Search results

Articulated robots are widely used in industrial applications owing to their high repeatability accuracy. In terms of new applications such as robot-based inspection systems, the limitation is a lack of pose accuracy. Mostly, robot calibration approaches are used for the improvement of the pose accuracy. Such approaches however require a profound understanding of the determining effects. This paper aims to provide a non-destructive analysis method for the identification and characterisation of non-geometric accuracy effects in relation to the kinematic structure for the purpose of an accuracy enhancement.

The analysis is realised by a non-destructive method for rotational, uncoupled robot axes with the use of a 3D lasertracker. For each robot axis, the lasertracker position data for multiple reflectors are merged with the joint angles given by the robot controller. Based on this, the joint characteristics are determined. Furthermore, the influence of the kinematic structure is investigated.

This paper analyses the influence of the kinematic structure and non-geometric effects on the pose accuracy of standard articulated robots. The provided method is shown for two different industrial robots and presented effects incorporate tilting of the robot, torsional joint stiffness, hysteresis, influence of counter balance systems, as well as wear and damage.

Based on these results, an improved robot model for a better match between the mathematical description and the real robot system can be achieved by characterising non-geometric effects. In addition, wear and damages can be identified without a disassembly of the system.

The presented method for the analysis of non-geometric effects can be used in general for rotational, uncoupled robot axes. Furthermore, the investigated accuracy influencing effects can be taken into account to realise high-accuracy applications.

The purpose of this paper is to examine which stakeholder values are created by a well-performing network-structured university-industry collaboration (UIC). These results should provide initial conclusions for the design of UICs with the aim to overcome critical barriers to effective technology transfer.

The research is designed as a comprehensive single case study and follows a qualitative approach in order to obtain a deep understanding of the various stakeholder values created by Austrian Center of Competence in Mechatronics (ACCM), a unique, well-performing UIC-network.

The results show that on the one hand ACCM provides stakeholder values that are largely common for UICs or networks (access to resources and industry problems, funding, know-how dialogue, solution of practical problems, etc.). On the other hand ACCM offers very special values which are often realized in UICs to a low degree only. The study indicates that by the special construct of ACCM, with its deep value added chain, the common problem of converting basic research results into industrial solutions can be managed.

The research shows that the ACCM construct of a network-structured UIC has many benefits for the stakeholders and offers a new way to overcome critical barriers to effective technology transfer.

Given the absence of fundamental work in this area, the study is significant both academically as well as practically in terms of effective technology transfer in network-structured UICs and their values for various stakeholders.

The multi-objective optimization configuration strategy is proposed due to the configuration of EMAs in fault-tolerant control of active magnetic bearing with redundant electromagnetic actuators involving high-dimensional, nonlinear, conflicting goals.

A multi-objective optimization model for bias current coefficients is established based on the nonlinear model of active magnetic bearings with redundant electromagnetic actuators. Based on the non-dominated sorting genetic algorithm III, a numerical method is used to obtain feasible and non-inferior sets for the bias current coefficient.

(1) The conflicting relationship among the three optimization objectives was analyzed for various failure modes of EAMs. (2) For different EMAs' failure modes, the multi-objective optimization configuration strategy can simultaneously achieve the optimal or sub-optimal effective EMF, flux margins, and stability of EMF. Moreover, the characteristics of the optimal Pareto front are consistent with the physical properties of the AMB. (3) Compared with the feasible configuration of C0, the non-inferior configurations can significantly improve the performance of AMB, and the advantages of the multi-objective optimization configuration strategy become more prominent as the asymmetry of the residual supporting structure intensifies.

i) Considering the variation of the rotor displacement during the support reconstruction, a decision-making model that can accurately characterize the dynamic performance of AMB is presented. (ii) The interaction law between AMB and rotor under different failure modes of EMAs is analyzed, and the configuration principles for redundant EMAs are proposed. (iii) Based on the dynamic characteristics of AMB during the support reconstruction, effective EMF, energy consumption, and the Pearson correlation coefficient between the desired EMFs and the decoupled control currents are used as objective functions. iv. The NSGA-III is combined with the decision-making model to address the multi-objective optimization configuration problem of C0.

The lack of food-based dietary guidelines for managing cancer among hospitalized patients has led to an increasing economic burden on the government and families in low- and middle-economy countries. There have been increasing medical costs due to delayed recovery, readmission and mortality. The purpose of this study is to contribute in reducing these effects by developing context-specific food-based dietary guidelines to assist health-care professionals and caregivers in planning diets for cancer patients.

For seven days, the dietary intakes of 100 cancer patients in the hospital were recorded using weighed food records. Data on the costs of commonly consumed foods during hospitalization were obtained from hospital requisition books as well as nearby markets and shops. The information gathered was used to create optimal food-based dietary guidelines for cancer patients.

Most patients did not meet the recommended food group and micronutrient intake according to their weighed food records. Sugar intake from processed foods was (51 ± 19.8 g), (13% ± 2%), and calories (2585 ± 544 g) exceeded recommendations. Optimized models generated three menus that met the World Cancer Research Fund 2018 cancer prevention recommendation at a minimum cost of 2,700 Tanzanian Shillings (TSH), 3500TSH, and 4550TSH per day. The optimal dietary pattern includes nutrient-dense foods from all food groups in recommended portions and within calorie limits.

Findings show that optimal dietary guidelines that are context-specific for managing cancer in hospitalized patients can be formulated using culturally acceptable food ingredients at minimum cost.

The purpose is to develop a work-integrated learning (WIL) model for university-society research collaboration facilitating societal impact toward short lag yet sustainable societal impact for local innovation.

The methodology applied was engaged scholarship based on a WIL approach involving a network of collaborating partners from different sectors of society and cross-disciplinary university researchers. Mixed data collection methods were applied.

Conceptualization of university-society research collaboration for local innovation is presented as a WIL model including the elements of continuity and commitment, coordination, communication and relationships, trust, courage and creativity and co-creation opportunities. Short lag societal impact as local innovation was identified as product and process innovations.

Further validation of the model is encouraged for the model to be viable in various contexts and to generate different kinds of societal impact.

The model may act as a governing tool for project management to facilitate co-creative and short lag societal impact for local innovation to ensure that engaged and learning activities are embedded in the collaborative process.

The model has implications for inclusiveness and co-creation fostering transparency, respect and mutuality in university-society research collaboration and to equate both academic and practice knowledge.

The conclusions drawn support the understanding of a WIL approach practicing engaged scholarship in research collaborations. The main theoretical and practical contributions of the article are the conceptual model for university-society research collaboration generating short lag societal implications and local innovation.

This article aims to explain why geography is a prime discipline for analysing globalisation and a multicultural view of Global Studies. The generic approach of human geography to first select an appropriate methodology is taken as a key approach.

Concepts from aggregate disciplines such as history, economics, and geography are scanned through during a short description of the historical genesis of these sciences and the paradigmatic shifts they have encountered.

There are four main theses: (1) values are created by appreciation; (2) development is growing jointly with responsibility; (3) accumulation of material value is seen as expenditure to achieve non‐material values; and (4) spatial relations are interrelated with social relations.

Conceptual considerations have to be further corroborated by quantitative analyses using suitable metrics of “development”.

“Social and cultural geography” should contribute to any curriculum of “Global Studies”.

Dialogue and discourse between world views is the essential, ideology‐free approach for understanding globalisation.

Unlike other scientific articles focusing on “facts”, this article focuses on perspectives. Thus, it explains “multi‐perspectivity” and a multi‐paradigmatic approach.