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Unveiling the Potential of Modular Mobile Robotic Systems. A Review 6th

Unveiling the Potential of Modular Mobile Robotic Systems. A...

引用

6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Baneasa, Andrei Buleandra, Debora Tatar, Olimpiu Donca, Radu Tech Univ Cluj Napoca Mechatron & Machine Dynam Dept Cluj Napoca Romania

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This paper delves into the realm of modular mobile robotic systems, focusing on Mobile Modular Robotic Systems and their potential applications. We discuss the advantages as well as acknowledge and explore current challenges of the field. Current and proposed applications are presented as well as examining recent advancements. Structural varieties, are categorized, providing insight into the diverse landscape of modular mobile robotic systems. The conclusion summarizes key findings, reflecting on the potential impact of such adaptive robots and suggesting avenues for future research.

关键词： modular systems mobile robots reconfigurable robots

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Analysis of the Dynamic Response of Variable Bearing Design Under Impact Load Using Taguchi Method 5th

Analysis of the Dynamic Response of Variable Bearing Design ...

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

作者： Jamali, Hazim U. Tolephih, Moneer H. Jweeg, Muhsin Jaber Aljibori, H. S. S. Mohammed, M. N. Abdullah, Oday, I Alfiras, M. Ruggiero, Alessandro Univ Kerbala Coll Engn Mech Engn Dept Karbala Iraq Univ Baghdad Baghdad Iraq Univ Salerno Dept Ind Engn I-84084 Fisciano Italy Al Farahidi Univ Coll Tech Engn Baghdad 00965 Iraq Univ Warith Al Anbiyaa Al Warith Ctr Crowd Engn & Management Res Karbala Iraq Gulf Univ Coll Engn Mech Engn Dept Sanad 26489 Bahrain Univ Baghdad Coll Engn Dept Energy Engn Baghdad 10071 Iraq Al Farabi Kazakh Natl Univ Dept Mech Alma Ata 050040 Kazakhstan Gulf Univ Coll Engn Elect & Elect Engn Dept Sanad 26489 Bahrain

ISBN: (纸本)9783031626180;9783031626166;9783031626159

In order to analyze the effect of using variable bearing profiles on the journal dynamic response under impact load, a Taguchi method-based model is established. The use of such profiles is performed to reduce the effect of shaft misalignment which is an unavoidable problem in the typical journal bearing applications. A 3D misalignment model is used and three forms of bearing profile are considered in the current work. The numerical solution is performed using the finite difference method and the equations of motion are solved by the 4th-order Rung-Kuta method. Results show that using a parabolic shape for the bearing profile at the positions of maximum misalignment effect (bearing edges) gives the best outcome in reducing the pressure levels and increasing the lubricant thickness. The critical speed is also enhanced in comparison with the ideal aligned design. Furthermore, using the optimized design, the response of the system to the impact load is also improved in terms of the X and Y displacement of the journal center.

关键词： Journal bearing misalignment profile design Taguchi method

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Preliminary Development of a Fluidic Device for Astrobiology Missions 5th

Preliminary Development of a Fluidic Device for Astrobiology...

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

作者： Achilli, Gabriele Maria Angelella, Sebastiano Dionigi, Marco Logozzo, Silvia Valigi, Maria Cristina Univ Perugia Perugia Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

This paper presents the first steps in creating an observable remote CubeSat spacelab for biological processes, by introducing a possible fluidic circuit and simulating the pressure and flow conditions inside such a device. One of the objectives of the final experiment would be the realization of a system that allows to feeding staminal and embryonal cells of the human brain with vitamin D. As far as it is known, this nutrient facilitates the differentiation process of the embryonal cells of the hippocampus towards the formation of neurons and fully grown astrocytes. The aim of the fluidic device proposed in this paper is to feed cells and yeasts taking into consideration some cell culture fluids typically used in laboratory experiments for cell and yeast growth, their rheological aspects such as kinematic viscosity, the possible influence of temperature, pressure and microgravity, and the influence that space conditions have on the device and cells. For this purpose, fluidic simulations have been carried out and results will be useful to get a deeper understanding of possible behaviors of the fluidic circuit and to begin studying and constructing a remote automation process for the cells' feeding with vitamin D or other feeding fluids with a further removal of waste products of the involved biological processes.

