Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2

workspace Related Abstracts

2 Development of Verification System of Workspace Clashes Between Construction Activities

Authors: Sang-Mi Park, Leen-Seok Kang, Hyeon-Seung Kim, Min-Seo Kim, Jong-Myeung Shin

Abstract:

Recently, the use of Building Information Modeling (BIM) in public construction works has become mandatory in some countries and it is anticipated that BIM will be applied to the actual field of civil engineering projects. However, the BIM system is still focused on the architectural project and the design phase. Because the civil engineering project is linear type project and is focused on the construction phase comparing with architectural project, 3D simulation is difficult to visualize them. This study suggests a method and a prototype system to solve workspace conflictions among construction activities using BIM simulation tool.

Keywords: Visualization, bim, workspace, confliction

Procedia PDF Downloads 218
1 Accuracy/Precision Evaluation of Excalibur I: A Neurosurgery-Specific Haptic Hand Controller

Authors: Hamidreza Hoshyarmanesh, Sanju Lama, Garnette R. Sutherland, Kourosh Zareinia, Benjamin Durante, Alex Irwin

Abstract:

This study reports on a proposed method to evaluate the accuracy and precision of Excalibur I, a neurosurgery-specific haptic hand controller, designed and developed at Project neuroArm. Having an efficient and successful robot-assisted telesurgery is considerably contingent on how accurate and precise a haptic hand controller (master/local robot) would be able to interpret the kinematic indices of motion, i.e., position and orientation, from the surgeon’s upper limp to the slave/remote robot. A proposed test rig is designed and manufactured according to standard ASTM F2554-10 to determine the accuracy and precision range of Excalibur I at four different locations within its workspace: central workspace, extreme forward, far left and far right. The test rig is metrologically characterized by a coordinate measuring machine (accuracy and repeatability < ± 5 µm). Only the serial linkage of the haptic device is examined due to the use of the Structural Length Index (SLI). The results indicate that accuracy decreases by moving from the workspace central area towards the borders of the workspace. In a comparative study, Excalibur I performs on par with the PHANToM PremiumTM 3.0 and more accurate/precise than the PHANToM PremiumTM 1.5. The error in Cartesian coordinate system shows a dominant component in one direction (δx, δy or δz) for the movements on horizontal, vertical and inclined surfaces. The average error magnitude of three attempts is recorded, considering all three error components. This research is the first promising step to quantify the kinematic performance of Excalibur I.

Keywords: Precision, Advanced Metrology, Robot-Assisted Surgery, Accuracy, workspace, hand controller, tele-operation

Procedia PDF Downloads 212