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IMPACT CONTACT control OF A ROBOTIC MANIPULATOR

COMPUTERS & ELECTRICAL engineering 1992年第1期18卷 99-108页

作者： SHOJI, Y INABA, M FUKUDA, T TOYO ENGN CORP DEPT APPL TECHNOLNARASHINOCHIBA 275JAPAN NAGOYA UNIV DEPT MECH ENGNCHIKUSA KUNAGOYA 46401JAPAN TOYO ENGN CORP CTR TECHNOL RES & DEVADV TECHNOL GRPNARASHINOCHIBA 275JAPAN

In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a manipulator system which is positioned or forced against a deformable wall with collision phenomena. The stability and response of the system am examined by parameter studies of numerical simulations. As collision is a phenomenon with energy dissipation, it is effectively used in the field of industry to suppress vibration. However, in the field of robotics little research has been undertaken to the collision of robotics with their environment at the viewpoint of active control. Up until now systems have been controlled to avoid rapid contact. We have adopted a Hertz-type model with an energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we proved that stable positioning of the manipulator against the deformable wall is assured to be possible and that the stabilization effect of collision using a nonlinear Lyapunov function. The effect is confirmed by the simulation.

关键词： Robots, Industrial

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Research on Measurement and Positioning System for Automatic Loading Robot 24

Research on Measurement and Positioning System for Automatic...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Li, Xuepin Guo, Weibin Gao, Lifu Xie, Chenlei Zhu, Xulai School of Electronic and Information Engineering Anhui Jianzhu University Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei60073547 China Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei60026316 China School of Electronic and Information Engineering Anhui Jianzhu University Hefei60073547 China

ISBN: (纸本)9798400709951

In the factory, the loading of bagged goods will produce a large amount of particle dust, causing serious environmental pollution and health damage of workers. Therefore, intelligent unmanned automatic loading robot is an inevitable requirement. In order to achieve safe and reliable automatic loading, the primary task is measurement and positioning of on-site truck compartment. In this paper, according to the structural characteristics of the automatic loading robot, a truck compartment measurement and positioning system for automatic loading robot is designed. The system uses the combination of lidar and laser sensor to obtain the three-dimensional information of the measured truck compartment, and calculates the coordinate position, length, width, height, tilt angle, and other data of the truck compartment through the detected data. Experimental measurements have proved that the system can operate stably in the harsh environment of the factory, the relative deviation of the truck compartment size measurement is less than 1.68%, its measurement and detection accuracy fully meets the loading requirements. © 2024 ACM.

关键词： Trucks

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Design of Biological Sample Tube Recognition and Localization Module for Transit Robots 24

Design of Biological Sample Tube Recognition and Localizatio...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Sun, Zhaoguo Zhao, Honghua Cao, Baolu Yang, Zhaohui Liu, Zhanjie School of Mechanical Engineering University of Jinan Jinan60103801 China Jinan Yifei Intelligent Technology Co. Jinan China Qingdao Haier Biomedical Co. Ltd Qingdao60109081 China

ISBN: (纸本)9798400709951

To meet the needs of biological sample tube transfer in cold storage under low temperature environment, we design a sample tube detection and localization system by fusion of binocular camera and YOLOv5 deep learning target detection network structure, to obtain the x, y, z coordinates of the sample tube gripping point in the coordinates of the ZED2 binocular camera, which need to be transformed through the connection between the camera coordinate system, the image coordinate system and the pixel coordinate system, and then transformed into the robot arm end gripper coordinate system by known 3D coordinate values through hand-eye calibration. Then the known values of the 3D coordinates are converted to the coordinate system of the gripper at the end of the robot arm by hand-eye calibration. The accuracy of the sample tube detection and localization system was verified with an optical navigator and an optical positioning device, and the average error of the x, y, and z axes detection was less than 3.5 mm, which meets the requirements of sample tube grasping. © 2024 ACM.

关键词： Grippers

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RESEARCH LABORATORY FOR FISH PROCESSING AUTOMATION

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1992年第1期9卷 49-60页

作者： DESILVA, CW Industrial Automation Laboratory Department of Mechanical Engineering The University of British Columbia Vancouver B.C. Canada V6T 1Z4

This paper outlines the organization, resources, and research and development activities of a newly established laboratory for industrial automation at a major Canadian university. The laboratory has been established in the Department of Mechanical Enginering primarily to support the research and development activities associated with the Natural Sciences and engineering Research Council (NSERC) Chair of Industrial Automation. The research is focused on the development of advanced and low-cost technology for flexible automation of the fish processing industry. The main objective is to upgrade the technology used in the mechanical processing of fish, thereby reducing wastage of the primary product, improving efficiency, and making the local industry more competitive in export markets. Establishment of an infrastructure in industrial automation within the university and local training/retraining of engineers with control and automation expertise for local industries are related objectives. As a specific task, an experimental workcell for fish processing is being developed in the laboratory. The theme of the activities of the laboratory is the integration of advanced control, high-level computer vision, and robotic manipulation and devices, for application in the area of fish processing.

