bluuebunny/crossref_metadata_2025 huggingface dataset:
Définition de deux systèmes dialectiques de reconnaissance présents au sein des organisations
Authors: Roche Alexis
Published: May 2015

Les demandes de reconnaissance se développent ces dernières décennies dans les organisations au regard des efforts de plus en plus importants demandés aux salariés. Par ailleurs, les écarts de pratiques sont de plus en plus visibles entre les pays, entre les organisations et entre les individus. Le besoin d’une confirmation identitaire et l’appel à plus d’équité dans les pratiques deviennent des éléments déterminants de l’implication des salariés ainsi que de la stabilité de leur santé mentale et physique. La manière dont est gérée la reconnaissance semble donc impacter positivement ou négativement la performance socio-économique des organisations. Le concept de reconnaissance est un objet de recherche transdisciplinaire et transversal. Ce concept est émergent en sciences de gestion. De plus, les liens entre les concepts de reconnaissance et de performance sont peu explorés de manière globale et systémique. Nous nous intéressons dans cet article à l’identification des systèmes organisationnels de reconnaissance, caractérisés par des pratiques différentes, ainsi qu’à leurs effets sur différents items de la performance (efforts déployés par l’individu dans l’organisation, coopération, santé mentale et physique). Nous explorons, à travers deux recherches-interventions, les pratiques des individus qui caractérisent les systèmes de reconnaissance et nous développons le concept de « reconnaissance activatrice » c’est-à-dire les pratiques de reconnaissance stimulant la performance individuelle et collective des individus. Enfin, nous montrons en quoi les pratiques ancrées dans le système de reconnaissance réciproque sont plus efficaces pour une performance sociale et économique durable.
Advances In Mining Engineering Education: A Case For Learning Communities
Authors: Hitch Michael
Published: May 2015

Mining engineering involves the design, planning and management of operations for the development, production and eventual rehabilitation of resource extraction. These activities draw on a diverse set of skills. University of British Columbia mining engineers have traditionally been highly regarded for their strengths in the technical aspects of mining and mineral process but also for their understanding of the application of principles of sustainability and social responsibility. The current view of the UBC Mining curriculum demands the integration of aspects of environmental and social sciences shaping the future of tertiary engineering education. The solution is developing a curriculum that is focused on key learning objectives that are a reflection of all these external pressures. This paper examines the challenge of curriculum reform and the emergence of learning communities at the Norman B. Keevil Institute of Mining Engineering at the University of British Columbia, Canada.
Problem-centric Process for Research-based Learning
Authors: Shaban Khaled , Abdulwahed Mahmoud , Younes Abdunnaser
Published: May 2015

Research-based Learning (RbL) extends Inquiry and Project-based Learning by facilitating an early stage exposure and training for future scientists through authentic research activities. In this paper, an iterative problem-centric RbL process is introduced, and its activities and management aspects are described. The process helps implement course-integrated research systematically and practically. Furthermore, the novel process follows constructivist methods in incorporating inquiry, scaffolding, open-ended projects, as well as a goal oriented learning approach. The RbL process is adopted in two advanced computing courses, at two different universities: a leading comprehensive Western university and a new university in a developing country. The paper summarizes new lessons learned in these rewarding experiences. In particular, the instructor should help students start their projects, by providing them with previous work or data and pre-approving the papers to review by students. He should also maintain a continuous feedback to and from students to keep the students motivated and help the instructor refine and adapt the RBL process. We note that research collaborators can help students in identifying the research topics early. The paper also shows how to alleviate difficulties that may be encountered by students who find the novel approach demanding, and consequently it also helps the instructors better manage the course contents.
A Rubric to Enrich Student Writing and Understanding
Authors: Larkin Teresa L
Published: May 2015

The importance of effective communication, both written and oral, has been widely documented within the STEM community. In fact, the ability to communicate effectively is a skillset that is often required by employers. Oftentimes it is challenging to make the transition from academia to the work place. The ability to communicate well is a critical element of this transition. This paper will describe a more authentic experience using a professional conference format that provides students an opportunity to sharpen both their written and oral communication skills. The professional conference paper activity has been utilized in a second-level physics course at American University for 15 years. The conference paper activity allows students to experience all aspects of a professional conference, which is something that they do not get in other courses. This paper will describe the conference paper activity and focus on the use of a rubric that has recently been implemented in order to assist students during multiple phases of the writing process. Through the conference paper, students must communicate about a technical topic in physics while simultaneously connecting that topic to their major field of study. Numerous steps are involved in the paper writing process and each one is designed to emulate an actual conference. The conference paper activity and the associated rubric discussed in this paper offer a unique opportunity for multiple points of feedback, both from the instructor and from their classmates, while the writing process is taking place. Too often in academia a writing activity is designed in such a way that students merely submit their final written papers for a grade. Once a final paper is submitted, there is no opportunity for feedback that will aid in the actual development and writing of the paper. A more traditional paper writing experience does not provide opportunities for formative feedback prior to submission of the final paper. Hence, students do not have the necessary opportunities to really think about and reflect on what they are writing. This paper will address the importance of providing this more formative feedback using a unique rubric designed to assist students while the writing is actually taking place. A summary of students’ perceptions of this process will also be provided.
Lecture Meets Laboratory - Experimental Experiences for Large Audiences: Results of a First Implementation and Recommendation
Authors: Nofen Barbara , Temmen Katrin
Published: May 2015

