Palletization method for oversized part stacking with an industrial robotic arm
Bibliographic record
Abstract
This work explores a novel palletization strategy for an industrial robot that allows parts to overhang from the edges of a bin while maintaining stack stability. This allows the palletizing of a larger number of parts than non-overhang methods and for palletizing parts larger than the pallets themselves. An increased emphasis was placed on stack stability and new methods of stability analysis were developed. The resulting methodology was applied to the palletization of cut-lumber parts for a wooden truss manufacturer. The method was simulated in Unity and tested on a robotic cell at the University of Manitoba Automation Laboratory. Based on these tests, the method was found to be capable of volume utilization efficiencies of over 105% +/- 5% when using traditional metrics, or 71%+/-3% when using in-bin volume utilization: a new metric developed in this thesis. The results of this work, as reported in this thesis, are very promising.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".