关键词： Space Device Fluidic Circuit Viscosity Culture Fluids Rheology Neuron Feeding

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Outliers-Do Image and Feature Domain Outliers Coincide in Robotic Applications? 33rd

Outliers-Do Image and Feature Domain Outliers Coincide in Ro...

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

作者： Vierling, Axel Iltifat, Urooj Berns, Karsten Univ Kaiserslautern Landau Dept Comp Sci Robot Res Lab D-67663 Kaiserslautern Germany

ISBN: (纸本)9783031592591;9783031592577;9783031592560

In this work, robotic application data is taken and quantitatively analyzed if outliers in the image domain correlate with outliers in the feature space of CNNs used for the detection of objects. This is necessary to ensure that commonly given reasons for perception failures such as overexposure are valid for any object detection robustness analysis. The outlier detection is done with an encoder-decoder network on images and different layers of different object detection networks. Last, a qualitative analysis of what makes an image an outlier and how this relates to the experience from the application is done.

关键词： Robotic vision Explainability Outliers

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Temperature Profile at Pad's Leading Edge of a Titling-Pad Journal Bearing: CFD Modeling and Experimental Validation 5th

Temperature Profile at Pad's Leading Edge of a Titling-Pad J...

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

作者： Chatterton, Steven Riva, Andrea Gheller, Edoardo Dassi, Ludovico Vania, Andrea Pennacchi, Paolo Politecn Milan Dept Mech Engn Milan Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Tilting-pad journal bearing (TPJB) is amechanical component that utilizes the hydrodynamic lubrication principle to support a rotating shaft in which each pad can tilt to accommodate the motion of the shaft in its equilibrium position. Within the groove, which is the space between two consecutive pads, the cold oil from the supply system mixes with the hot oil from the upstream pad. This mixing strongly influences the temperature distribution in the bearing. In the paper, a computational fluid dynamics model (CFD) is introduced to simulate the mixing process in the groove. The CFD model is integrated in a Reynolds-based thermos-hydrodynamic (THD) model of the entire bearing to simulate both the static and dynamic behavior of the bearing. The resulting temperature in the groove obtained from the coupled model is compared to experimental measurements of the temperature at the leading edge of a pad of a TPJB installed in a test-rig. The temperature is obtained by an array of temperature probes installed in the leading edge of the pad.

关键词： Tilting-pad journal bearing computational fluid dynamics lubrication mixing model

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Analysis and Modeling of a Mechanical Power Recirculating Test Bench for Gears Testing 5th

Analysis and Modeling of a Mechanical Power Recirculating Te...

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

作者： De Simone, Marco Claudio Veneziano, Salvio Guida, Domenico Univ Salerno Dept Ind Engn Via Giovanni Paolo II 132 I-84084 Fisciano Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

The optimization of a transmission goes through the evaluation of specific parameters such as efficiency, overall dimensions, noise, and economy. Added to these parameters, during sizing, is the need to evaluate the strength of gears subject to phenomena such as pitting, micro pitting, scuffing, and bending. Such evaluations must consider the field of use of the gearbox, which may require its operation at different torque regimes and speeds. The requirements listed above lead to the need to perform test procedures involving the implementation of even quite complex load spectra for the purpose of accurately replicating actual operating conditions. This paper analyzes a mechanical power recirculating test stand and its modeling in Mathworks' Simscape multi-domain environment. In particular, the objective is to test the potential of such a simulation environment for modeling the dynamic aspects that are fundamental for the proper sizing of the test rig. This phase is essential for defining the components for subsequent bench design.

关键词： Closed-loop test rig Gearbox test Mechanical Energy Regeneration Multibody Simscape

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AI-Based Multi-criteria Path Planning of Cartesian Robot with Telescopic Arm for Tree Fruit Picking 33rd

AI-Based Multi-criteria Path Planning of Cartesian Robot wit...