In this article, the inclusion of practical experiments in a large-scale engineering lecture will be discussed (both positive as well as negative aspects). Recommendations for how best to achieve a successful implementation will be given based on these experiences.
Non‐destructive assessment of hot mix asphalt compaction/density with a step‐frequency radar: case study on a newly paved road
Authors: Fauchard Cyrille , Beaucamp Bruno , Laguerre Laurent
Published: May 2015

A Step‐Frequency Radar (SFR) is used for assessing the compaction of Hot Mix Asphalt (HMA) layers. The system is composed of a network analyser and an Ultra Wide Band (UWB) antenna placed above the road surface. The measurements are carried out on a newly paved road in Cagny (Normandy, France). The SFR system provides the permittivity of the first overlay. The data is corrected from vehicle vibrations and calibrated at fixed locations. Then, the HMA compaction is deduced with a Lichtenecker–Rother (LR) model. The results are compared with standard tests (gamma bench testing on cores and in‐place nuclear gauge). We show that the SFR system allows the nondestructive assessment of HMA overlay with a high density of points and with accuracy close to the compaction provided by standard tests.
Realigning Governance
Authors: Ngwenya Bongani
Published: May 2015

This chapter posits that Governance realignment from e-Government to e-Democracy constitutes a critical context for social and economic development in both developed and developing countries. E-Government and e-Democracy are not new phenomena in most developed countries and some developing countries in Asia and Africa. However, the degrees of political and economic variations between developed and developing countries poses a serious challenge to the efforts towards realignment of governance for social and economic development attainment. The findings in this chapter are that social and economic development lie at the intersection of e-Government and e-Democracy processes of governance realignment. Asymmetry in institutionalisation, and diffusion of e-Democracy amongst countries is widely attributed to economic and political variations in these countries. Unless these differences are skillfully identified and accommodated as such into the development and use models, e-Democracy efforts will not help achieve social and economic development goals, particularly those of developing countries.
Increasing Voter Turn-Up Using Mobile Phones as a Voting Tool
Authors: Eilu Emmanuel
Published: May 2015

Because of defective elective elections which have been witnessed in the African continent for decades, some African countries have jumped onto the bandwagon of using electronic voting (e-Voting). E-Voting entails the use of technology in the voting processes. This chapter brings out the progress that has been made so far in e-Voting and comments on the extent to which this impacts the advancement of the overall principles of a democracy. The lessons outlined in the chapter may go a long way in informing future e-Voting interventions, especially in a developing world context.
Citizens and E-Government: Perceptions in Nigeria
Authors: Olasina Gbolahan
Published: May 2015

Governments and public-sector managers worldwide have within the last decade come to the realization that Information and Communication Technology (ICT) is a viable tool that can help them achieve their aims. The chapter reviews literature on e-Government services and applications and the perceptions of citizens of adoption in the context of Nigeria. The methodology is a review of related literature that draws conclusions specifically to propose a plan for the adoption and the use e-Government services in Nigeria. The chapter highlights the contemporary issues of e-Government adoption in Nigeria. This chapter suggests a link between the citizens' negative perceptions and distrust of government in general and their hesitance and reluctance to embrace e-Government in particular.
E-Government Initiative
Authors: Hussin Nurussobah , Saman Wan Satirah Wan Mohd
Published: May 2015

Vision 2020 was launched by the Malaysian Government in 1992 with the aim to turn Malaysia into a developed country by 2020 while retaining its social strengths. A number of E-Government initiatives were introduced and implemented in phases. Most of the public services are now delivered electronically via e-Government applications. In the legal environment, two main initiatives were brought into existence with the name of E-Court and E-Shariah. They change the way judicial administration operates where most of the transactions were performed using technologies. This chapter presents the current status of technology use in the court environment. It also highlights various international and national requirements and best practices of Electronic Records Management and Court Management. These requirements and best practices are important to protect the reliability, accuracy, authenticity and the trustworthiness of electronic records as evidence. Finally, it provides a comprehensive description of the key functions of electronic records management requirements as one of the ways to improve the operations of managing electronic records in the Malaysian Judiciary.
Understanding Methodology Aspects for Measuring Multi-Dimensional E-Government
Authors: Bwalya Kelvin Joseph
Published: May 2015

