Dr. Aleksandra Przegalinska explains why we find humanoid robots so creepy and considers whether watching machines play football is actually fun.
Robotics specialists observe nature carefully and try to recreate the complex motions performed by people and animals with ease. Locomotion and the ability to manipulate flexible objects are especially challenging, but progress is being made.
A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimability purposes and numerical convergence feasibility. In this paper, we have reported experiences that have been developed at LARM in Cassino by referring to the abovementioned issues of determining a design procedure for manipulators both of serial and parallel architectures. The optimality criteria are focused on the well-recognized main aspects of workspace, singularity, and stiffness. Computational aspects are discussed to ensure numerical convergence to solutions that can be also of practical applications. In particular, optimality criteria and computational aspects have been elaborated by taking into account the peculiarity and constraint of each other. The general concepts and formulations are illustrated by referring to specific numerical examples with satisfactory results.
The industry transformation to the digital model 4.0 will be a significant change from
the perspective of the organisation and processes. In the context of the above, the research
was undertaken, the principal aim of which constituted the attempt to answer the question
concerning the technological advancement level of manufacturing companies operating in
the agricultural machinery sector. It is about identifying what adaptation projects in the
context of the fourth generation industry era should be undertaken by the Polish manufacturers operating in the agricultural machinery sector. The achievement of the main
objective required formulation and implementation of partial objectives, which, according
to the authors, include: C(1) – defining the Industry 4.0 axiom merit; C(2) – using the
subject literature reconstruction and interpretation methods – nomination of areas, on the
one hand essential from the perspective of the model 4.0, and on the other hand those that
may demonstrate the maturity in the domain of the adopted desiderata; C(3) – compilation
of the research model, in the form of an assessment sheet, being a resultant of literature
studies and research conducted among deliberately selected domain experts; C(4) – based
on the selected indicators, the technological advancement level recognition of the studied
companies; specification of a technological gap (questioning among experts).
In recent years, a significant development of technologies related to the control and communication of mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these technologies requires having the necessary hardware and software to enable prototyping and simulation of control algorithms in laboratory conditions. The article presents the Laboratory of Intelligent Mobile Robots equipped with the latest solutions. The laboratory equipment consists of four quadcopter drones (QDrone) and two wheeled robots (QBot), equipped with rich sensor sets, a ground control station with Matlab-Simulink software, OptiTRACK object tracking system, and the necessary infrastructure for communication and security. The paper presents the results of measurements from sensors of robots monitoring various quantities during work. The measurements concerned, among others, the quantities of robots registered by IMU sensors of the tested robots (i.e., accelerometers, magnetometers, gyroscopes and others).
The scope of this work focuses on the aspects of quality and safety assurance of the iron cast manufacturing processes. Special attention
was given to the processes of quality control and after-machining of iron casts manufactured on automatic foundry lines. Due to low level
of automation and huge work intensity at this stage of the process, a model area was established which underwent reorganization
in accordance with the assumptions of the World Class Manufacturing (WCM). An analysis of work intensity was carried out and the costs
were divided in order to identify operations with no value added, particularly at individual manufacturing departments. Also an analysis
of ergonomics at work stations was carried out to eliminate activities that are uncomfortable and dangerous to the workers' health. Several
solutions were proposed in terms of rationalization of work organization at iron cast after-machining work stations. The proposed solutions
were assessed with the use of multi-criteria assessment tools and then the best variant was selected based on the assumed optimization
criteria. The summary of the obtained results reflects benefits from implementation of the proposed solutions.
The paper outlines the methodology of virtual design of a foundry plant as a system. The most important stage in the procedure involves the development of a model defined as a set of data about the system. Model development involves two stages: defining the model’s architecture and specifying the model data in the form of parameters and input-output relationships. The structure is understood as configuration of machines and transport units, representing the sub-systems and system components. As the main purpose of the simulation procedure is to find the characteristics of the system’s behaviour, the merits of the iterative method involving analysis, synthesis and evaluation of results are fully explored.
The work presents the results of examinations concerning the influence of various amounts of home scrap additions on the porosity of
castings made of MgAl9Zn1 alloy. The fraction of home scrap in the metal charge ranged from 0 to 100%. Castings were pressure cast by
means of the hot-chamber pressure die casting machine under the industrial conditions in one of the domestic foundries. Additionally, for
the purpose of comparison, the porosity of specimens cut out directly of the MgAl9Zn1 ingot alloy was also determined. The examinations
consisted in the qualitative assessment of porosity by means of the optical microscopy and its quantitative determination by the method of
weighting specimens in air and in water. It was found during the examination that the porosity of castings decreases with an increase in the
home scrap fraction in the metal charge. The qualitative examinations confirmed the beneficial influence of the increased home scrap
fraction on the porosity of castings. It was concluded that the reusing of home scrap in a foundry can be a good way of reduction of costs
related to the production of pressure castings.
The work presents the results of examinations concerning the influence of various amounts of home scrap additions on the properties of
castings made of MgAl9Zn1 alloy. The fraction of home scrap in the metal charge ranged from 0 to 100%. Castings were pressure cast by
means of the hot-chamber pressure die casting machine under the industrial conditions in one of the domestic foundries. The examinations
consisted in the determination of the following properties: tensile strength Rm, yield strength Rp0.2, and the unit elongation A5, all being
measured during the static tensile test. Also, the hardness measurements were taken by the Brinell method. It was found that the
mechanical properties (mainly the strength properties) are being improved up to the home scrap fraction of 50%. Their values were
increased by about 30% over this range. Further rise in the home scrap content, however, brought a definite decrease in these properties.
The unit elongation A5 exhibited continual decrease with an increase in the home scrap fraction in the metal charge. A large growth of
hardness was noticed for the home scrap fraction increasing up to the value of 50%. Further increasing the home scrap percentage,
however, did not result in a significant rise of the hardness value any more.
The work deals with technology Patternless process that combines 3 manufacturing process mold by using rapid prototyping technology,
conventional sand formation and 3D milling. It's unconventional technology that has been developed to produce large-sized and heavyduty
castings weighing up to several tons. It is used mainly in prototype and small batch production, because eliminating production of
models. The work deals with the production of blocks for making molds of gypsum and gypsum drying process technology Thermomold.
Into blocks, where were made cavities by milling were casted test castings from AlSi10MgMn alloy by gravity casting. At machining of
the mold cavity was varied feed rate of tool of cemented carbide. Evaluated was the surface roughness of test castings, that was to 5
micrometers with feed from 900 to 1300 mm/min. The dimensional accuracy of castings was high at feed rate of 1000 and 1500 mm/min
did not exceed 0.025 mm.