To provide point-to-point output motions needed for automation, intermittent indexing tables have widely been employed in various industries. For ensuring adequate production volume and profit margins, such devices are usually required to accurately generate intermittent motions as rapidly as possible. As a result, both of the positioning time and residual vibration are major concerns with the design of a fast, intermittent indexing table. A procedure that can be used to synthesize motor motion curves with minimized positioning time for intermittent indexing tables at high speeds is presented. First, based on the measured dynamic characteristic of an indexing table, it is then simulated to derive the equations of motion. Subsequently, favorable parameters for defining asymmetrical motor motion commands by S-curves for the modeled indexing table with improved kinematic and dynamic performance are identified. To verify the accuracy and effectiveness of the proposed approach, numerical and experimental results are revealed and compared to those obtained by using the traditional method.

This research is mainly about autonomously navigation of an agricultural wheeled mobile robot in an unstructured outdoor setting. This project has four distinct phases defined as: (i) Navigation and control of a wheeled mobile robot for a point-to-point motion. (ii) Navigation and control of a wheeled mobile robot in following a given path (path following problem). (iii) Navigation and control of a mobile robot, keeping a constant proximity distance with the given paths or plant rows (proximity-following). (iv) Navigation of the mobile robot in rut following in farm fields. A rut is a long deep track formed by the repeated passage of wheeled vehicles in soft terrains such as mud, sand, and snow. To develop reliable navigation approaches to fulfill each part of this project, three main steps are accomplished: literature review, modeling and computer simulation of wheeled mobile robots, and actual experimental tests in outdoor settings. First, point-to-point motion planning of a mobile robot is studied; a fuzzy-logic based (FLB) approach is proposed for real-time autonomous path planning of the robot in unstructured environment. Simulation and experimental evaluations shows that FLB approach is able to cope with different dynamic and unforeseen situations by tuning a safety margin. Comparison of FLB results with vector field histogram (VFH) and preference-based fuzzy (PBF) approaches, reveals that FLB approach produces shorter and smoother paths toward the goal in almost all of the test cases examined. Then, a novel human-inspired method (HIM) is introduced. HIM is inspired by human behavior in navigation from one point to a specified goal point. A human-like reasoning ability about the situations to reach a predefined goal point while avoiding any static, moving and unforeseen obstacles are given to the robot by HIM. Comparison of HIM results with FLB suggests that HIM is more efficient and effective than FLB. Afterward, navigation strategies are built up for path following, rut following, and proximity-following control of a wheeled mobile robot in outdoor (farm) settings and off-road terrains. The proposed system is composed of different modules which are: sensor data analysis, obstacle detection, obstacle avoidance, goal seeking, and path tracking. The capabilities of the proposed navigation strategies are evaluated in variety of field experiments; the results show that the proposed approach is able to detect and follow rows of bushes robustly. This action is used for spraying plant rows in farm field. Finally, obstacle detection and obstacle avoidance modules are developed in navigation system. These modules enables the robot to detect holes or ground depressions (negative obstacles), that are inherent parts of farm settings, and also over ground level obstacles (positive obstacles) in real-time at a safe distance from the robot. Experimental tests are carried out on two mobile robots (PowerBot and Grizzly) in outdoor and real farm fields. Grizzly utilizes a 3D-laser range-finder to detect objects and perceive the environment, and a RTK-DGPS unit for localization. PowerBot uses sonar sensors and a laser range-finder for obstacle detection. The experiments demonstrate the capability of the proposed technique in successfully detecting and avoiding different types of obstacles both positive and negative in variety of scenarios.