Because of its multi-dimensionality, measuring the degree of development of e-Government has not been easy regardless of the context in which the measurement is done. This chapter intends to bring out the inherent entities with regards to measuring any aspects of e-Government. The chapter presents a synoptic overview of the different methodological approaches that have been utilised in both developed and less developed countries with regard to measuring e-Government. Generally, e-Government research has been met with methodological inconsistencies and weakness both in scope and usefulness in understanding the full gamut of e-Government. Further, it is not difficult to observe that most studies excessively utilise qualitative methods with higher degrees of Case Studies and non-empirical research. The need for empirical research cannot be overemphasised because such research has the potential to generate original theories and frameworks and/or models that are going to be key reference points with regards to implementation.
A Conceptual Model for the Measurement of E-Government 2.0 Adoption by Developing Countries
Authors: Vasileios Yfantis , Usoro Abel , Dimitrios Tseles
Published: May 2015

The current work explores the use of social computing as a tool to improve the interactions between the government and other parties. Social computing, which is known as Web 2.0, is applied in the public sector through the concept of e-Government 2.0. This chapter proposes a conceptual model that will measure e-Government 2.0 adoption by combining known information technology theories. The conceptual model is based on a combination of the Technology Acceptance Model, Theory of Planned Behavior and indexes from the United Nation's database. Future research should validate the empirical model. Meanwhile, the implications of the model are presented.
Research and Experiences in Implementing E-Government Endeavors in Emerging Countries
Authors: Bolívar Manuel Pedro Rodríguez , Muñoz Laura Alcaide , Hernández Antonio M. López
Published: May 2015

The analysis of e-Government is of particular importance in developing countries because it constitutes a central element in the process of modernizing public administrations and strengthening governance within democratic societies. This chapter seeks to analyze the research efforts and directions in the field of e-Government performed in developing countries as well as past experiences in the implementation of e-Government in developing countries to learn some lessons for improving future implementation of e-Government, which could help to achieve more transparent, participative and democratic societies. Analysis indicates that e-Government implementations need to be analyzed from a systemic thinking approach, which suggests the use of strategic planning for e-Government success. International bodies should fund activities that allow developing countries to achieve political and social changes needed to make e-Government implementations successful and should monitor e-Government efficiency in developing countries with the aim at improving economic, democratic and social development of these countries.
The ICT and the Legislation on Transparency and Freedom of Information
Authors: Sáez-Martín Alejandro , Haro-de-Rosario Arturo , García-Tabuyo Manuela , Caba-Pérez María Del Carmen
Published: May 2015

The many cases of corruption that have come to light, among other scandals, have led the public to lose faith in the management of public institutions. In order to regain confidence, the government needs to inform its citizens of all its actions. Public information should be accessible and controlled by means of a regulatory framework. The aim of this chapter is to analyze the transparency achieved and the progress still needed to be made by Dominican Republic municipalities with regards to complying with the requirements of the law on public information management. The chapter discusses the voluntary transparency achieved and factors that affect the implementation of information policies. The results highlight deficiencies in certain areas of online public information disclosure. The population size, economic capacity and electoral turnout are all factors that affect the online dissemination of public information by local governments in the Dominican Republic.
Indexing Outline Shapes Using Simple Polygons
Authors: Aouat Saliha
Published: May 2015

In this paper, a new approach is proposed for modeling and indexing outline shapes by using simple primitives extracted from the contours of objects. The primitives are line segments and curves described with few bytes of text thanks to use of parametric equations of those primitives. The author also proposes a new and an efficient way to index the outline shapes. Indexes are issued from characteristic polygons determined on the outline shapes of objects. Despite the recognition process is not the aim of their method, the proposed indexing process only is sufficient to retrieve a few most similar models for a given query. Experiments are done on synthetic and real images and give very encouraging results in order to apply the author's approach to the recognition process which will be the next step after this work.
Document Summarization Using Sentence Features
Authors: Rautray Rasmita , Balabantaray Rakesh Chandra , Bhardwaj Anisha
Published: May 2015

