scholarly journals Sequencing of Robot Packing

2021 ◽  
Vol 25 (2) ◽  
pp. 11-16
Author(s):  
Krzysztof Pieńkosz

In the paper the problem of an automatic pallet loading with the usage of a robot is considered. In the logistic processes of trade business commodities are distributed from stores to retailers on pallets. In the paper the methods of pallet loading are analyzed in terms of the robot packing abilities. In order to put an item in a given place in a partially loaded pallet, robot needs to have free access to this place, so it cannot be blocked. A graph model is proposed to represent the relative positions of items on pallets and a method for sequencing of robot packing operations is formulated. It is also shown that not all patterns of pallet packing can be realized by a robot.

Reproduction ◽  
2000 ◽  
pp. 361-366 ◽  
Author(s):  
E Ubilla ◽  
PG Rebollar ◽  
D Pazo ◽  
AI Esquifino ◽  
JM Alvarino

The effects of a transient doe-litter separation on plasma prolactin, FSH and oestradiol concentrations, as well as the effect on LH response to exogenous GnRH administered at the time of artificial insemination, were determined in nursing rabbits. The effects on fertility, and litter size after parturition, as well as litter survival after doe-litter separation, were also studied. Control does (n = 12) had free access to nursing, whereas biostimulated does (n = 12) were separated from their litters for 48 h before artificial insemination. Plasma prolactin concentrations were decreased 24 h after the doe-litter separation (P < 0.05). The response of prolactin to suckling reached 10 times the basal values measured on day 10 after parturition (P < 0.0001). Increased oestradiol concentrations were found during the 48 h after the doe-litter separation: at 0 h, before artificial insemination (P< 0. 0001), 1.0-2.0 h after artificial insemination (P < 0.001), at 2.5 h (P < 0.05), 3.0 h (P < 0.01), and at 3.5 h (P < 0.05) after artificial insemination. Exogenous GnRH administered at the time of artificial insemination caused a greater LH response in does previously separated from their litters during 48 h (P < 0.01). The transient doe-litter separation did not affect plasma FSH concentrations, fertility, litter size or litter survival. These results suggest that a transient separation of nursing does from their litters before artificial insemination results in a decrease in plasma prolactin concentrations that could promote growth of follicular waves, and high steroidogenesis activity, leading to increased oestradiol concentrations and inducing higher sensitivity of the pituitary gland to exogenous GnRH. These findings associated to the absence of suckling episodes would lead to higher LH response and, therefore, exert a major effect on fertility.


2012 ◽  
Vol 132 (3) ◽  
pp. 136-139
Author(s):  
Shunsuke KAWACHI ◽  
Hiroto HAGIWARA ◽  
Akihiro TEGURI ◽  
Jumpei BABA
Keyword(s):  

2008 ◽  
Vol 1 (06) ◽  
pp. 329-334
Author(s):  
S. Rabih ◽  
C. Turpin ◽  
S. Astier

Author(s):  
A. N. Bozhko

Computer-aided design of assembly processes (Computer aided assembly planning, CAAP) of complex products is an important and urgent problem of state-of-the-art information technologies. Intensive research on CAAP has been underway since the 1980s. Meanwhile, specialized design systems were created to provide synthesis of assembly plans and product decompositions into assembly units. Such systems as ASPE, RAPID, XAP / 1, FLAPS, Archimedes, PRELEIDES, HAP, etc. can be given, as an example. These experimental developments did not get widespread use in industry, since they are based on the models of products with limited adequacy and require an expert’s active involvement in preparing initial information. The design tools for the state-of-the-art full-featured CAD/CAM systems (Siemens NX, Dassault CATIA and PTC Creo Elements / Pro), which are designed to provide CAAP, mainly take into account the geometric constraints that the design imposes on design solutions. These systems often synthesize technologically incorrect assembly sequences in which known technological heuristics are violated, for example orderliness in accuracy, consistency with the system of dimension chains, etc.An AssemBL software application package has been developed for a structured analysis of products and a synthesis of assembly plans and decompositions. The AssemBL uses a hyper-graph model of a product that correctly describes coherent and sequential assembly operations and processes. In terms of the hyper-graph model, an assembly operation is described as shrinkage of edge, an assembly plan is a sequence of shrinkages that converts a hyper-graph into the point, and a decomposition of product into assembly units is a hyper-graph partition into sub-graphs.The AssemBL solves the problem of minimizing the number of direct checks for geometric solvability when assembling complex products. This task is posed as a plus-sum two-person game of bicoloured brushing of an ordered set. In the paradigm of this model, the brushing operation is to check a certain structured fragment for solvability by collision detection methods. A rational brushing strategy minimizes the number of such checks.The package is integrated into the Siemens NX 10.0 computer-aided design system. This solution allowed us to combine specialized AssemBL tools with a developed toolkit of one of the most powerful and popular integrated CAD/CAM /CAE systems.


Mousaion ◽  
2016 ◽  
Vol 34 (1) ◽  
pp. 83-100
Author(s):  
Solomon Bopape

The study of law focuses, among other aspects, on important issues relating to equality, fairness and justice in as far as free access to information and knowledgeis concerned. The launching of the Open Access to Law Movement in 1992, the promulgation of the Durham Statement on Open Access to Legal Scholarshipin 2009, and the formation of national and regional Legal Information Institutes (LIIs) should serve as an indication of how well the legal world is committed to freely publishing and distributing legal information and knowledge through the Internet to legal practitioners, legal scholars and the public at large aroundthe world. In order to establish the amount of legal scholarly content which is accessible through open access publishing innovations and initiatives, this studyanalysed the contents of websites for selected open access resources on the Internet internationally and in South Africa. The results of the study showed that there has been a steady developing trend towards the adoption of open access for legal scholarly literature internationally, while in South Africa legal scholarly literature is under the control of commercial publishers. This should be an issue for the legal scholarship which, among its focus, is to impart knowledge about the right of access to information and knowledge.