Improved actuator point-to-point positioning performance, as measured by settling time, has been demonstrated in the context of manufacturing automation applications such as circuit board assembly and other product-transfer operations. The control objective is to move a single mass in a single axis from a starting position to a target position following the fastest possible motion trajectory while meeting final-position accuracy requirements. The actuator's achievable force that is available for acceleration is the fundamental variable that determines optimal settling time. The actuator technology employed is the linear variable reluctance motor. Mathematical motor models and simulation programs have been developed to perform several tasks necessary for demonstrating improved actuator performance: (i) optimal commutation under force ripple constraints has been computed to determine ripple-specified force limits and to provide excitation waveforms necessary for force production, (ii) motion profiles for several positioning task scenarios have been generated based on computed ripple-specified force limits, (iii) state space integral position control simulations have been performed to evaluate the degree of success of the proposed relaxation of force ripple constraints in improving settling time and (iv) the computed settling times for positioning tasks have been examined in relation to the copper losses associated with them in order to assess the trade-off. It has been shown that higher force capability is achieved when force-ripple constraints, which have been customarily emphasized in positioning applications, are relaxed. The higher capability is exploited by adopting faster motion trajectories, which are then imposed under feedback control to achieve faster settling time. Improved force capability with relaxed ripple constraints is demonstrated by generating average force versus speed capability curves under ripple constraints ranging from minimal ripple to unconstrained ripple. Improved positioning performance, with relaxed ripple constraints and without violating the final-position accuracy specification, is demonstrated by computing and comparing settling time for multiple positioning tasks with trajectories based on both extremes of force capability, lowest (no-ripple) and highest (unconstrained-ripple) force limits. The results have been demonstrated for two LVR motor configurations: one motor configuration represents typical (switched) linear and rotary variable reluctance motors while the other exhibits features of both switched and synchronous varieties of variable reluctance motors.

<p> This thesis is an investigation of some of the aspects of costing and machining that are applicable to numerically controlled (N/C) machine tools with particular reference to the facilities at McMaster University,and is divided into two sections. </p> <p> Section A is a brief discussion of the suitability of N/C for simulation methods and a review of the principles of metal cutting and the problems involved in estimating costs. A method is devised to simulate the machining of "typical" parts that have been generated by a random strategy. The results of the simulation were used to find a relationship between the geometric parameters of each part and the time required for all the machining operations to make that part, this relationship was called the "complexity factor" for the part. Sugestions for possible future extensions to the work were made.</p> <p> Section B is a feasibility study for increasing the range of use of a Moog point-to-point N/C machine to contouring, using the computer facilities available at McMaster University. It was proposed to produce a numerical control tape to machine a general oval based on a method of approximate linear interpolations using an on-line, time sharing computer terminal and a PDP "mini computer". The contouring method was tested by machining a circular groove (an oval with equal major and minor axes) and measuring the accuracy. The possibility of extending the work to other contours and three dimensional solids is discussed.</p> / Thesis / Master of Engineering (MEngr)

<p> This thesis is a feasibility study of the application of a point-to-point numerical control (N/C) machine for contour cutting work. It comprises three basic parts which are divided into ten chapters. </p> <p> The first part deals with the primary objectives of this project and the N/C machine's hardware and software descriptions. </p> <p> The second part introduces the utilization of computer-aided programming and presents an original translation program necessary for this particular work. </p> <p> The last part gives several examples and describes the outcomes of the study; and is concluded with some objective discussions. </p> / Thesis / Master of Engineering (MEngr)

No description available.

In real world applications such as rescue robots, service robots, mobile mining robots, and mine searching robots, an autonomous mobile robot needs to reach multiple goals with the shortest path while avoiding obstacles. In this thesis, we propose Artificial Immune System (AIS) based algorithms and two hybrids based on AIS associated with the Simulated Annealing (SA) algorithm and Voronoi Diagram (VD) for real-time map building and path planning for multi-goal applications. A global route is initially planned by the Immune System Algorithm (ISA). Then the created path is used to guide the robot to multiple waypoints following the foraging trail. An AIS-based point-to-point navigator is also proposed and tested here, which is used to navigate the robot along a collision-free global route. The proposed hybrid ISA model integrated with SA or VD algorithm aims to generate paths while a mobile robot explores terrain with map building in an unknown environment. We explore the ISA algorithm with simulation and comparison studies to demonstrate the capability of the proposed hybrid model of AIS and SA or AIS and VD algorithms in achieving a global route with minimized overall distance. Simulation and comparison studies validate the efficiency and effectiveness of the proposed hybrid models. They also confirm that concurrent multi-waypoint navigation with obstacle avoidance and mapping of an autonomous robot is successfully performed under unknown environments.