Problem of exponential growth of information available electronically, there is an increasing demand for text summarization. Text summarization is the process of extracting the contents of the original text in a shorter form that provides useful information to the user. This paper presents a summarizer to produce summaries while reducing the redundant information and maximizing the summary relevancy. The proposed model takes several features into an account, including title feature, sentence weight, term weight, sentence position, inter sentence similarity, proper noun, thematic word and numerical data. The score of each feature for the model can be obtained from the document sets. However, the results of such models are evaluated to measure their performance based on F-score of extracted sentences at 20% compression rate on a C-50 data corpus. Experimental studies on C-50 data corpus, PSO summarizer show significantly better performance compared to other summarizer.
Building CLIA for Resource-Scarce African Languages
Authors: Tune Kula Kekeba , Varma Vasudeva
Published: May 2015

Since most of the existing major search engines and commercial Information Retrieval (IR) systems are primarily designed for well-resourced European and Asian languages, they have paid little attention to the development of Cross-Language Information Access (CLIA) technologies for resource-scarce African languages. This paper presents the authors' experience in building CLIA for indigenous African languages, with a special focus on the development and evaluation of Oromo-English-CLIR. The authors have adopted a knowledge-based query translation approach to design and implement their initial Oromo-English CLIR (OMEN-CLIR). Apart from designing and building the first OMEN-CLIR from scratch, another major contribution of this study is assessing the performance of the proposed retrieval system at one of the well-recognized international Cross-Language Evaluation Forums like the CLEF campaign. The overall performance of OMEN-CLIR was found to be very promising and encouraging, given the limited amount of linguistic resources available for severely under-resourced African languages like Afaan Oromo.
Challenges in Organizational Control
Authors: Zhang Yanli , Yao Zhiyong
Published: May 2015

Organizational control is an important while challenging topic. Both the organizational economics and management literature have studied extensively the mechanisms of organizational control and have each arrived at important insights. However, these two literatures have developed largely separately and do not communicate with each other. By combining insights from both organizational economics and management literature, the authors assess the strengths and weaknesses of each of the three types of organizational control methods: incentives, monitoring, and social control. They conclude that as jobs nowadays are increasingly more complex, organizations need to combine the three control mechanisms to motivate their employees to achieve the cooperative behaviors and to fulfill the goals of the organizations.
Particle Swarm Optimization For Hidden Markov Model
Authors: Hewahi Nabil M.
Published: May 2015

Hidden Markov Model (HMM) is a very well known method as a statistical model used for intelligent systems applications. Due to its involvement in various applications, it would be very important to have a good representation of HMM for the given problem to achieve good results. In this paper, we propose a theoretical approach that can be followed to obtain the best structure of HMM based on Particle Swarm Optimization (PSO) concepts. Given a set of comprehensive visible and invisible states, we propose a method based on PSO concepts to evolve an optimum HMM structure design. The proposed approach deals with two factors related to HMM, generating new states and updating probability values. The main steps followed in the proposed approach involve three main phases, the first phase is generating randomly a population of HMMs, the second phase is converting the generated HMM to PSO required format and the third phase is the application of PSO to find out the optimum HMM . The importance of the proposed approach over other previous approaches is that other approaches deal only with probability updating.
Rigid versus Flexible Link Dynamic Analysis of a 3DOF Delta Type Parallel Manipulator
Authors: Cretescu Nadia Ramona , Neagoe Mircea
Published: May 2015

This paper presents a comparative kinematic and dynamic analysis of a Delta parallel robot based on numerical simulations of the rigid vs. flexible links robot models. The flexible links numerical models are derived using AutoFlex module of Adams software. Finally, the conclusions regarding the obtained results useful in manipulator constructive design are presented.
Influence of Link Lengths on the Workspace of a Parallel Topology Robot
Authors: Miclosina Calin Octavian , Korka Zoltan Iosif , Cojocaru Vasile
Published: May 2015

This paper proposes a study on the workspace of the guiding device mechanism of a parallel topology robot. The kinematical scheme and the geometrical model of the guiding device mechanism of the parallel topology robot are presented. The lengths of binary links between the platforms determine the shape and the volume of the parallel robot’s workspace; different boundaries of the workspace are presented. Thus, variation of the workspace in both volume and shape is studied, depending on the binary link lengths, using for modeling and simulation SolidWorks software.
Virtual Planning of Needle Trajectories Using a Haptic Interface for a Brachytherapy Parallel Robot: An Evaluation Study
Authors: Gîrbacia Florin , Gherman Bogdan , Butnariu Silviu , Plitea Nicolae , Talabă Doru , Pîslă Doina
Published: May 2015

