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

共 3195 条记录，以下是411-420 订阅

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Path Following of Cable Suspended Parallel Robots Through Nonlinear Model Predictive Control 9th

Path Following of Cable Suspended Parallel Robots Through No...

引用

9th European Conference on Mechanism science (EuCoMeS)

作者： Bettega, Jason Richiedei, Dario Tamellin, Iacopo Trevisani, Alberto Univ Padua Dept Management & Engn DTG Str San Nicola 3 I-36100 Vicenza Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Cable-driven parallel robots (CDPRs) are spreading very fast due to their large workspaces and their high payload-to-weight ratio, therefore representing an interesting solution for the next generation of industrial automation. Among the different topologies of CDPRs, the suspended configuration covers a huge interest because it simplifies the robot installation. At the same time, Cable Suspended Parallel Robots (CSPRs) represent a highly challenging configuration from the control design point of view because they lack positive controllability. This paper shows how Nonlinear Model Predictive Control (NMPC) algorithms represent an effective control method to perform path following tasks in the presence of CSPRs;in particular, a two-stage controller is proposed. Firstly, a NMPC algorithm is designed by considering only the dynamical subsystem made of the end-effector, achieving the optimal cable tensions for the execution of the desired path;this procedure easily includes constraints on the feasible tensions. Secondly, the related motor torques are achieved through inversion of the dynamic model of the electric motors. To assess the proposed controller, a 3-dof cable suspended spatial robot, moved by four cables, is considered. Numerical results are reported, showing low contour errors in the execution of the path following tasks and therefore confirming the effectiveness of the proposed method.

关键词： Nonlinear Model Predictive Control Path following Cable-driven Parallel Robots Cable Suspended Parallel Robots Optimal control

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Numerical Optimizations in Inverse Kinematics of Robotics Hand 6th

Numerical Optimizations in Inverse Kinematics of Robotics Ha...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Fonte, Cosimo Cocconcelli, Marco Ceccarelli, Marco Univ Modena & Reggio Emilia Reggio Emilia Italy Univ Roma Tor Vergata Rome Italy

ISBN: (纸本)9783031673856;9783031673832;9783031673825

The analysis of hand movement focuses on two primary optimization issues: the calibration of the hand's kinematic model parameters and the calculation of joint angles for specific postures. Typically, these problems are addressed independently. Calibration or scaling is resolved using static postures, whereas angle calculation can be performed through geometric or numerical methods. This work proposes a comparative analysis of three numerical optimization algorithms to solve these two problems simultaneously, without the aid of specific static tests but using dynamic trials only. Four tasks were selected based on specific literature to cover relevant grasping activities. The analysis was conducted through error analysis, using the discrepancies between the measured and estimated positions of markers. Results demonstrated error reduction in marker position when employing appropriate algorithm.

关键词： Hand Kinematics Numerical Optimization Algorithms Joint Angle Determination Mutibody motion capture

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Enhanced Neural Network System for Predicting the Shear Non-linear Behavior of Composite Materials 30th

Enhanced Neural Network System for Predicting the Shear Non-...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Niu, Guang-Quan Ma, Xue-Shi Wang, Liang Jiangsu Univ Sci & Technol Sch Mech Engn Zhenjiang Jiangsu Peoples R China Shanghai Jiao Tong Univ Sch Marine & Architecture Engn Shanghai Peoples R China

ISBN: (纸本)9783031816758;9783031816734;9783031816727

This paper aims to investigate the prediction of the nonlinear shear model of composite materials using an enhanced neural network system. By modifying the backpropagation equation, the loss function is defined using the data measured in the experiment as the system output, it facilitates learning the shear nonlinear constitutive relationship of composite materials directly from measured data. Additionally, in the backpropagation stage, genetic algorithms are employed instead of backpropagation algorithms to improve the prediction accuracy of the shear nonlinear relationship of composite laminate plates. A comparison with the Adam algorithm under equivalent conditions confirms the feasibility of using the enhanced neural network system combined with genetic algorithms. This study provides new insights for accurately and efficiently predicting the shear nonlinear relationship of composite laminate plates.

