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检索条件"丛书名=Mechanisms and Machine Science"

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Deployment of Algorithms for Autonomous Drone Racing in a Real Environment 33rd

Deployment of Algorithms for Autonomous Drone Racing in a Re...

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Susnjar, Marko Jovanovic, Kosta Univ Belgrade Sch Elect Engn Belgrade Serbia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

Autonomous drone racing (ADR) has proven to be a good training ground for developing and testing algorithms for autonomous drones. It usually requires specific conditions not available to many researchers. In this paper, we use the affordable Tello drone with support for ROS to implement and deploy computationally efficient algorithms for ADR. We propose the use of a control system based on a combination of the Feedback Linearization and the Model Predictive Control, localization and gate detection using a convolutional neural network and images from the drone's front camera as inputs, and a motion planning algorithm described by a state machine. We tested our system in simulations and in an adapted outdoor environment, demonstrating the system is capable of flying through all gates without collisions.

关键词： Autonomous drone racing Deep learning Model predictive control Feedback linearization Tello drone

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A Vision-Controlled Robotic System for Precision Agriculture and Its Application to an Artificial Vineyard 5th

A Vision-Controlled Robotic System for Precision Agriculture...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science IFToMM ITALY (IFIT)

作者： Garbin, S. Gagliardo, A. Terzer, M. Todescatol, M. Matt, D. T. Giusti, A. Fraunhofer Italia Res Scarl Innovat Engn Ctr Bolzano Italy Free Univ Bolzano Bolzano Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Fundamental agriculture operations can benefit from the adoption of advanced robotic platforms for enabling precise, repeatable and autonomous operations. Among others, precise plant treatment and monitoring tasks are critically important for estimating plant yields or trying to prevent and detect diseases. However, the uneven and irregular terrain of vineyards cause jumps during robot motion that pose challenges to precision caring activities. For this reason, our mobile robot manipulator uses a camera mounted on its end-effector to track a landmark and to control the end-effector pose with respect to it. We show the effectiveness of our approach through lab experiments, where we created an in-lab example of a vineyard row with synthetic grapes, leaves, and ramps to simulate the rough terrain.

关键词： Computer vision mobile manipulator automatic control precision agriculture

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Proposal and Modeling by Simscape Multibody of a Mechatronic Device for Breast Cancer Cells Experiments 5th

Proposal and Modeling by Simscape Multibody of a Mechatronic...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science Italy (IFToMM Italy)

作者： Angelella, Sebastiano Albi, Elisabetta Dionigi, Marco Logozzo, Silvia Valigi, Maria Cristina Univ Perugia Dept Engn Perugia Italy Univ Perugia Dept Pharmaceut Sci Perugia Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The paper is focused on a new device proposal to automate a laboratory process and observe the behavior of breast cancer cells when they are placed on Petri dishes. The experiment samples are observed during the pouring of a culture fluid on the cells to feed them with the subsequent clean-up operation from the waste products. This process is normally done manually with an operator who feeds and empties the Petri dishes. The proposed prototype allows to automatically perform experiments with a first phase where the cells are fed and a second phase where the waste generated by the cells is eliminated using a fluidic system. Since breast cancer cells show a three-dimensional growth, their observation must be performed by placing the Petri dishes in a clinostat. Therefore, the designed prototype is conceived to be placed on a clinostat to perform experiments that allow to follow the three-dimensional growth of the cells while they are fed and cleaned by waste. The fluidic device is modeled by Simscape Multibody, as a preliminary study where the simulations show some results in terms of feeding/emptying times that will be useful for setting the working conditions and operations of the device.

