Robots are increasingly performing complex tasks in industrial settings, such as welding, painting, and cutting, but their lower stiffness and repeatability, especially in the cheaper end of the market, limit performa...
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ISBN:
(纸本)9798350311075
Robots are increasingly performing complex tasks in industrial settings, such as welding, painting, and cutting, but their lower stiffness and repeatability, especially in the cheaper end of the market, limit performance. While previous research aimed to improve robot repeatability by optimizing the pose of the workpiece, these approaches were not feasible for large and complex paths. this paper proposes a novel approach of incorporating a second robot to adjust the workpieces position during the manufacturing process, thereby forming a single high-precision robotic system. this paper aims to investigate the feasibility of this approach. For this purpose, it presents a path planner to leverage the resulting additional degrees of freedom to achieve greater repeatability. the effectiveness of this planner is then compared to previous approaches.
there is presented a method for calculation of inertial model for astatic system based on system step response. the method is simple and can be easily used in automatic control practice. Identified model can be applie...
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ISBN:
(纸本)9781467355087;9781467355063
there is presented a method for calculation of inertial model for astatic system based on system step response. the method is simple and can be easily used in automatic control practice. Identified model can be applied in control algorithms more advanced than PID controller, for instance in predictive control.
Presented are results of simulations of B-dot detumbling for satellites with different types of non-symmetrical mass distributions. Results are next compared withthe theoretical derivation of the problem made for the...
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ISBN:
(纸本)9781467355087;9781467355063
Presented are results of simulations of B-dot detumbling for satellites with different types of non-symmetrical mass distributions. Results are next compared withthe theoretical derivation of the problem made for the case of spherically symmetrical bodies.
the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unsta...
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ISBN:
(纸本)9798350362350;9798350362343
the problem of partially hinged partially free rectangular plate that aims to represent a suspension bridge subject to some external forces (for example the wind) is considered in order to model and simulate the unstable end behavior. Such a problem can be modeled by a plate evolution equation, which is nonlinear with a nonlocal stretching effect in the spanwise direction. the external forces are periodic in time and cause the vortex shedding on the structure (on the surface of the plate) and thus it may cause damage to the material. Numerical study of the behavior of steady state solutions for different values of the force velocity are provided with two finite element methods of different type.
Within a logistics supply chain, a large variety of transported goods need to be handled, recognized and checked at many different network points. Often, huge manual effort is involved in recognizing or verifying pack...
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ISBN:
(纸本)9781728189567
Within a logistics supply chain, a large variety of transported goods need to be handled, recognized and checked at many different network points. Often, huge manual effort is involved in recognizing or verifying packet identity or packaging structure, for instance to check the delivery for completeness. We propose a method for complete automation of packaging structure recognition: Based on a single image, one or multiple transport units are localized and, for each of these transport units, the characteristics, the total number and the arrangement of its packaging units is recognized. Our algorithm is based on deep learning models, more precisely convolutional neural networks for instance segmentation in images, as well as computer vision methods and heuristic components. We use a custom data set of realistic logistics images for training and evaluation of our method. We show that the solution is capable of correctly recognizing the packaging structure in approximately 85% of our test cases, and even more (91 %) when focusing on most common package types.
In the field of mobile robotics, point clouds are widely used as an environment representation merged into a map. However, point cloud registration can be challenging when rapid movement occurs. In indoor environments...
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ISBN:
(纸本)9798350362350;9798350362343
In the field of mobile robotics, point clouds are widely used as an environment representation merged into a map. However, point cloud registration can be challenging when rapid movement occurs. In indoor environments, planelike features such as walls, floors, and ceilings are dominant and can be used to aid cloud merging. these features need to be extracted from point clouds. In this paper, we propose an open-source Hough transform implementation in Python. We have adapted this method, conventionally used for detecting shapes in images, to be applied to 3D point clouds and to detect planar features. To illustrate the point-cloud Hough transform algorithm, we generated synthetic point clouds. Additionally, we collected LiDAR measurements in the corridor. Processing the experimental data proved the algorithms ability to handle noise and measurement uncertainties. the study included an evaluation of the Hough transform by making a comparison to the ICP method. the Hough Transform provided more accurate results of corridor width measured on a merged point cloud by 0.06 m.
Estimating data based models of industrial processes is an essential step in making existing production lines intelligent and increasing their flexibility and efficiency. the collection of data during the normal opera...
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ISBN:
(纸本)9781728189567
Estimating data based models of industrial processes is an essential step in making existing production lines intelligent and increasing their flexibility and efficiency. the collection of data during the normal operation often does not provide sufficient information to achieve a high model quality, so that design of experiments methods are needed. In this paper a step-wise methodology for the design of experiments and modeling is proposed, which makes it more applicable for industrial processes. In contrast to commonly used experimental designs, in which all available inputs are varied at once, the proposed method starts with only one input and successively adds another input to the design in each step. the experimental design is combined with an incremental modeling strategy using LOLIMOT-trained models. Experimental results are presented based on a computer experiment and a heating system. In both experiments a model quality comparable to a standard approach is achieved.
there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method co...
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ISBN:
(纸本)9781467355087;9781467355063
there is method for real time frequency analysis of the electromyogram is described in article. this method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of real-time frequency estimation with preliminary using of band-pass filter. the method is easy to program and does not require any additional resources. the article gives an example of using this method in classification of movements problem which is actual for robotics and human-machine interfaces.
In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accura...
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ISBN:
(纸本)9781479987016
In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accuracy estimates of velocity and orientation with respect to gravity. the method is computationally cheap enough to be readily implementable in sensors. the main area of application of the introduced method is mobile robotics.
the issue of identifying and designing control systems of fractional order models involves the necessity of their approximation to integer order. the most popular techniques include: Oustaloup's method, Matsuda...
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ISBN:
(纸本)9798350362350;9798350362343
the issue of identifying and designing control systems of fractional order models involves the necessity of their approximation to integer order. the most popular techniques include: Oustaloup's method, Matsuda's method, CFE (Continued Fraction Expansion) method, M-SBL method and different more. It is also possible to use the Pade approximation. the article examines some properties of this method. the case of the fractional power term (complex variable transfer function raised to a fractional power) is the main focus since it serves as a basis for approximating more intricate fractional order systems. the article's innovation is in using the nonlinear least squares method to obtain a mathematical description of the behavior of the zeros and poles of the chosen component after approximation. Relying on the gathered statistics, it was found that a very good fit was produced. the approximation of the behaviour of zeros and poles also allowed for the presentation of a new, alternative notation for the Pade approximation.
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