关键词： Composite material Neural network system Genetic algorithm Nonlinear shear model Direct measurement data

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Animating Realism: Mechatronic Emulation of Human Movement for Advanced Animatronics 5th

Animating Realism: Mechatronic Emulation of Human Movement f...

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

作者： Monfrini, Matteo Tomasi, Ivan Pagani, Roberto Faglia, Rodolfo Solazzi, Luigi Schioppetto, Christian Univ Brescia Brescia Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The project aims to replicate a human bow, beginning with the sampling of 30 individuals of varying genders and ages through an Image Processing procedure. It identified six Degrees of Freedom (DOFs) as critical for accurate motion replication. The next phase involved approximating these motions' trajectories. A Dynamic model was used to calculate the motor torques, taking into account the robot's weight from component specs and materials. Brushless motors were chosen for their excellent control performance, low noise, minimal vibrations, and efficient heat dissipation, essential for reducing fatigue. The paper concludes by detailing the engineering process behind the structure of the dummy. This includes conducting Finite Element Method (FEM) analysis, constructing the robot, and performing tests to validate its functionality and performance. Through these steps, the project successfully mimics human bowing motions, showcasing the potential of integrating advanced robotics with precise motion capture and dynamic modeling techniques.

关键词： Animatronic Social Robot Motion Robotics Mimic

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Test of iTPMS in ADAS System HIL Environment: A Methodological Framework for Wheels Speed Simulation 5th

Test of iTPMS in ADAS System HIL Environment: A Methodologic...

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

作者： Amoroso, Donato Brancati, Renato D'Agostino, Mario Di Mare, Giancarlo Tufano, Francesco Stellantis NV Virtual Test Properties ENG South Europe Team Naples Italy Univ Naples Federico II Corso Umberto I 40 I-80138 Naples Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The development process of Indirect Tire Pressure Monitoring Systems (iTPMSs) involves extensive experimental testing phases, particularly critical during the vehicle system integration phase. This study aims to innovate in domain of system integration testing by moving from real-world road testing of iTPMS to a virtualized functional testing within a Hardware-In-the-Loop (HIL) environment. To address this goal, this study proposes a methodology for the real-time simulation of wheel speed. This framework is engineered to encompass the effects of road surface irregularities on wheel speeds, reproducing the wheel speeds' frequency responses to road excitation. This is achieved through a reduced-order model. The parameterization of this model is formulated as an optimization task, aimed at minimizing the deviation between the simulated model outputs and the experimental data. The effectiveness of this methodology was assessed through the testing of an iTPMS within HIL environment. The methodology demonstrated its effectiveness, evidenced by its ability to complete the iTPMS learning phase. This was followed by a deflation test involving all four tires, which corroborated the accuracy of the learning phase.

关键词： Integration testing

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Experimental Performance Characterization of Torveastro Limb 5th

Experimental Performance Characterization of Torveastro Limb

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

作者： Shine, Kayitare Ida Ceccarelli, Marco Univ Roma Tor Vergata Lab Robot Mechatron I-00133 Rome Italy

The Torveastro limb functionality is tested with a suitable testbed that is designed for operation simulation and performance monitoring. Results are reported and discussed from tests validating both functionality and... 详细信息

ISBN: (纸本)9783031645556;9783031645532;9783031645525

关键词： Experimental Robotics Testing Performance Torveastro robot

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Problems and Requirements for the Robotic Disassembly of Lithium-Ion Batteries in the Automotive Industry 5th

Problems and Requirements for the Robotic Disassembly of Lit...

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

作者： Quattrucci, Luca Ceccarelli, Marco Santoro, Marco Russo, Matteo Univ Roma Tor Vergata I-00133 Rome Italy ENEA Casaccia Res Ctr I-00123 Rome Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

This paper discusses challenges behind automation and human-robot cooperation in industrial disassembly tasks with a case study on lithium-ion car batteries. To numerically characterize this application, the performance of a robot and a human on an unscrewing task are reported and compared. The advantages and disadvantages of both options are discussed by proposing and analyzing a new performance criterion that successfully gives indications on human-robot task distribution.

