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A Novel Heuristic Algorithm for Online 3D Bin Packing |
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Thanh-Hung Nguyen(Hanoi University of Science and Technology, Viet Nam) |
| The paper presents a novel heuristic algorithm to solve the problem of automatically packing 3-dimensional boxes into containers. The algorithm is developed based on the main and secondary data systems. The main data system describes the spaces that are large enough to fit a box. The secondary data system describes the small spaces that cannot accommodate boxes. The search algorithm based on these two data systems allows to reduce the workload of searching and is convenient in organizing and editing data systems. |
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Development of a Simple Discarding Robot for the Media Changing Process |
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Ryosuke Nonoyama(Kokushikan University, Japan), Koichiro Yori, Keiichi Sugiura(Terumo Corporation, Japan), Makoto Jinno(Kokushikan University, Japan) |
| This study aimed to develop a simple and rational cell-processing system by combining the tasks performed by a robot and human. In a previous study, we implemented prototypes that improve the efficiency of discarding and injecting tasks. Herein, we developed and evaluated a simpler discarding robot than the previous model. The proposed discarding robot fulfilled its basic functions. Further, as the discarding robot is sufficiently small to be used in a safety cabinet, it can be integrated into current culture methods. |
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Skillful Operation of Working Plate Under Non-Uniform Loads with an Industrial Dual-Arm Robot Considering Power Consumption of Joints Motors |
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Ryo Kitahata, Toshiki Hirogaki, Eichi Aoyama(Doshisha University, Japan) |
| With the advancement of the motion control of industrial robots in recent years, a method that can easily measure the accuracy of the synchronous control of a two-axis dual-arm robot is desired. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on a work plate and uses the rolling motion error with respect to the reference circle. In addition, industrial robots in the field are always forced to operate continuously for a long period of time, and they work with all kinds of loads overlapping and applying non-uniform loads. In this study, we propose a new measurement method that creates a rolling motion of a ball on a circular |
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Using Affordances for Assembly: Towards a Complete Craft Assembly System |
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Vitor Hideyo Isume, Kensuke Harada, Weiwei Wan(Osaka University, Japan), Yukiyasu Domae(National Institute of Advanced Industrial Science and Technology (AIST), Japan) |
| In this paper, we discuss about the craft assembly task, an assembly task inspired by DIY (do-it-yourself) crafts and present the preliminary version of a robotic system capable of performing it. This step involves performing a selection of the components for the final craft. The available objects are evaluated based on their shapes, using a RANSAC algorithm and an dimension error function, and on their functionalities, evaluated through affordances. |
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Working Plate Operation for Graspless Handling Technology with an Industrial Dual-arm SCARA Robot |
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Kohei Shimizu, TOSHIKI HIROGAKI, EIICHI AOYAMA(Doshisha University, Japan) |
| With the recent advances in industrial robot the motion control, there is a demand for a method that can easily measure the accuracy of the synchronous control of dual-arm selective compliance assembly robot arm (SCARA) robots. Therefore, in this study, a measurement method was developed in which a ball rolling motion is created in a circular orbit on the work plate and the rolling motion error with respect to the reference circle is utilized. An experiment was conducted on a teaching method for controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. It was found that an error occurs in the peripheral speed in the rotation of the plate. |
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