Nowadays, industrial robot applications are required to customize the manufacturing of diverse products to reduce both downtime and standoff variability. The two methods for robot programming are regularly implemented to carry out that goal. The first one, online programming, requires a specialized operator to guide the robot through desired poses, and the quality of the result is directly limited by his skill level. On the other side, off-line programming uses software packaging to simulate robot applications before their implementation. It reduces downtime with respect to online programming but requires additional calibration steps. In this paper, a novel procedure is presented to obtain accurate surface approximations by combining linear interpolations generated during online programming with a triangulated surface reconstruction of a workpiece surface representation. The method uses a point cloud instead of a predefined mesh to reduce the standoff variability between the robotic tool center point and the surface. Additionally, a technique based on a penalized least squares method was implemented to smooth the trajectory, including position and orientation. The proposed methodology was validated with three well-known case studies involving real trajectories, with simulations in MATLAB and RobotStudio, as well as by experimentation with an industrial ABB robot. The quality of the results demonstrates a great efficiency of this method for path generation based on surface reconstruction. INDEX TERMS Robot programming procedure, industrial robot, path generation, surface reconstruction.

Resumen. En este trabajo se presenta la utilización de heurísticas para apoyar al diseño de sistemas mecánicos, como una propuesta de metodología de diseño robusta. Se emplearon los algoritmos genéticos en el diseño, optimización y selección de vigas utilizando la metodología de diseño paramétrico, que ayuda a variar las dimensiones (parámetros) de las secciones transversales de las vigas de estudio, con el fin de optimizarlas para soportar cargas específicas sin fracturarse. Los resultados experimentales conllevan a que este tipo de implementaciones son de gran utilidad para resolver problemas de optimización numérica en el diseño y selección de vigas para diversas aplicaciones.Palabras clave: algoritmos genéticos, optimización, diseño paramétrico, selección de vigas.Abstract. In this paper, the use of heuristic techniques to support the design of mechanical systems is outlined as a proposal for a robust-design methodology. Genetic algorithms were used in the design, optimization, and beams selection for a series of applications using parametric-design methodology, which help vary the dimension or parameters of the studied beams cross sections, so that the area could be optimized applying a specific force without fracture the beam. The experimental results suggest that these types of implementations are of great help when solving numeric-optimization problems in the design of mechanical systems, as well as in the areas of beams enhancement and selection for specific applications, such as the presented case study.

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An efficient cross-layer approach should provide schemes to avoid all the aforementioned sources of energy waste by promoting novel trade-offs between layers to enhance the wireless communication process and simultaneously extend the network lifetime. Taxonomy: cross-layer approaches for WBANsIn this section, the different studies are classified by the communication layers involved in each cross-layer strategy. This survey details how each approach works (as described by the authors in the original paper), its main problems and shortcomings that represent open issues for future research, and a critical analysis of the performance results as originally presented by the authors.

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