1,721,212 research outputs found
Orbiting Space Station Robots: Issues, Challenges and Requirements for a Novel Design
No full textThis paper outlines an almost comprehensive description of issues faced by space station robots in order to identify the requirements that a design of a novel service robot has to meet to perform Extra-vehicular activities (EVAs). Existing regulations are reviewed and the main aspects of already operating robots on the International Space Station are underlined. Main criticalities of the Low Earth Orbit environment (radiations, space debris and temperature excursions), as well as those of the launch from the ground to the space station, are described
SMES AND VCIS'INFORMATION NEEDS. FIRST FINDINGS OF AN EMPIRICAL RESEARCH
No full textQUADERNI DI ECONOMIA AZIENDAL
L'Unione europea e la crisi pandemica: una politica di crescita solidale necessaria
No full textIl saggio illustra come la pandemia abbia accelerato alcuni processi istituzionali già in corso nell'Unione europea, e ne abbia provocati di nuovi
A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires
Full text linkThe WiRo-6.3 is a six-degrees of freedom (six-DOF) robotic parallel structure actuated by nine wires, whose characteristics have been thoroughly analyzed in previous papers in reference. It is thought to be a master device for teleoperation; thus, it is moved by an operator through a handle and can convey a force reflection on the operator's hand. A completely new method for studying the workspace of this device, and of virtually any nine-wire parallel structure actuated by wire is presented and discussed, and its results are given in a graphical for
A force-feedback six-degrees-of freedom wire-actuated master for teleoperation: the WiRo 6.3
No full textPurpose - This paper aims to present an innovative example of a master for teleoperation capable of moving in six degrees of freedom and of providing a force and torque feedback on the operator's hand. Design/methodology/approach - After a brief overview of what the state of the art in teleoperation has to offer, the paper outlines the choice of an innovative structure in terms of both geometry and components, pointing out its main characteristics compared with traditional interfaces. Findings - The master for teleoperation WiRo-6.3 has been designed and constructed and is fully operative, thanks to the following theoretical analyses: positional and orientation workspace(s), forward and inverse kinematics, statics, overall control strategies. The mechanical details are also presented. Research limitations/implications - The WiRo-6.3 is suitable to those applications in which human command is necessary but potentially harmful, and where a force-feedback interface is preferred to obtain better control over the task to be accomplished. A possible field of interest could be the control of robot arms in dangerous environments, nuclear applications, uncomfortable climates, remote operations. Originality/value - The master WiRo-6.3 is a novel device both for its geometric structure and for the wire actuation choice; those characteristics provide very interesting results in terms of dexterity, force feedback performance and overall user-friendlines
Introduzione alla contabilità generale
No full textIl volume si pone l’obiettivo di fornire uno strumento attuale e completo per tutti coloro – professionisti o studenti – che intendano approfondire e/o intraprendere lo studio del metodo della partita doppia e il suo impiego per la tenuta della contabilità generale nelle aziende industriali. Dopo un’esaustiva disamina degli elementi fondamentali della ragioneria e dell’economia aziendale, e un’analisi del metodo della partita doppia e dei componenti del sistema informativo aziendale, si procede ad esaminare le principali operazioni di rilevazione contabile. Si analizzano, inoltre, le scritture in partita doppia redatte in sede di assestamento, chiusura e riapertura dei conti, con particolare attenzione alla logica di individuazione del risultato economico d’esercizio e del capitale di funzionamento
- …