关键词： Breast cancer cells Mechatronic device for cell culture Automatic cell feeding Multibody simulation Simscape

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Design and Modeling of a Dosing Unit in a Capsule-Filling machine 5th

Design and Modeling of a Dosing Unit in a Capsule-Filling Ma...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science IFToMM ITALY (IFIT)

作者： Magri, Filippo Sciarra, Giuseppe Mottola, Giovanni Lelli, Gabriele Carricato, Marco Univ Bologna Viale Risorgimento 2 I-40137 Bologna Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

This paper focuses on the design of a dosing unit in an automatic machine to fill capsules with pellets. We first define the design requirements and constraints, such as the end-effector trajectory, the overall maximum dimensions, the adoption of low-lubrication systems to minimize contamination risk, architecture simplicity, and washability. Through an initial feasibility study, we select the solution that best satisfies the goals. The kinematic and dynamic model of the dosing unit is built and validated by a multibody simulation. The numerical model is used to construct an iterative process for sizing the motors and the unit inner mechanisms, to optimize dimensions, reduce peak accelerations, and achieve the desired transmission ratio. Finite-Element Analysis is finally performed for the most critical components. The new dosing group is capable of high-speed operation with optimal dosing accuracy.

关键词： Dosing Unit Capsule-filling machine Pellets Slider-Crank Linkage Optimization

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Experimental Investigation on Tire-Road Interaction Made with the British Pendulum Evo as Thermal Conditions of the Tire and Road Surface 5th

Experimental Investigation on Tire-Road Interaction Made wit...

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5th International Tribology Symposium of IFToMM (ITS-IFToMM)

作者： Romagnuolo, Fabio Avolio, Stefano Maglione, Raffaele Stefanelli, Raffaele dell'Annunziata, Guido Napolitano Univ Naples Federico II I-80125 Naples Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

The theme of safety is one of the most important pillar for vehicle manufacturers which work hard to make cars go fast but also stay safe, for these reasons, over time, cars have special parts dedicated to safety that allow also a better control of the vehicle even in emergency situations. To improve these aspects it is important to perform specific tests with the right machines to carry out useful improvements like friction testers. One of these machines is the British pendulum test that in the latest years was made "EVO" by the dynamics group of the vehicle of the Federico II, inserting specific sensors and becoming a fundamental test for checking the grip between car tires and different road types. This test gives necessary details for road and tire makers, with such data, they can have the tools to understand how a specific road portion interacts with tire and then set up preventive actions to enhance driving security. This paper aims to study the results carried out from a campaign with the British pendulum EVO to find out how the friction values change under different roads and conditions in which the tire can work. The tests were made varying conditions such as speed and temperature to have a wider range of action possible, on a large amount of road specimens, using different rubber specimens.

关键词： Grip Friction Tire Temperature influence Wet condition

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Orientation Trajectory Planning Based on Unit Quaternions for Spray Painting Robots 33rd

Orientation Trajectory Planning Based on Unit Quaternions fo...

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Vegnaduzzo, Andrea Scalera, Lorenzo Pillan, Daniele Gasparetto, Alessandro Univ Udine I-33100 Udine Italy CMA Robot I-33050 Pavia Di Udine Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

In this paper, we present an approach for the orientation trajectory planning based on cubic B-splines with cumulative basis functions and unit quaternions for spray painting robots. The orientation representation based on unit quaternions avoids potential issues due to the representation singularity of Euler angles. Experimental results on an industrial spray painting robot demonstrate the feasibility of the proposed approach in obtaining a good approximation of the input orientations. Furthermore, continuity in velocity and acceleration is achieved, as well as limited values of the tangential velocity of the robot end-effector, as required in spray painting.

关键词： Robotics Trajectory planning Spray painting B-spline curve Unit quaternion

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Undamped Dynamic Response Modelling of Four-Point Contact Slewing Bearings 9th

Undamped Dynamic Response Modelling of Four-Point Contact Sl...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Eizmendi, Martin Heras, Iker Aguirrebeitia, Josu Univ Basque Country UPV EHU Bilbao 48013 Spain

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Due to the mechanical behaviour of four-point contact slewing bearings, the vibrational response of mechanical systems that include these components is strongly conditioned by the stiffness and damping of the bearing joint itself. With a view to a forthcoming experimental correlation of these parameters, this work proposes a preliminary analytical model to calculate the undamped axial vibrational response of these bearings at locked rotation state. Results provided by the analytical model are compared with an ad-hoc developed finite element model in order to evaluate its validity. Results confirm that the inertial force of the ball and the damping effect of the ball-raceway frictional contact are negligible. It is concluded that the proposed analytical approach is promising due to its simplicity for both solving and post-processing in preparation for a forthcoming damping implementation and experimental correlation. Additionally, the main aspects to take care of in the finite element dynamic modelling of these components are pointed out.

