Engineering Commons^™

Modeling And System Realization Of Assembly Robot Based On Digital Twin, Jian Xu, Xin Song, Xiuping Liu, Bo Chen

Journal of System Simulation

Abstract: Aiming at the problems of time-consuming, labor-intensive and poor accuracy in programming of complex operations of industrial assembly robots, an online programming method for robots based on digital twin is proposed. From the four dimensions of geometry, contact dynamics, behavior and rules, the faithful mapping of the robot from real to virtual space is realized. The verification of multi-part assembly trajectory planning program, real-time synchronous operation and state monitoring are realized. An assembly robot modeling and online programming system based on digital twin is designed and built. A six-axis industrial robot cell is taken as an example to verify …

Productivity And Quality Evaluation In Assembly Using Collaborative Robots, Carlos F. Manzanares Vega

Open Access Theses & Dissertations

In Industry 4.0, various technologies have been applied to achieve automation for traditional manufacturing and practices. For this reason, Smart Manufacturing (SM) environments utilize collaborative robots for process optimization by integrating the Internet of Things (IoT). Cobots are equipped with sensors and/or other devices to be able to transmit data in real-time while performing their tasks. Consequently, such SM implementations improves the decision making and business development, such as supply chain and operations, by sharing real-time data from a plant operational level. The collaborative robots are also designed to safely interact and collaborate with humans to perform tasks and optimize …

Consemblex: A Consensus-Based Transcriptome Assembly Approach That Extends Consemble And Improves Transcriptome Assembly, Richard Mwaba

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

An accurate transcriptome is essential to understanding biological systems enabling omics analyses such as gene expression, gene discovery, and gene-regulatory network construction. However, assembling an accurate transcriptome is challenging, especially for organisms without adequate reference genomes or transcriptomes. While several methods for transcriptome assembly with different approaches exist, it is still difficult to establish the most accurate methods. This thesis explores the different transcriptome assembly methods and compares their performances using simulated benchmark transcriptomes with varying complexity. We also introduce ConSemblEX to improve a consensus-based ensemble transcriptome assembler, ConSemble, in three main areas: we provide the ability to use any …

Suffix Tree, Minwise Hashing And Streaming Algorithms For Big Data Analysis In Bioinformatics, Sairam Behera

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

In this dissertation, we worked on several algorithmic problems in bioinformatics using mainly three approaches: (a) a streaming model, (b) sux-tree based indexing, and (c) minwise-hashing (minhash) and locality-sensitive hashing (LSH). The streaming models are useful for large data problems where a good approximation needs to be achieved with limited space usage. We developed an approximation algorithm (Kmer-Estimate) using the streaming approach to obtain a better estimation of the frequency of k-mer counts. A k-mer, a subsequence of length k, plays an important role in many bioinformatics analyses such as genome distance estimation. We also developed new methods that use …

Fast Implementation Of Virtual Prototyping Modeling Based On Assembly Model, Wang Yu, Shouwen Yao, Jilin Liu, Dezhi Huang, Qinghua Zhang, Yi Ran

Journal of System Simulation

Abstract: A new method of virtual prototyping modeling was proposed based on assembly model, concerning the relation between assembly forms and dynamic constrains. With the transformation of assembly forms and dynamic constrains, a virtual prototyping model was built by the use of constrain models. Analysis of principle of modeling virtual prototype based on assembly was carried out, and the corresponding relationship between the assembly constraints in Pro/E and constraint block was studied and the method of modeling gear transmission was researched. With the utility of SimMechanics, a model library facing mechanism analysis under Simulink, a concept verification of a simple …

Simulation And Improvement Of Automobile Front Cover Assembly Work Based On Delmia, Lizhen Zhang, Shao Qi, Jiaqing Yang, Mengmeng Yang, Song Zheng, Dai Peng

Journal of System Simulation

Abstract: In order to prevent potential occupational disease in automobile front cover assembly location caused by manual handling, a comprehensive evaluation and improvement method of ergonomics was proposed aiming at front cover assembly work ergonomics based on DELMIA. The ergonomics problems in automobile front cover assembly were evaluated quantitatively and comprehensively by using the methods of rapid upper limb assessment (RULA) and lifting equation analysis (NIOSH), and the process or tools were judged whether they should be improved according to the evaluation results. By simulation, analysis and improvement of front cover assembly work, the improvement plans which aimed at the …

Consensus Ensemble Approaches Improve De Novo Transcriptome Assemblies, Adam Voshall

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

Accurate and comprehensive transcriptome assemblies lay the foundation for a range of analyses, such as differential gene expression analysis, metabolic pathway reconstruction, novel gene discovery, or metabolic flux analysis. With the arrival of next-generation sequencing technologies it has become possible to acquire the whole transcriptome data rapidly even from non-model organisms. However, the problem of accurately assembling the transcriptome for any given sample remains extremely challenging, especially in species with a high prevalence of recent gene or genome duplications, those with alternative splicing of transcripts, or those whose genomes are not well studied. This thesis provides a detailed overview of …

Design Of The Human Assembly Strategy In A Self-Optimizing Assembly Cell: A Case Study Of Indonesians, Novie Susanto, Ratna Purwaningsih, Kharisma Panca Kurniawati

Makara Journal of Technology

This paper presents a continuing study of the human cognitive aspect application in the technical systems. The last studies design a human-centered design based on the German culture. The result shows a significant difference of human performance between Germans and Indonesians. Therefore, this study examines the human cognitive model based on Indonesian culture to investigate whether the different cognitive model based on the culture aspect can improve the human performance. The study was conducted on 60 people classified by age, young (16-34 years old) and old (older than 34 years old). Participants render predictions on an assembly activity for two …

Introduction To Mips Assembly Language Programming, Charles W. Kann

Open Educational Resources

This book was written to introduce students to assembly language programming in MIPS. As with all assembly language programming texts, it covers basic operators and instructions, subprogram calling, loading and storing memory, program control, and the conversion of the assembly language program into machine code.

However this book was not written simply as a book on assembly language programming. The larger purpose of this text is to show how concepts in Higher Level Languages (HLL), such as Java or C/C++, are represented in assembly. By showing how program constructs from these HLL map into assembly, the concepts will be easier …

Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh

Christopher N. Roman

This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation …

Self-Assembly Of Microstructures, Paul E. Kladitis

Theses and Dissertations

Four areas are investigated in this research: erecting microstructures normal to the substrate plane without direct human intervention (self-assembled), providing low resistance electrical connections to the erected microstructure, realizing circular motion normal to the substrate plane, and implementing a micro-robot. The designs in this research concentrate on erecting and providing power to a leg designed for use with the micro-robot. The leg and the attached low resistance electrical connectors were not self-assembled because the accompanying actuators were not powerful enough. However, the novel connectors provide the most practical, versatile, and lowest possible resistance connections for the MUMPs fabrication process. The …