Brachytherapy (BT) is a modality to treat cancer by inserting needles into a patient to deliver radioactive sources direct to the diseased tissue. The efficiency of the treatment is determined by the positions of the needles. A robot can be used in order to increase the precision of the needles locations. This paper presents an approach for needle trajectory planning based on isomorphic mapping from a haptic device. A virtual reality environment has been modelled containing a 3D reconstructed abdominal model of the patient. Needle insertion using the BT robot is controlled using a Force Dimension Omega haptic device. The developed software application allows the users to practice robotic needle insertion and to determine the most appropriate locations for the BT needles.
Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task
Authors: Tătar Mihai Olimpiu , Ardelean Ioan , Mândru Dan
Published: May 2015

Inspection and exploration represent a challenging domain in the field of robotics because of the hazardous and limited workspace to which the robots have to adapt and because of the reduced ability to monitor and acquire data about the inspected environment. A pipeline inspection robot must ensure sufficient traction force to pull its tether cable and other equipment while travelling inside a pipeline to complete inspection, maintenance, and repair tasks. This paper presents the design of three minirobots with adaptable structure for in pipe inspection and the experimental determination of their traction force. To measure the traction force of the minirobots, the Xplorer GLX digital measuring device was used.
Differential Formulation for the Coefficient of Restitution of a Rigid Link
Authors: Cojocaru Dorian , Marghitu Dan B.
Published: May 2015

The differential impact equations of motion are developed using an nonlinear contact force. The nonlinear equations of motion are written using symbolical MATLAB and are solved using numerical techniques. The impact equations are based on the Kogut-Etsion model. The numerical results are obtained for different geometries of the link, different coefficients of friction, and different initial conditions. The coefficient of restitution (COR) is discussed for specific cases. The results can be used for the impact of mobile robots with different type of surfaces.
Autonomous Robot for Mining Exploration: A Structomatical and Kinematical Model for Uneven Ground
Authors: Ene Marin , Simionescu Ion , Moise Victor , Tabara Iulian , Mailloux Maxime
Published: May 2015

This paper deals with the analysis of the mechanical system of a self-propelled vehicle on the tires able to move on an uneven ground whilst his platform stays horizontally. It is question to simulate the movement of a desmodromic robot which moves in an environment represented by a 3D surface. The robot has a mechano-hydraulic system which is able to modify the geometry of chassis in the aim of maintaining the platform always at horizontal while in movement, no matter the soil configuration (of course between some limits).The horizontalisation mechanism with the rolling train hydraulically driven presents some difficulties because of the non holonomic constraints of the wheels ([1, 2]). In order to make the application of the multipoles theory in the structomatical model must be introduce some simplifications in the contact joint. Thus, the non holonomic joints are presented like gamma active joints (with the condition of controlled rolling/skidding).This is an extension of the general principle of mechanism formation ([3]) according who any mechanical structure can be broken in genes upon an unique formula (the genetic code of the mechanism).Because of the complexity of the calculus the study of mechanism was divided in a few chapters: geometrics, structomatics, kinematics, kinetostatics and dynamics etc. The uttermost important and difficult part is the kinematical model because of the non-linearity of the equations. This article presents the first two items; the others will be the matter of future papers.
Natural Interaction with an Assistive Humanoid Robot
Authors: Boboc Răzvan , Duguleană Mihai , Talabă Doru
Published: May 2015

This paper addresses the concept of “natural interaction”, defined as a way to interact in a simple, human-like and intuitive manner with personal assistive robots. A human-robot interaction system was developed for this purpose in order to provide means for expert and non-expert users to cooperate and interact with an assistant humanoid robot (Nao) operating in a domestic environment, allowing them to express their instructions as combinations of gestures and speech inputs.
Matlab Application for Hexapod Robot Locomotion over Obstacles
Authors: Manoiu-Olaru Sorin , Nitulescu Mircea
Published: May 2015

In this paper the authors present a software platform made using Matlab for studying hexapod robot stability in gravitational field and some basic locomotion simulations over obstacles. For the proposed design of the leg was calculated the kinematical model and a workspace analysis was made. The trajectory generator for the leg tip was implemented using piecewise cubic spline interpolation method. Next are presented the most common types of obstacles and the influence upon robot locomotion. The analysis of the robot static stability is made for different cases of loco-motion. The paper includes some simulation results related to the static gravitational stability de-pending on the support polygon, single leg control and locomotion over common types of obstacles.
Structural and Kinematic Particularities of the Micro-Robot Mechanisms
Authors: Dugaesescu Ileana , Comanescu Dinu , Comanescu Adriana
Published: May 2015