<p>Organizations often have information systems belonging to different computer generations. These systems contain much valuable data to the organizations concerned. However, these systems are often unable to communicate with each other, due to incompatibilities. Moreover, replacing these systems with new systems is also very costly. Therefore the latest trend is integrating the existing systems with each other with the help of different system integration technologies. When the systems are integrated with new technology they bring about various effects to the organizations in concern.</p><p>The purpose of this thesis is to find out how system integration affects an organization in the photo and home electronics branch, namely Expert. The questions that will be raised in this thesis are how does system integration affect the organization’s work processes and how does system integration affect the organisation’s employees. I have studied how system integration has affected the work processes and employees of the retail stores. In order to find answers to these questions three qualitative interviews were carried out. One interview took place in the central organization and the rest in retail stores in Linköping.</p><p>There are many reasons, which led Expert towards using system integration. Some of the main reasons are increased profitability and decreased costs for maintenance and upgrading of different systems. Further, the retail stores required better information channelling and streamlining of work processes in order to provide salesmen at retail stores possibility to concentrate more on customers by minimising administrative work.</p><p>I have found that system integration has affected the organization’s work processes and its employees both positively and negatively, in other words system integration has helped Expert to decrease administration work, provided salesmen at retail stores more time to deliver better service to customers, has automated key work processes saving time and reducing redundancy of work. Even if, the organization is quite satisfied with the benefits the existing system integration technologies have rendered to them, there are many more privileges, which can be achieved.</p>

Organizations often have information systems belonging to different computer generations. These systems contain much valuable data to the organizations concerned. However, these systems are often unable to communicate with each other, due to incompatibilities. Moreover, replacing these systems with new systems is also very costly. Therefore the latest trend is integrating the existing systems with each other with the help of different system integration technologies. When the systems are integrated with new technology they bring about various effects to the organizations in concern. The purpose of this thesis is to find out how system integration affects an organization in the photo and home electronics branch, namely Expert. The questions that will be raised in this thesis are how does system integration affect the organization’s work processes and how does system integration affect the organisation’s employees. I have studied how system integration has affected the work processes and employees of the retail stores. In order to find answers to these questions three qualitative interviews were carried out. One interview took place in the central organization and the rest in retail stores in Linköping. There are many reasons, which led Expert towards using system integration. Some of the main reasons are increased profitability and decreased costs for maintenance and upgrading of different systems. Further, the retail stores required better information channelling and streamlining of work processes in order to provide salesmen at retail stores possibility to concentrate more on customers by minimising administrative work. I have found that system integration has affected the organization’s work processes and its employees both positively and negatively, in other words system integration has helped Expert to decrease administration work, provided salesmen at retail stores more time to deliver better service to customers, has automated key work processes saving time and reducing redundancy of work. Even if, the organization is quite satisfied with the benefits the existing system integration technologies have rendered to them, there are many more privileges, which can be achieved.

In the short-range wireless communication and networking, Bluetooth is a promising technology, mainly used as a replacement for connected cables. Since the Bluetooth specification only defines how to build a Piconet, several solutions have been proposed to construct a Scatternet from the Piconets in the literatures. The process of constructing a Scatternet is called the Scatternet formation. The traditional scatternet formation has three defects: First, more power and time need to be consumed in order to construct the scatternet. Second, after the scatternet is formed, more power and bandwidth are required to maintain the connection of scatternet. Third, due to the restriction of topology, the communication between two nodes must be relayed through the bridge or master, even when they are in the communication range. In this thesis, we propose a novel method in the transmission ranges of all the other nodes to form temporary point-to-point piconet only when two nodes want to communicate with each other. When the communication is finished, the temporary point-to-point piconet is destroyed immediately. Two nodes in the communication range can communicate with each other directly without the relay node. Our On-Demand Point-To-Point Piconet Formation (ODP2P) scheme resolves the defects of traditional scatternet formation in communication range. In order to reduce the communication delay, every node owns its list to record the information of all nodes within the communication range. An on-event method maintains the list. Network performance analysis and simulations show that our method can reduce the routing path significantly, provide better utilization for Bluetooth personal area network (PAN), and maintain the range list efficiently.