title: Fault detection and path optimisation for a meat-processing robot

authors: Hurd, Shaun A.

abstract: An automated Y-cutting system has been developed by the Automation Systems team of Industrial Research Limited. This robotic device performs the Y-cut operation on sheep carcasses. The robotic Y-cutting system must deal with a variety of carcass shapes and sizes, and it is important that process faults are detected, diagnosed and corrected as quickly as possible. This thesis addresses the fault detection and path optimisation requirements of the Y-cutting system. 

The development of a neural network-based fault detection module is documented. This module classifies process faults using axial motor current data from the Y-cutting robot. The module successfully classifies 98% of the presented cut signals during offline training, and 100% of cuts during an extended trial in an Australian meat-processing plant. An online training scheme is implemented to allow for the retraining of the neural network weights as required. The fault detection module is extended to handle a greater number of fault conditions and to detect variations in the process load. 

A path optimisation algorithm is developed to optimise the parameters that define the cut-path of the robot based on the output of the fault detection module. A line-search within the parameter space is used to estimate the position of the optimum parameter value. The optimisation of fifteen path parameters requires 4760 simulated Y-cuts, equating to approximately 1.5 days of processing in a typical meat-plant. This is significantly faster than the existing method for manually tuning the Y-cutting system. The fault detection and path optimisation systems can be generically applied to other robotic systems produced by Industrial Research Limited for the handling and processing of highly varying natural products.

text: Fault detection and path optimisation for a meat-processing robot An automated Y-cutting system has been developed by the Automation Systems team of Industrial Research Limited. This robotic device performs the Y-cut operation on sheep carcasses. The robotic Y-cutting system must deal with a variety of carcass shapes and sizes, and it is important that process faults are detected, diagnosed and corrected as quickly as possible. This thesis addresses the fault detection and path optimisation requirements of the Y-cutting system. 

The development of a neural network-based fault detection module is documented. This module classifies process faults using axial motor current data from the Y-cutting robot. The module successfully classifies 98% of the presented cut signals during offline training, and 100% of cuts during an extended trial in an Australian meat-processing plant. An online training scheme is implemented to allow for the retraining of the neural network weights as required. The fault detection module is extended to handle a greater number of fault conditions and to detect variations in the process load. 

A path optimisation algorithm is developed to optimise the parameters that define the cut-path of the robot based on the output of the fault detection module. A line-search within the parameter space is used to estimate the position of the optimum parameter value. The optimisation of fifteen path parameters requires 4760 simulated Y-cuts, equating to approximately 1.5 days of processing in a typical meat-plant. This is significantly faster than the existing method for manually tuning the Y-cutting system. The fault detection and path optimisation systems can be generically applied to other robotic systems produced by Industrial Research Limited for the handling and processing of highly varying natural products.

year: 2005

title: Peirce on Habit, Practice, and Theory: The Priority of Practice and the Autonomy of Theory

authors: Black, Joshua David

subjects: Habit

abstract: Charles Peirce’s thought on the relationship between theory and practice has two seemingly inconsistent thrusts. On one hand, Peirce draws theory and practice together. He understands theory as a particular form of practical interaction with the world. On the other hand, he pulls them apart. He seems to insist that theoretical inquiry is not to affect, or be affected by, our other practices. This thesis uses Peirce’s habit-based account of human activity to show that the two sides of his thought are not inconsistent. Rather, Peirce’s apparent division of theory from practice is a consequence of his understanding of theory as a practice.

Peirce often appeals to a habit-based account of human activity. However, this account is not developed in detail in any one text. The first task of this thesis is to gather together Peirce’s remarks on habit and human activity into a single coherent picture. According to this picture, we are made up of a body of habits which is constantly developing as we interact with the world. This body of habits is only partially subject to self-control, but we use this small window to direct ourselves towards our purposes. That in our body of habits which is subject to control is called the ‘foreground’ and that which is not is called the ‘background’. Agents are said to be ‘in harmony’ with their environment when their habits al- low them to achieve their purposes. In the course of articulating this picture points of critical contact with recent philosophy of action are noted.

The second task of this thesis is to show that Peirce understands theoretical inquiry on this model. Theoretical inquiry is the practice directed to the discovery of truth, where truth is understood as ultimate harmony between beliefs (a kind of habit) and the world. It depends on a background of mostly-instinctive habits, including a collection of indubitable common-sense beliefs, and an attunement with the world that enables us to generate explanatory hypotheses.