Due to their dimensions the micro-robots generally have a mono-mobile mechanical structure. This includes mechanisms acted by a single motor and consequently one input and multiple outputs. Such micro-robots have a fixed displacement strategy. The paper deals with the structural and kinematic characteristics of a robot complex mechanism with gears, cam and bars applied in different purposes [2, 3, 4, 5]. The systems may be equipped with various types of sensors such as tactile, proximity, sound and light ones.
Brushless Servomotor’s Thermal Behavior Computer Assisted Evaluation for a Linear Motion NC Axis Experimental Stand
Authors: Nicolescu Florin Adrian , Avram Georgia Cezara , Ivan Andrei Mario , Mantea Adrian Theodor
Published: May 2015

The paper presents works carried out by the authors in the field of NC axes’ structural and functional optimization. This paper includes the results obtained by using a MathCAD application (developed in the doctoral thesis of the second author) for the servomotor's thermal behavior computer assisted evaluation. The analyzed servomotor is included in the driving system of a linear motion NC axis experimental testing stand, (existing in MMS department from EMTS Faculty). The NC axis of the experimental stand integrates a FAGOR brushless servomotor, a 1:1 ratio belt drive intermediary transmission, a ball screw - bearings assembly (lead screw - ball nut - bearings) and a driven element guided through a ball rail system. The MathCAD application was developed in order to perform specific calculation for servomotor's thermal energy dissipation and maximum operating temperature evaluation, and allows to perform the assisted final check and optimum selection of the electrical driving servomotors based on these results. The paper presents, through some screenshots from running the MathCAD application, the computer assisted evaluation procedure and results of the brushless servomotor's thermal behavior analysis corresponding to analyzed NC axis (included in the experimental stand).
Presenting a Railbound Forging Manipulator
Authors: Petrescu Florian Ion , Petrescu Relly Victoria
Published: May 2015

Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationships between outputs and inputs have greatly influence about the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper one presents the general aspects of a railbound forging manipulator, like geometry, structure, general kinematics and forces of the main mechanism from such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.
Hybrid Analytical Analysis in the Design of Mechatronic Systems
Authors: Hancu Olimpiu , Simion Mihaela , Lăpuşan Ciprian
Published: May 2015

Coupling the structural analysis with the motion analysis in one simulation (hybrid analysis) provides an important mechanism which allows an integrated and optimal approach in the design of mechatronic systems. Such a procedure which includes Matlab/Simulink calculus and visualization of main efforts variation in each structural element of a robot during an entire operational task, allowing coupling structural analysis with motion analysis and testing the virtual prototype on multiple task scenarios is detailed in this paper. Also, the utility of this analysis (information) and ways to improving the control strategy for resources management of an intelligent mechatronic system are emphasized.
Monitoring and Control of Dual-Arm Industrial Robot Tasks Using IoT Application and Services
Authors: Murar Mircea , Brad Stelian
Published: May 2015

In the context of latest technological revolution, Industry 4.0, connectivity and therefore access and control of cyber-physical systems and resources from any place, at any time by any means represent a technological enabler of crucial importance. The first part of this paperwork contains a brief introduction of cyber-physical systems and IoT concepts, together with a review of major IoT providers. The second part introduces an approach towards achieving connectivity and remote control of task selection for a dual-arm industrial robot using a commercially available IoT infrastructure and technology provided by ioBridge. Within the third part, details about experimental testing and evaluation of the selected solutions are presented. The last part is allocated for conclusions and further research directions.
Kinematic Study of Industrial Robots
Authors: Popa Constantin , Duţu Mihaela Florentina , Voiculescu Luminiţa , Ovanisof Alina , Dragomir Maria
Published: May 2015

The efficiency of the technological operations executed by robots depends on how their kinematic parameters were calculated. This paper presents the exactly calculus of the robots kinematics parameters. As the algorithm has a substantial number of operations, it is necessary to use the computer.
Design and Simulation the Manipulator SI2M Used in Microfactories
Authors: Noveanu Simona , Rusu Călin , Mândru Dan
Published: May 2015

In the precision engineering field, a large number of applications require precise and micro-level manipulation. In the last decade the demand of micro products and miniaturization has seen a wide spread growth. The microfactories concept was first developed in In the precision engineering field, a large number of applications require precise and micro-level manipulation. In the last decade the demand of micro products and miniaturization has seen a wide spread growth. The microfactories concept was first developed in the late twentieth century in Japan. With the development of the microfactories field has evolved the compliant mechanisms field. In this paper a microrobotic cell with an original manipulator for microassembly with a compliant gripper is designed, simulated and analyzed. The compliant gripper is mounted on a five bar mechanism with conventional joints in order to achieve a larger workspace. The vertical motion is produced by the linear actuator. The kinematics of the five bar mechanism and the workspace boundaries are analyzed based on the input parameters. For the compliant gripper is realized a 3D model and FEM analysis is conducted based on input displacement by the piezoelectric actuator. late twentieth century in Japan. With the development of the microfactories field has evolved the compliant mechanisms field. In this paper a microrobotic cell with an original manipulator for microassembly with a compliant gripper is designed, simulated and analyzed. The compliant gripper is mounted on a five bar mechanism with conventional joints in order to achieve a larger workspace. The vertical motion is produced by the linear actuator. The kinematics of the five bar mechanism and the workspace boundaries are analyzed based on the input parameters. For the compliant gripper is realized a 3D model and FEM analysis is conducted based on input displacement by the piezoelectric actuator.
Synthetic Representation of the Robotic Assembly
Authors: Tabără Iulian
Published: May 2015