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

作者： Rodic, Aleksandar Ilic, Uros Stevanovic, Ilija Inst Mihajlo Pupin Belgrade Serbia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The paper presents a hybrid neuro-fuzzy applicative interface for path planning and multi-criteriamotion optimization of an agriculture service robot with a telescopic arm designed for picking fruit from trees on the large orchards. The intelligent optimization system is based on application of artificial intelligence algorithms-neural networks and fuzzy inference system, which includes necessary knowledge about the kinematic and dynamic behavior of the robot in the operation task space, including data on the coordinates of places intended for disposal of the picked fruits from the tree. The intelligent system for path planning of the robot determines in real time the points in the working space that meet three set qualitative criteria for decision-making: (i) the shortest paths, (ii) the fastest paths, and (iii) the minimum energy consumption for catching, picking and carrying away the harvested fruits to the nearest place provided for the disposal of the fruits. The applied artificial neural network, described in the paper, is used for training, i.e. acquisition of the knowledge about the kinematic and dynamic behavior of the robot in the workspace in order to replace the process of numerically demanding calculation of the robot model in real time. Fuzzy classifier as a smart inference system has the role of choosing the best, optimal solution for the robot path that satisfies the set criteria functions.

关键词： Fruit picking robots Knowledge-based path planning Artificial intelligence Artificial neural networks Fuzzy inference system

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Static and Dynamic Identification of the Mitsubishi RV-5AS-D-S01 Robot 5th

Static and Dynamic Identification of the Mitsubishi RV-5AS-D...

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

作者： Dona, Domenico Boscariol, Paolo Bottin, Matteo Lenzo, Basilio Rosati, Giulio Univ Padua Padua Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Accurate identification plays a pivotal role in establishing a finely tuned dynamic model for a manipulator, particularly when manufacturers provide limited data. In sophisticated robotics applications, such as minimum time and minimum energy problems, or executing impact-aware tasks, a precise dynamic model becomes essential for designing feasible movements. This paper focuses on the development of an identification procedure of the collaborative robot Mitsubishi RV-5AS-D-S01, together with some preliminary experimental data.

关键词： Dynamic models

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Design of a Data Collection System for Robot Digital Twins 33rd

Design of a Data Collection System for Robot Digital Twins

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

作者： Ionut, Lentoiu Theodor, Borangiu Silviu, Raileanu Univ Politehn Bucuresti Dept Automat & Appl Informat Bucharest Romania Acad Romanian Scientists Bucharest Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The paper presents a software architecture designed for data gathering in robot digital twins (DT). This system acquires information and data from the industrial robot, the automated process performed by the robot, and the devices linked to the robot (such as conveyor belt, ASRS, and smart meters). The data retrieval is facilitated by an edge processing framework that includes the robot controller and IoT gateways. The software system comprises a data acquisition agent that is directly linked to the edge processing hardware, a local database for storing the acquired information, and a user interface that offers various data display possibilities. The DT software is designed to collect robot data in two modes: continually from the robot controller and the IoT gateways using specialized software tools provided by the robot manufacturer, and discretely from special program instructions through messages. Experiments with the DT data collection system are conducted for ABB IRC5 industrial robot controllers.

关键词： Industrial robot Digital twin Data acquisition Edge processing

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A 3D Printed Reconfigurable Multi-fingered Gripper 33rd

A 3D Printed Reconfigurable Multi-fingered Gripper

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

作者： Baras, Bostjan Denisa, Miha Jozef Stefan Inst Dept Automat Biocybernet & Robot Humanoid & Cognit Robot Lab Ljubljana Slovenia Univ Ljubljana Fac Elect Engn Ljubljana Slovenia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

This paper presents a novel reconfigurable gripper designed for versatile and cost-efficient automation. The gripper is characterized by its under-actuated fingers and modular design, enabling it to adapt to a wide range of objects and tasks. Central to our design is the robotic finger module, which utilizes a single motor within a 3D-printed frame, ensuring both efficient functionality and ease of assembly. The gripper's adaptability is further enhanced by a reconfigurable board that supports multiple finger configurations, such as two-finger and three-finger setups. Evaluation tests were conducted to assess the gripper's adaptability and durability. Using a series of 3D-printed objects, the tests focused on the finger's response time and ability to withstand repetitive use, highlighting its capability to efficiently handle diverse objects. Its adaptability and open-source nature make it a valuable asset for a wide range of uses.

关键词： Grippers Adaptive systems Additive manufacturing Open source hardware Mechanical design Under-actuated systems

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