Nasir Bartley WP2 - PB2B

1. Article 1: Improving robotic machining accuracy through experimental error investigation and modular compensation
Article 2: Improving digital human modelling for proactive ergonomics in design

2. For Article number one, the paper analyzes the relevant sources of errors when machining with industrial robots so that they can find ways to improve the use of the robots.

• The two main materials they used were robot controllers and mechanical chains to analyze the experiments, then it backlashed. 
• Based on the analysis, the backlash can be identified as being most effective. The robot kinematics and the calibration of the work cell can improve positioning accuracy and result also in better precision in machining.
• The machining experiments can be better if the improvements that can be achieved using the different proposed compensation method are also the general cell set-up and the selected machining strategy have an important influence both on the accuracy and the quality.

For Article number two, this article attempted to outline some of the major issues that has to be addressed to improve the functionality of existing DHM tools.

• The thesis is “that only when valid postures and motions are available to a designer using a DHM will the biomechanical and other ergonomics analysis model predictions be correct.”
• Digital human modelling is providing the necessary technology to allow a designer to simulate different sets of manual tasks. The request by designers to use these human graphic simulations for making a new workplace or vehicle design is growing.
• One thing that was bad was that these potential users of this technology did not have enough time or knowledgeable experience in ergonomics to understand the ergonomics and the outcome predictions provided by existing DHM tools. 
• They believed that research on human motion and biomechanical are capable to be performed in ways that provide predictable and valid models that can be able to be processed with the existing DHM tools.

3. For Article number one, the conventions were Robotic machining, Robot dynamics, Robot modelling, Error compensation, and Optical tracking

• Affordances were that they can get better results if they used a different approach at the experiment using the COMET approach basis.
• They would have to make their results more imperfect to get more realistic results.
• Constraints was that they had to make sure their results were realistic because if they used results from the experiment through only technology and fully relied on it, then the results would be too perfect for real life
• The audience is other engineers with the same discipline as them.
• The way the article was structured was that it had an abstract along with keywords of the article. Then it was pictures to be able to understand the article a little better throughout the article.
• Provided a results section and an analysis
• They stated their issues and stated future references to help improve their future studies.
• Then the article came with a conclusion summing up the whole article and have references at the bottom in a certain for depending on the citation.

For Article number two, the conventions were Modelling; Digital human modelling; Physical design

• Affordances was that all of the methods can produce realistic looking motions, but most have been tested with limited motion databases or have assumed a small number of linkage systems, normally three to five links. 
• Simulated motions must be based on real human motion data
• Models should be computationally fast for real time simulations
• Models should automatically adapt and use new motion data to become more robust in predicting novel motion situations of interest to a designer
• Constraints was that the modeling has to be able to predict how different groups of people coordinate the movement of specific segments of the body when they are given the task they need to do.
• Someone has to specify the intended hand motion trajectory, even if only a starting posture and an ending target location to which the hand is to reach, then a general whole-body motion prediction approach is required.
• The audience is other engineers with the same discipline as them.
• The way the article was structured was that it had an abstract along with keywords of the article. Then it was pictures to be able to understand the article a little better throughout the article.
• Provided a results section and an analysis
• They stated their issues and stated future references to help improve their future studies.
• Then the article came with a conclusion summing up the whole article and have references at the bottom in a certain for depending on the citation.

4. One thing that was very important about the two articles was the the methods they use to approach the experient and analysis. If you use the wrong methods or do the methods slighty wrong, your results will not come out correct. In engineering you have to be almost perfect at everything because that one thing that is too imperfect can mess up the whole project.