The study of the best conditions to accomplish the robotic assembling imposes the determination of the restrictions imposed by the characteristics of the desired assembling. To analyze the requirements imposed to the assembling robot in this paper there have been considered Petri Graphs with dynamic markings. These schemes allow a synthetic representation of the assembling process and they praise clearly the active phases of the robot.
Increasing the Efficiency of Robotic Manufacturing Systems by Layout Optimization
Authors: Mocan Bogdan , Buna Darius , Fulea Mircea , Brad Stelian
Published: May 2015

To achieve high efficiency in a robotic manufacturing system, an optimized layout arrangement and material flow path design are important due to the large percentage of product cost that is related to material handling, equipment positioning, material flow path, and products variety and volume (flexibility). Facility layout problem (FLP) can be considered as a multi-criteria problem due to presence of the qualitative criteria such as flexibility and the quantitative criteria for instance total cost of handling material. In this paper, we combined a well-known facility layout algorithm (CRAFT) with Analytic Hierarchy Process (AHP) technique and decision matrix method to facilitate a multi criteria evaluation. The proposed approach aims to incorporate qualitative criteria in addition to quantitative criteria for evaluating facility layout patterns. A case study on a robotic system for manufacturing plate type oil coolers reveals the effectiveness of the proposed approach.
Intelligent Sensing and Motion Control in Robotic Manufacturing Systems
Authors: Ion Ion , Stamatescu Grigore , Dinu Cornel
Published: May 2015

The integrated system concept involves the development of the mechanization and automatization of the handling, transfer storage and assembly operations in process at the same level with the actual processing operations. For safe handling and to not introduce errors during a trial robot technology, the movement of the object to be manipulated and controlled before both gripper and attached equipment manufacturing plant so that the position of technology and technology base gripping be a unique link. The paper analyzed a device sensing and motion control in robotic technology systems and the technological equipment and targets the complex phenomenon of sliding (moving object manipulated during the technological process)
Forward Kinematics Model of a Bucket Excavator’s Digging Equipment
Authors: Dima Marian , Frâncu Cătălin
Published: May 2015

This paper presents a method to build the forward kinematics model of a bucket excavator’s digging equipment. The applied method is the one used for the industrial robots’ mechanisms and uses Denavit-Hartenberg convention.
Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm
Authors: Crenganis Mihai , Bologa Octavian
Published: May 2015

In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
Using Serial Industrial Robots and CAM Techniques for Manufacturing Prosthetic Devices
Authors: Chicea Anca Lucia , Breaz Radu Eugen , Bologa Octavian , Racz Sever Gabriel
Published: May 2015

Serial industrial robots are able to perform point to point movements with a great degree of accuracy and flexibility. Thus, they are mostly used for welding, painting and pick-and-place task. Manufacturing processes require the control of movements on the entire path, so industrial robots are seldom used for this kind of task. The paper presents a research about using industrial robots for manufacturing prosthetic devices. The approach was to build a kinematic model of the robot and to implement it in a commercially available CAM program and to design and manufacture a milling unit as the end-effecter of the robot.
Reduction of Arbitrary Rigid Bodies to Inertially Equivalent Discrete Systems of Material Points
Authors: Craifaleanu Andrei , Orăşanu Nicolaie
Published: May 2015

In a previous paper of the authors, a general method was presented for the reduction of a rigid plane plate to a discrete system of material points, with equivalent inertial properties (mass, center of mass, tensor of inertia). The present paper generalizes the method for rigid bodies of arbitrary shape, i.e. for material volumes, as well as for curved shells. It is shown that a homogenous ellipsoid can be reduced to a system of seven material points placed in significant geometrical points of the body. Next, starting from the concept of ellipsoid of inertia, an equivalent homogenous ellipsoid is determined for an arbitrary body. The method simplifies considerably the calculation of various mechanical quantities, such as moments and products of inertia with respect to rotated Cartesian coordinate systems, angular momentum and kinetic energy, of rigid bodies part of all types of mechanical devices or structures.
Experimental Research to Evaluate Thermal Behavior of a Brushless Driving Servomotor for Linear Motion NC Axis Experimental Stand
Authors: Avram Georgia Cezara , Nicolescu Florin Adrian , Parpală Radu Constantin , Dumitrascu Constantin
Published: May 2015