关键词： Robotics Human-robot collaboration Task distribution Robotic disassembly Car batteries Recycling

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Educational Resources for Robotics: Accessible Lectures and Toolboxes 5th

Educational Resources for Robotics: Accessible Lectures and ...

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

作者： Pozzi, Maria Prattichizzo, Domenico Malvezzi, Monica Univ Siena Dept Informat Engn & Math Siena Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Human-centred robotics is now becoming a rather mature research field, leading to tangible results and devices which are getting closer to be deployed in real-world scenarios, and possibly to the market. Educating in robotics thus becomes fundamental to ensure societal acceptance and uptake of future robots. New open on-line resources including Massive Open Online Courses (MOOCs), lecture series, and hands-on toolboxes can play a pivotal role in spreading knowledge about robotics. This paper revises recent and currently available educational resources on robotics, with a focus on freely available courses and software tools for university students.

关键词： Robotics

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End-to-End License Plate Recognition System with Optimized Inference on Mobile Security Robots 8th

End-to-End License Plate Recognition System with Optimized I...

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8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： Ismail, Amir Mehri, Maroua Sahbani, Anis Ben Amara, Najoua Essoukri Univ Sousse Ecole Natl Ingenieurs Sousse LATIS Lab Adv Technol & Intelligent Syst Sousse 4023 Tunisia Enova Robot SA Technopole Sousse Sousse 4000 Tunisia Sorbonne Univ Inst Intelligent Syst Robot ISIR CNRS F-75005 Paris France

ISBN: (纸本)9783031598906;9783031598883;9783031598876

Automatic license plate recognition (ALPR) systems are increasingly used to solve issues related to surveillance and security. However, these systems assume constrained recognition scenarios, thereby restricting their practical use. In this paper, we address the challenge of recognizing vehicle license plates (LPs) using a mobile security robot. We present a novel license plate recognition (LPR) model, called vision transformer based LP recognizer (ViTLPR), that benefits from recent advances in deep learning. ViTLPR is based on self-attention mechanism to read character sequences on LPs. To ease the ViTLPR deployment and improve its inference speed, we propose an optimization process using TensorRT. Combined with on-the-shelf YOLOv7x model, we build a two-stage ALPR system and deploy it on a commercial security robot. As an additional contribution, we provide a LP dataset, called PGTLP-v2, collected from surveillance robot patrolling several plants. The PGTLP-v2 dataset has multiple features to cover the in the wild scenario. Experimental results show that the system is competitive compared with state-of-the-art methods.

关键词： License plate recognition Self-attention mechanism In the wild Deployment on mobile security robots Annotated dataset

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An Analysis of Virtual Reality Applications in Rehabilitation Engineering 33rd

An Analysis of Virtual Reality Applications in Rehabilitatio...

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

作者： Cotia, Cosmin-Ilie Mandru, Silviu-Dan Tech Univ Cluj Napoca Memorandumului Str 28 Cluj Napoca Romania SC RehabVR SRL Buna Ziva Str 35D Cluj Napoca Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The application of science and technology for more efficient medical rehabilitation processes has led to the inclusion of new fields such as Virtual Reality (VR) and Augmented Reality (AR) among specific approaches of Rehabilitation Engineering and Assistive Technology. The primary goal of this paper is to identify what are the most common VR solution in rehabilitation engineering, and suggest directions for the future research. In terms of research methodology, this paper involved identification of relevant publications through keyword searches and bibliometric analysis. As results we identified the key medical domains where virtual reality has a significant impact with measurable results. In this paper, the Virtual Reality impact on research in the rehabilitation engineering field is emphasized and analyzed. Representative examples of VR and AR systems are studied and future research and development topics are identified.

关键词： Virtual reality Augmented reality Rehabilitation engineering 3D visualization Body tracking

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