The third task is to show that Peirce’s division of theory from our other practices is a consequence of his understanding of the special character of truth. According to Peirce the discovery of truth is a ‘long-run’ goal, which demands very different treatment from the ‘short-run’ goals of our other practices. To allow the needs of other practices to interfere in theoretical inquiry would be to take us off the path of truth. On the other hand, to allow theoretical results and reasoning to directly control our other practices would be to substitute reliable instinct for highly fallible reason. In sum, Peirce insists on the autonomy of theory and practice from one another.

text: Peirce on Habit, Practice, and Theory: The Priority of Practice and the Autonomy of Theory Charles Peirce’s thought on the relationship between theory and practice has two seemingly inconsistent thrusts. On one hand, Peirce draws theory and practice together. He understands theory as a particular form of practical interaction with the world. On the other hand, he pulls them apart. He seems to insist that theoretical inquiry is not to affect, or be affected by, our other practices. This thesis uses Peirce’s habit-based account of human activity to show that the two sides of his thought are not inconsistent. Rather, Peirce’s apparent division of theory from practice is a consequence of his understanding of theory as a practice.

Peirce often appeals to a habit-based account of human activity. However, this account is not developed in detail in any one text. The first task of this thesis is to gather together Peirce’s remarks on habit and human activity into a single coherent picture. According to this picture, we are made up of a body of habits which is constantly developing as we interact with the world. This body of habits is only partially subject to self-control, but we use this small window to direct ourselves towards our purposes. That in our body of habits which is subject to control is called the ‘foreground’ and that which is not is called the ‘background’. Agents are said to be ‘in harmony’ with their environment when their habits al- low them to achieve their purposes. In the course of articulating this picture points of critical contact with recent philosophy of action are noted.

The second task of this thesis is to show that Peirce understands theoretical inquiry on this model. Theoretical inquiry is the practice directed to the discovery of truth, where truth is understood as ultimate harmony between beliefs (a kind of habit) and the world. It depends on a background of mostly-instinctive habits, including a collection of indubitable common-sense beliefs, and an attunement with the world that enables us to generate explanatory hypotheses.

The third task is to show that Peirce’s division of theory from our other practices is a consequence of his understanding of the special character of truth. According to Peirce the discovery of truth is a ‘long-run’ goal, which demands very different treatment from the ‘short-run’ goals of our other practices. To allow the needs of other practices to interfere in theoretical inquiry would be to take us off the path of truth. On the other hand, to allow theoretical results and reasoning to directly control our other practices would be to substitute reliable instinct for highly fallible reason. In sum, Peirce insists on the autonomy of theory and practice from one another.

year: 2013

title: Claiming spaces: Maori (indigenous persons) making the invalid valid

authors: Hickey, Huhana

subjects: Maori

abstract: Identity is a shifting paradigm because of the constant movement between identities throughout our lives, depending on the context within which we are identifying ourselves. Once we identify, we place ourselves within a certain construct. When positioning within identity labels, multiplicitous experiences of marginalisation need to be accounted for in clarifying identity frameworks. Barile (2000) asserts that it is the multiple minority status of persons of minority ethnic identity with disabilities that positions them into multiple minority discriminatory experiences with greater limitations and discrimination than those with a single minority status identity. Barile (2000) also asserts that it challenges ethnic minority people with disabilities who work collectively and as a group where they are forced to work as individuals, often in isolation from their ethnic and cultural communities.

text: Claiming spaces: Maori (indigenous persons) making the invalid valid Identity is a shifting paradigm because of the constant movement between identities throughout our lives, depending on the context within which we are identifying ourselves. Once we identify, we place ourselves within a certain construct. When positioning within identity labels, multiplicitous experiences of marginalisation need to be accounted for in clarifying identity frameworks. Barile (2000) asserts that it is the multiple minority status of persons of minority ethnic identity with disabilities that positions them into multiple minority discriminatory experiences with greater limitations and discrimination than those with a single minority status identity. Barile (2000) also asserts that it challenges ethnic minority people with disabilities who work collectively and as a group where they are forced to work as individuals, often in isolation from their ethnic and cultural communities.

year: 2008