This paper presents the works carried out by the authors in the field of structural and functional optimization of industrial robot's numerically controlled (NC) axes. The study includes the results obtained in the research stage of the experimental measurements performed to evaluate the electrical servomotor's thermal behavior using a thermal (infrared) imaging camera. The analyzed servomotor is a brushless servomotor integrated in an experimental stand for linear motion NC axis experimental research, existing in the MMS department from EMTS faculty. Supplementary to the driving servomotor, the experimental stand includes a belt drive transmission, a ball screw - bearings assembly and a driven element guided by ball rail system. This experimental research phase is part of the doctoral thesis of first author and was conducted in order to validate the mathematical models developed in the PhD thesis. Thus, experimental results presented in the paper have been used to validate first mathematical models for electric motor's preliminary selection and checking, (performed by determining the total reflected inertia of the mechanical system on motor shaft level) as well as the mathematical models for final selection and checking (by evaluating the servomotor's thermal energy dissipation, and servomotor's internal and external maximum operating temperature). Second, the experimental results have been used to validate the assisted simulation for structural and functional optimization of industrial robot's NC axes based on both servomotor and drive's thermal behavior analysis, performed in the thesis by means of a dedicated commercial software package.
Computer Assisted Selection of Servomotor Driving System for Linear Motion NC Axis Experimental Stand
Authors: Nicolescu Florin Adrian , Avram Georgia Cezara , Ivan Andrei Mario , Mantea Adrian Theodor
Published: May 2015

The paper presents the works performed by the authors in the field of structural and functional optimization numerically controlled (NC) axes. The study includes two computing applications developed by second author of the paper in a PhD thesis related on NC axes’ structural and functional optimization. The first computing application is used for calculating the total reflected inertia of a linear motion NC axis (total inertial loads' reducing on the driving motor's shaft level). The second computing application is used for both preliminary selection of the driving servomotor (by checking first the accomplishment of the kinematic criterion) and a secondary selection of the electric motor (by checking in a second stage the accomplishment of the static and dynamic criterion). By mean of both software applications optimal matching of servomotor driving system with available NC axis mechanical structure may be determined. The analyzed linear motion NC axis is part of an experimental stand (existing in the MMS department from EMTS faculty), that supplementary to the driving servomotor, includes a belt drive transmission, a ball screw - bearings assembly and a driven element guided by ball rail system.
Reconfigurable Anthropomorphic Gripper with Three Fingers: Synthesis, Analysis, and Simulation
Authors: Staretu Ionel , Jitariu Sebastian
Published: May 2015

This paper shows the steps of structural synthesis and analysis, kinematic synthesis and analysis and CAD constructive design of a reconfigurable modular anthropomorphic gripper with three fingers. Modularity refers to the fact that the gripper variants can be obtained with only two modules, namely a platform and a finger. Reconfigurability refers to the fact that the main variants of the gripper can be obtained by changing the relative position of the fingers. It is demonstrated that the three-finger gripper has four main configurations that provide important functionality even reported to the functionality of a three-finger gripper with continuous reconfigurability. To verify correct operation, functional CAD simulation is performed, and for dynamic operation simulation, we turn to the advanced software ADAMS. An important advantage of this type of gripper, compared to those with continuous reconfigurability, is much lower price at a relatively good functionality for current robotic gripping operations. The paper makes possible subsequent turn to prototype, testing the gripper operation, as it is mounted on an industrial robot, and optimization of its operation by equipping it with contact sensors. The simulation of the gripper operation in virtual environment and data transmission to the real gripper is a solution of interest that will be studied in future research.
Structure and Control Method for a Pneumatic Muscle Actuated Seat Used in a Motion Simulator
Authors: Ciupe Valentin , Maniu Inocentiu , Lovasz Erwin Christian
Published: May 2015

The paper presents the general structure and the feedback control method of a compact type of driving simulator, having a mobile suspended seat actuated by pneumatic muscles. The completed simulator is intended to be used as an advertising demonstrator for the university and also for various research projects. In order to better observe the viability and behavior of the proposed feedback structure, a scaled model is constructed using similar pneumatic muscle actuation of a 3+1 DOF suspended mass. For analysis purposes, multi-step pressure and tri-state muscle contraction control is employed. The feedback data is exchanged between the software simulator and the motion control PLC by using a custom software application.