关键词： four-point contact slewing bearing dynamics finite element modelling

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Dynamics of an Eccentric Crank-Slider Mechanism with a Flexible Drive and Frictional Joints 14th

Dynamics of an Eccentric Crank-Slider Mechanism with a Flexi...

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14th International Conference on the Theory of machines and mechanisms (TMM)

作者： Urbas, Andrzej Stadnicki, Jacek Univ Bielsko Biala Willowa 2 PL-43309 Bielsko Biala Poland

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The paper presents the dynamics of an eccentric crank-slider mechanism with consideration the variation of two characteristic parameters defining its geometry, i.e. ratio of a crank length to a con-rod length (lambda) and eccentricity (offset) of a slider (e). The computational model of the mechanism proposed in the paper permits to consider the influence of the flexibility of a drive and friction in joints on its dynamic characteristics especially on the path of the slider velocity. With the help of this model, a discussion is carried out on the influence of parameters (lambda) and (e) on kinetic energy of the slider and duration of pseudo-stop phase of the slider motion.

关键词： dynamics crank-slider mechanism eccentricity flexibility friction

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Phenomenological Modelling of the Nonlinear Flexion-Extension Movement of Human Lower Limb Joints 33rd

Phenomenological Modelling of the Nonlinear Flexion-Extensio...

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Georgescu, Marius Tarnita, Daniela Berceanu, Cosmin Geonea, Ionut Tarnita, Danut-N Univ Craiova Craiova Dolj County Romania Emergency Hosp Dolj Cty Craiova Dolj Cty Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

In this paper we obtain a mathematical model for the flexion-extension (flex-ext) motion of the human lower limb joints in the sagittal plane. This model is composed of a system of differential equations based on quadratic polinoms, obtained from the experimental data collected during walking. Numerical integrations of the mathematical model and the construction of the state space by utilizing numerical solutions and the comparison with the state space obtained from experimental data are obtained. The trajectories of the solution of the phenomenological model are very close to the result of the measurements of the flex-ext angles of the Subject's joints before the pre-processing stage, but they are narrower, more similar with those obtained after pre-processing.

关键词： Phenomenological modelling Lower limb joints Flexion-extension Electrogoniometers Nonlinear movement

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Electromagnetic Simulation of Robotic Dynamic Scenes for Novel Sensor Developments 33rd

Electromagnetic Simulation of Robotic Dynamic Scenes for Nov...

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Stironja, Vlaho-Josip Petrovic, Luka Tomic, Dubravko Sipus, Zvonimir Petrovic, Ivan Univ Zagreb Fac Elect Engn & Comp Unska 3 Zagreb Croatia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

To ensure the safety and efficiency of human-robot collaboration, new sensor modalities are required that capture a robot's entire environment and provide a sense of touch. Robotic skins based on either pressure or capacitive sensors provide a sensing range of up to 20cm and enable the robot to react to contact with its environment. A novel robotic skin with a sensor that utilizes the electromagnetic (EM) properties of flexible metasurfaces could have a sensing range of up to 1m and enable predictive motion planning and safe robot control. The development of this sensor requires EM simulation of dynamic scenes, which cannot be performed directly with existing simulators. To overcome this challenge, we propose and implement a software bridge between a robotic and a full-wave EM simulator to facilitate the development of novel sensors. We experimentally validated our framework by simulating two dynamic scenes and determining the scattering parameters of skin-mounted antennas that correlate with the distance between the object and the sensor.

关键词： Electromagnetic simulation

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