por atuadores pneumáticos lineares. / The great majority of industrial robots available in the market have high performance, especially relative to position accuracy. This aspect is one of the factors that most influence its final price, taking into account all complicated web elements that makes the robot operates in the correct form, since the actuators and the constructive part, passing by the architecture and control systems until the system of programming. According to these, the present work aims to project an industrial robot with more accessible costs, adequate to use in industrial process that not require high level of accuracy. For the reduction of manufacture and components costs of the robot, this work make viable to use of pneumatic actuators like a motive source, because are relatively cheap, light, not pollutants, easy assembly and operation, besides presenting a good relation weight/power. For such purpose, the strategy of control was implemented by sliding mode control for the objective to surpass the difficulties imposed by the non-linear behavior of the pneumatic components. About the reduction of programming and operation costs of the robot, an off-line programming environment was developed through manufacturing aided software and a software of engineering both usually found in industrial environments. The basic strategy in this work, was the development of an own methodology of project, conceived specifically for the application in projects of industrial robots, with the attributes of easiness of execution and modularization of the wrapped phases. That methodology, in the present work, presents the development of a Cartesian robot with three degrees of freedom actuated by pneumatic servo drive.