A Fast Approach for Time Optimal and Smooth Trajectory Planning of Robot Manipulators

In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position, velocity and acceleration during the robot movement. The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each intermal between two consecutive via-points. An analytical formulation simplifies the approach to smooth trajectory and few,iterations are enough to determine the correct values. The approach can be applied in many robot manipulators which require high performance on time and smooth. The simulation and application of the approach on a palletizer robot are performed, and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.

Mosque layout desisn： An analytical study of mosque layouts in the early Ottoman period

This study attempts to quantify the influence of spatial configuration on the functional efficiency of mosque layouts in the early Ottoman period. The literature review consists of two parts. The first part is a theoretical study of the relationship between spatial configuration and functional efficiency of mosque layouts. This part highlights the key syntactical characteristics and effect of spatial configuration on the level of functional efficiency using space syntax theory. The second part is an analytical comparative description of the changes and transfor- mations in the configurations of mosque layouts. The architectural styles are classified into six types based on layout designs. The main benchmarks and indicators involved in measuring the functional efficiency of mosque layouts are analyzed using the A-graph 2009 software program, which provides numerical results. This analysis compares entire samples of mosque layout designs for each category. The numerical results indicate the effect of spatial configurations and the functions of mosque layouts. This study shows that mosques with courtyard layouts are accessible, efficient, and flexible in terms of function because of their distinct syntactical and morphological spatial structures.

Cultural schema and design activity in an architectural design studio

Research on the cognitive activities and on the structure and quality of knowledge flow involved in architectural design education is increasing. These studies generally focus on the interaction between student and instructor, including processes such as producing ideas, solving display problems, and integrating design strategies. These studies commonly include computational evaluations and confirmation of the coding of knowledge. They may also include the determination of designer＇s thoughts and cognitive actions of design process, as welt as the analysis and digitization of verbal protocols during the design process. In most of these studies, the designer＇s cultural and psychological components are not considered. Accordingly, research on the effects of designers＇ cultural schema on design activity in design studios is limited. This study aimed to solve this problem by analyzing the relationship between design activity and the designer＇s cultural schema in a design studio. We performed an experimental study based on a specific conceptual framework and a research model aimed at identifying the relationships among cultural schemas, the architectural design process, and design studios.

Digital re-analysis of lost architecture and the particular case of Lutyens＇ Liverpool Metropolitan Cathedral

Research and critique of unbuilt or destroyed works of architecture is traditionally carried out through the examination of surviving information such as drawings, models, photographs, biographies and monographs. The case study presented here demonstrates that this approach cannot always give a fuU-picture of the architect or designer＇s intentions, and may miss inconsistencies in the design and links to other precedents or antecedents in such schemes. Here, we employ strategic contemporary digital representation techniques to re-present and re-analyse the evidence available for a particular architectural project. We describe a systematic methodology, which shows that these techniques can challenge or enhance current understanding. The focus therefore is on the digital re-analysis process that has been devised. Sir Edwin Lutyens＇ unbuilt Liverpool Metropolitan Cathedral design, that would have delivered one of the largest cathedrals in the world, is used as a case study. The findings reveal new information about the cathedral by following structured lines of enquiry generated from the study of primary and secondary source data, as well as serendipitous results that occur as a potential by-product of the methodological process.

Spatial analysis of various multiplex cinema types

This study identifies the spatial charactenstics and relationships of each used space according to the multiplex type. In this study, multiplexes are classified according to screen rooms and circulation systems, and each used space is quantitatively analyzed. The multiplex type based on screen rooms and moving line systems influences the relationship and characteristics of each used space in various ways. In particular, the structure of the used space of multiplexes has a significant effect on orofit generation and audience convenience.