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Open AccessFeature PaperArticle

Managing Energy Consumption of Linear Delta Robots Using Neural Network Models

by Valery Vodovozov, Madis Lehtla, Zoja Raud, Natalia Semjonova and Eduard Petlenkov

Energies 2024, 17(16), 4081; https://doi.org/10.3390/en17164081 - 16 Aug 2024

Cited by 1 | Viewed by 1395

A new approach to managing linear Delta robots is developed and two problems of their energy-efficient operation are solved in this work based on neural network models. The first solution concentrates on the minimization of the power consumed by the robot at various tool positions as a function of joint configurations. This problem is actually faced in industrial processes, in which the steady-state placing and holding phases of the pick-and-place cycle continue for much more time than picking, such as quality control, welding, packaging, and wrapping. The second solution relates to searching for the shortest path through all targets, considering all possible robot joint configurations, so that total energy consumption is minimal. This problem is essential to processes that require the fastest picking and placing cycles, such as assembling, loading, or painting. The outlined power monitoring procedure aligns with detailed power estimation at different joint configurations, with joint route optimization used to reduce energy demand. The feasibility and applicability of the proposed neural network-based methodology are confirmed via experimental testing on the Festo EXPT-45-E1 robot. Full article

(This article belongs to the Section K: State-of-the-Art Energy Related Technologies)

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16 pages, 7175 KiB

Open AccessEditor’s ChoiceArticle

Adhesive Thickness and Ageing Effects on the Mechanical Behaviour of Similar and Dissimilar Single Lap Joints Used in the Automotive Industry

by Raffaele Ciardiello, Carlo Boursier Niutta and Luca Goglio

Processes 2023, 11(2), 433; https://doi.org/10.3390/pr11020433 - 1 Feb 2023

Cited by 6 | Viewed by 2373

Abstract

The effects of the adhesive thickness and overlap of a polyurethane adhesive have been studied by using different substrate configurations. Single lap joint (SLJ) specimens have been tested with homologous substrates, carbon fibre-reinforced plastics and painted metal substrates. Furthermore, a configuration with dissimilar substrates has been included in the experimental campaign. Both types of these adhesive and substrates are used in the automotive industry. The bonding procedure has been carried out without a surface treatment in order to quantify the shear strength and stiffness when surface treatments are not used on the substrates, reproducing typical mass production conditions. Three different ageing cycles have been used to evaluate the effects on SLJ specimens. A finite element model that uses cohesive modelling has been built and optimised to assess the differences between the different adopted SLJ configurations. Full article

(This article belongs to the Special Issue Design of Adhesive Bonded Joints)

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16 pages, 1532 KiB

Open AccessArticle

Relationship Aspects of Mothers and Their Adolescents with Intellectual Disability as Expressed through the Joint Painting Procedure

by Tami Gavron, Rinat Feniger-Schaal and Adi Peretz

Children 2022, 9(6), 922; https://doi.org/10.3390/children9060922 - 20 Jun 2022

Cited by 4 | Viewed by 3161

Abstract

The quality of the interaction between mothers and their children with an Intellectual Disability (ID) plays a crucial role in their development and in particular during adolescence. This qualitative study was designed to provide a better understanding of aspects of the relationships between mothers and their adolescents with ID through an art-based tool, the Joint Painting Procedure. The qualitative analysis of six dyads of mothers and adolescents with severe, moderate and mild ID was based on the principles of narrative and phenomenological inquiry. The findings yielded three key themes that emerged from the relational dynamics during the JPP: (1) from dependency to autonomy, (2) the joint painting as a way to foster verbal communication, and (3) playfulness and enjoyment. The JPP appeared to serve as a meaningful art-based assessment of the implicit and explicit aspects of the relationships which evolved during the interaction. The findings underscore the potential of the JPP as a non-verbal, art-based tool that allows researchers and clinicians to learn more about the dynamics of relationships between mothers and their adolescents with ID. It also enables a context where the expression of relational issues can be communicated and even transformed. Full article

(This article belongs to the Special Issue Arts Therapies with Children and Adolescents)

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