Iskanje po katalogu digitalne knjižnice

Opis: Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative and industrial robots, and sophisticated robotic grippers. In the random bin-picking process, the wide variety of objects in terms of shape, weight, and surface require complex solutions for the objects to be reliably picked. The challenging part of robotic bin-picking is to determine object pick-points correctly. This paper presents a simulation model based on ADAMS/MATLAB cosimulation for robotic pick-point evaluation for a 2-F robotic gripper. It consists of a mechanical model constructed in ADAMS/View, MATLAB/Simulink force controller, several support functions, and the graphical user interface developed in MATLAB/App Designer. Its functionality can serve three different applications, such as: (1) determining the optimal pick-points of the object due to object complexity, (2) selecting the most appropriate robotic gripper, and (3) improving the existing configuration of the robotic gripper (finger width, depth, shape, stroke width, etc.). Additionally, based on this analysis, new variants of robotic grippers can be proposed. The simulation model has been verified on a selected object on a sample 2-F parallel robotic gripper, showing promising results, where up to 75% of pick-points were correctly determined in the initial testing phase.
Ključne besede: intralogistics, robotic bin-picking, simulation model, ADAMS, pick-point determination, MATLAB/Simulink, 2-F robotic gripper, performance analysis
Objavljeno v DKUM: 27.02.2023; Ogledov: 764; Prenosov: 111
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Opis: Formally defined Specification and Description Language (SDL) is used for the design and specification of complex safety-critical systems. Each change in the specification of the product should be immediately checked formally against the requirements’ specification. This paper presents semi-automated system abstraction, automated model extraction, simulation, and formal verification of real-life complex SDL specification. Sound algorithms implemented in our sdl2pml automated model extraction tool preserve all properties of the SDL system. Sdl2pml includes our model of discrete time, abstraction, and support for all relevant SDL functionality and constructs such as dynamic process creation, rational data types, and communication with more than one process instance. To the best of our knowledge, most of them are not supported by any other known approach. We use our SpinRCP tool for simulation and formal verification of the extracted model with the Spin model checker. We demonstrate the applicability of our approach on ISDN User adaptation protocol from SI3000 Softswitch. The extracted Promela model is the largest one ever processed by Spin. We have shown that Spin simulation and model checking can be applied successfully to such huge models.
Ključne besede: formal specifications, automated extraction, formal languages, simulation, formal verification, model cheking, SDL, Promela, SpinRCP, Sdl2pml
Objavljeno v DKUM: 03.08.2017; Ogledov: 1402; Prenosov: 435
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Opis: Background: The sugar beet is the main field crop used for sugar production in the temperate climatic zone. The abolishment of the quota system will open new investment opportunities in countries that were forced to abandon sugar industry as the result of the reform in 2006. Present paper describes the modeling of sugar beet production and its processing into sugar for purpose of decision support. Methods: A system dynamics methodology was chosen to model impacts of regional sugar factory investment. We present two basic concepts of system dynamics models at causal loop diagram level. The first holistic model deals with regional planning of new product development and the second one deals with factory model. Results: The holistic model presented main feedback loops and dynamics of main elements in the case of regional investment into sugar industry. The factory model considered the specifics of the beet processing which is a) limited period of beet processing and b) initial adjustment to the production capacity at the start of the production season Conclusions: The model seeks answers to strategic questions related to the whole sugar beet production and processing system and will be used for simulation of different scenarios for sugar production and their impact on economic and environmental parameters at an aggregate level.
Ključne besede: sugar beet, system dynamics, simulation, model
Objavljeno v DKUM: 04.04.2017; Ogledov: 1608; Prenosov: 132
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Opis: Simulation modelling of traffic in the Kotor cruise port is used for performance evaluation and optimization of the operational policy. During the summer, the traffic intensity of the cruise shipsŽ arrivals is higher than in other periods of the year. The increased traffic intensity causes congestion at anchorages, which can lead to significant dissatisfaction of the cruise ship operators and passengers. The simulation model, based on the port callingfrequency statistics and port tariff charges, is developed. First, the simulation model is validated against the real data. Second, several simulations are performed, where the scenarios of an extended main berth and of increased traffic intensity are evaluated in order to minimize congestion and to maximize revenue. Simulation results indicate significant queue reductions and a higher revenue, thus justifying the intention in the main berth extension.
Ključne besede: traffic modelling, port revenue, operational policy, simulation, model validation, Kotor cruise port
Objavljeno v DKUM: 30.12.2015; Ogledov: 1770; Prenosov: 82
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Opis: Fruit brandy production is considered as one of the very possibilities for home fruit processing. When considering to set up new farm business, the information regarding the economic feasibility o9f individual agricultural households should be obteinded by each farm entrepreneur. The simulation cost model for Slovene brandy production on the fruit farms is developed in this study. The break-even price and break-even yield were calculated for different kinds of fruit brandy. The sensitivity analysis was simultaneously conducted in order to determine the impact of different prices on the net financial result gained. The results show that home fruit brandy production could be economically feasible. The highest financial result was achived with plum brandy production, followed by pear brandy production and peach brandy production. Several aspects of tax legislation concerning the brandy production are also discussed here.
Ključne besede: fruit production, brandy, costs, simulation model
Objavljeno v DKUM: 10.07.2015; Ogledov: 1589; Prenosov: 50
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