关键词： Process control

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Underwater Fuzzy Image Enhancement Method Based on CycleGAN 24

Underwater Fuzzy Image Enhancement Method Based on CycleGAN

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Wang, Gang Fu, Bofeng Zhuang, Sheng Zhao, Qiang Jilin Communications Polytechnic Mechanical and Control engineering Changchun130015 China BaiCheng Normal University Mechanical and Control engineering Jilin Baicheng137099 China Jilin Institute of Chemical Technology Information and Control engineering Jilin Jilin132022 China

ISBN: (纸本)9798400709951

In order to addressing color inaccuracies and insufficient contrast in submerged photography caused by light absorption and scattering effects, this paper presents an enhanced image enhancement methodology based on a modified Cycle-consistent Generative Adversarial Network (CycleGAN) tailored for complex aqueous turbidity conditions. The innovation in our algorithm lies in the augmentation of the generator network module within CycleGAN, wherein we integrate a channel-spatial attention mechanism and a multi-scale cross-dimensional interaction module. Furthermore, a novel joint loss function is introduced to optimize the training process comprehensively. To systematically assess the efficacy of our proposed algorithm, a qualitative and quantitative comparison was conducted against multiple advanced image enhancement algorithms. The experimental outcomes revealed a marked improvement over the baseline approach, with Peak Signal-to-Noise Ratio (PSNR) increasing by 3.8% and Structural Similarity Index (SSIM) ascending by 4.4%. These enhancements surpass those achieved by competing algorithms, demonstrating not only a superior enhancement capability but also a heightened robustness across varying depths and levels of water turbidity. Consequently, the proposed algorithm is poised to effectively enhance underwater images characterized by diverse degradation profiles. © 2024 ACM.

关键词： Underwater photography

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Design and Application of Robot Vision Inspection System for Semiconductor Metal Target 3

Design and Application of Robot Vision Inspection System for...

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Cao, Yanjie School of Mechanical Engineering University of Science Malaysia Penang11800 Malaysia

ISBN: (纸本)9781665437189

In this paper, a robot vision inspection system is designed. The vision system is installed at the end of the industrial robot, which is used to detect the surface defects of semiconductor metal targets online. We use the robot technology, combined with the vision inspection program control, so that the vision inspection system and the robot work together, to complete a high purity semiconductor metal target processing inspection task. We obtained the testing experimental data. After analysis, the system can completely replace the traditional manual testing, and improve the machining quality and efficiency of semiconductor metal target. © 2021 IEEE.

关键词： Machine design

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Modeling Li-ion Battery Using Measurement Data 3

Modeling Li-ion Battery Using Measurement Data

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Yutthanava, Tanapon Khomfoi, Surin Phophongviwat, Teeraphon School of Engineering King Mongkut's Institue of Technology Ladkrabang Department of Electrical Engineering Bangkok Thailand

ISBN: (纸本)9781665473538

A precise battery model is essential for battery management system to predict state of charge and cell balancing. The aims of this paper are improved Lithium-ion battery model and study behavior of Lithium-ion battery. In this paper a second-order equivalent circuit of battery lithium-ion is developed to use for Lithium-ion Nickel based battery. The model is developed and validated with experiment result in MATLAB/SIMULINK/SIMSCAPE, As the comparison, The developed model is capable to predict current-voltage performance accurately in battery management system. © 2023 IEEE.

关键词： Lithium-ion batteries

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The Study of Sementic Deep Learning Segmentation for Durian Orchard 3

The Study of Sementic Deep Learning Segmentation for Durian ...

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Boksuwan, Sungwan School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

ISBN: (纸本)9781665473538

The paper comparatively studies a deep learning based semantic segmentation for segmenting durian orchard environments using MATLAB platform. Experiments consist of four treatments that are the combinations of Deeplabv3+ with base networks including Resnet-18, Resnet-50, Xception and Interceptionresnetv2. IoU metric is utilized as the performance index. The environment is segmented into five classes. The experimental results tested by ANOVA reveal that base networks do not result in a different performance for the class of sky, tree, grass, and road but show different performance for background class. © 2023 IEEE.

关键词： Orchards

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Matlab Platform Remote control System Experiments 3

Matlab Platform Remote Control System Experiments

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Boksuwan, Sungwan School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

ISBN: (纸本)9781665473538

The paper proposes the remote experiment that enables a student to conduct the physical control system experiment through the internet. The remote experiment is designed using MATLAB platform to create the user interface and to analyze the results. A DC motor controlled by PI controller is utilized as the physical system for demonstrating the effectiveness of the proposed system. Interface module with a dsPIC microcontroller is in charge of implementing a control loop and connecting between a user interface and a physical system. The experimental results reveal that there are a little delay times in live video monitoring but it does not affect the closed-loop control system and it can still be run in real time. © 2023 IEEE.

关键词： User interfaces

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Monocular Visual Odometry for Small UAVs 3

Monocular Visual Odometry for Small UAVs

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3rd international symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Wei Yan, Neville Koh Wang Tak, Daniel Cheng Ying Quan, Matthew Ong Srigrarom, Sutthiphong National University of Singapore Department of Mechanical Engineering 5A Engineering Drive 1 117411 Singapore

ISBN: (纸本)9781665473538

This paper explores the practical implementation of an algorithm for Monocular Visual Odometry for Small Unmanned Aerial Vehicles (UAVs). The type of UAV in question are those that are commercially available to the mass market such as those manufactured by DJI. This paper found that the developed algorithm, which requires a constant altitude and gimbal pitch, is a good tool for the estimation of the drone's position and velocity. The current algorithm can be used in scenarios where absolute positional accuracy is not critical. © 2023 IEEE.

关键词： Antennas

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