Author(s):  
А.С. Казицкая ◽  
Т.К. Ядыкина ◽  
М.С. Бугаева ◽  
А.Г. Жукова ◽  
Н.Н. Михайлова ◽  
...  

В условиях непрерывного воздействия неблагоприятных факторов окружающей и производственной среды на человека особую актуальность приобретает изучение механизмов, поддерживающих гомеостаз организма. Длительное поступление фторидов в организм приводит к формированию хронической фтористой интоксикации, патогенез которой вызывает многочисленные споры и дискуссии. До сих пор недостаточно внимания уделяется изучению висцеральной патологии, обусловленной нарушениями иммунного статуса в условиях воздействия на организм соединений фтора. Практически отсутствуют исследования по изучению иммунной реактивности, определяющей морфофункциональный характер ответной реакции печени на ранних стадиях развития фтористой интоксикации. Цель работы - изучение действий патофизиологических механизмов иммунной реактивности печени при субхроническом действии на организм соединений фтора. Методика. Опыты проведены на 210 лабораторных крысах-самцах массой 180-220 г., разделенных на 2 группы: контрольную (n=80) и группу животных с субхроническим действием фторида натрия (n=130). Экспериментальные животные в течение 12 нед имели свободный доступ к водному раствору фторида натрия (концентрация 10 мг/л, что составляет суточную дозу фтора 1,2 мг/кг массы тела). Для изучения иммунологических и биохимических показателей забирали кровь из хвостовой вены через 1, 3, 6, 9, 12 нед от начала эксперимента. Для оценки состояния гуморального звена иммунитета определяли уровень сывороточных иммуноглобулинов (IgA, IgG, IgM) иммуноферментным анализом с помощью наборов реактивов ЗАО «Вектор-Бест» (Новосибирск). Уровень сывороточных цитокинов: TNF-α, IL-1β, 2, 4, 6, 10 определяли на анализаторе Multiskan EX методом иммуноферментного анализа с использованием наборов «Вектор Бест» (Новосибирск). Подсчет общего количества лейкоцитов произведен классическим способом в камере Горяева, анализ лейкоцитарной формулы - в окрашенных мазках периферической крови. Метаболические изменения оценивали по активности ферментов в ткани печени: щелочной фосфатазы (ЩФ), аланин- и аспартатаминотрансфераз (АЛТ, АСТ), лактатдегидрогеназы (ЛДГ), гаммаглутамилтранспептидазы (γ-ГТ). Активность ферментов определяли унифицированными методами с помощью наборов реактивов ЗАО «Вектор-Бест» (Новосибирск) на фотометре PM-750 (Германия). Гистологические исследования печени осуществляли после декапитации крыс, проводимой под эфирным наркозом. Результаты. Показано, что субхроническое воздействие фторида натрия сопровождается формированием внутриклеточных и внутрисосудистых повреждений печени. Активация медиаторов воспаления и развитие иммунологических нарушений в динамике эксперимента способствуют формированию системной воспалительной реакции, которая приводит к появлению стойких морфологических нарушений в печени и изменению активности ферментов основных метаболических путей. Заключение. Полученные результаты могут быть использованы при разработке и проведении профилактических мероприятий в условиях воздействия на организм высоких концентраций фтора с последовательным применением детоксикационной, иммуномодуляторной и органопротекторной коррекции. Studying mechanisms, which maintain the body homeostasis, is particularly important in the conditions of continuous impact of adverse environmental and manufacturing factors. Long-term exposure to fluorides leads to chronic fluoric intoxication, the pathogenesis of which is a subject of multiple controversy and discussions. Not enough attention is still paid to elucidating the visceral pathology associated with fluorine-induced immune disorders. There are virtually no studies of immune reactions that define the morphofunctional nature of the liver response to early stages of fluoric intoxication. Aim. To study pathophysiological mechanisms of hepatic immune reactivity in subchronic exposure of the body to fluorine compounds. Methods. Experiments were performed on 210 male rats weighing 180-220 g. The animals were divided into two groups: 1) control (n=80) and 2) subchronic exposure to sodium fluoride (n=130). The rats had free access to a 10 mg/l aqueous solution of sodium fluoride (daily dose, 1.2 mg/kg body weight) for 12 weeks. Blood was withdrawn from the caudal vein at 1, 3, 6, 9, and 12 weeks of the experiment for immunological and biochemical tests. Histological study of the liver was performed after decapitation of rats under ether anesthesia. Results. The subchronic exposure to sodium fluoride was associated with intracellular and intravascular damage of the liver. Activation of inflammatory mediators and development of immunological disorders during the experiment contributed to a systemic inflammatory reaction, which resulted in persistent morphological injuries of the liver and changes in enzyme activities in major metabolic pathways. Conclusion. The study results can be used for development and implementation of preventive measures against the effects of high fluorine concentrations, which would include a successive use of detoxification, immunomodulation and organ protection.


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