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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

共 1355 条记录，以下是111-120 订阅

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Fault Diagnostic Opportunities for Electromagnetic Coils of Active Magnetic Bearings using Physics-of-Failure Analysis 5

Fault Diagnostic Opportunities for Electromagnetic Coils of ...

引用

5th international conference on System Reliability and Safety Engineering, SRSE 2023

作者： Li, Ruiqi Wang, Kai Zeng, Peng Cao, Jiwei Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Harbin Institute of Technology Department of Electrical Engineering China

ISBN: (纸本)9798350305944

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. they are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed. © 2023 IEEE.

关键词： Failure analysis

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Online Optimization and Trajectory Planning for Energy Efficiency in a Robotic Linear Axis 5th

Online Optimization and Trajectory Planning for Energy Effic...

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5th international conference of international-Federation-for-the-Promotion-of-Mechanism-and-Machine-Science Italy (IFToMM Italy)

作者： Fabris, Giuliano Scalera, Lorenzo Gasparetto, Alessandro Univ Udine I-33100 Udine Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Energy efficiency is a challenging and relevant research field in modern manufacturing industries, where robotic systems play an essential role in the automation of several industrial operations. In this paper we present the dynamic modelling of a robotic linear axis and a method for the online optimization of point-to-point motions of the system. Exploiting the verified dynamic model of the system, the trajectories are optimized online for two different cases, namely minimum-time and minimum-time-energy, allowing the execution of sequential optimal motions without idle times. the experimental results shows the feasibility and the energy saving capabilities of the proposed optimization approach, allowing to flexibly select the best trade-off between execution time and energy consumption.

关键词： energy efficiency dynamic modelling linear axis robotics trajectory planning

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Soft actuators that self-create bone for biohybrid (micro)robotics 5

Soft actuators that self-create bone for biohybrid (micro)ro...

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5th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Cao, Danfeng Martinez, Jose G. Hara, Emilio Satoshi Jager, Edwin W. H. Linkoping Univ Dept Phys Chem & Biol IFM S-58183 Linkoping Sweden Okayama Univ Dept Biomat Grad Sch Med Dent & Pharmaceut Sci Okayama 7008558 Japan

ISBN: (数字)9781665459730

ISBN: (纸本)9781665459730

Here we present a new class of variable stiffness actuators for soft robotics based on biohybrid materials that change their state from soft-to-hard by creating their own bones. the biohybrid variable stiffness soft actuators were fabricated by combining the electromechanically active polymer polypyrrole (PPy) with a soft substrate of polydimethylsiloxane or alginate gel. these actuators were functionalized with cell-derived plasma membrane nanofragments (PMNFs), which promote rapid mineralization within 2 days. these actuators were used in robotic devices, and PMNF mineralization resulted in the robotic devices to achieve a soft to stiff state change and thereby a decreased or stopped actuation. Moreover, perpendicularly and diagonally patterned actuators were prepared. the patterned actuators showed programmed directional actuation motion and could be fixated in this programmed state. Finally, patterned actuators that combined soft and rigid parts in one actuator showed more complex actuation motion. Together, these variable stiffness actuators could expand the range of applications of morphing robotics with more complex structures and functions.

关键词： Actuators Shape Mineralization Soft robotics Bending Bones Biomembranes

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Monitoring System Development for Equipment Upgrade for IIoT 5

Monitoring System Development for Equipment Upgrade for IIoT

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5th IEEE international conference on Modern Electrical and Energy System, MEES 2023

作者： Nevliudov, Igor Yevsieiev, Vladyslav Maksymova, Svitlana Demska, Nataliia Starodubcev, Nikolaj Klymenko, Oleksandr Kharkiv National University of Radioelectronics Automation and Robotics Department of Computer-Integrated Technologies Kharkiv Ukraine «kapelou» Llc Kyiv Ukraine

ISBN: (纸本)9798350359787

this paper presents a monitoring system development. this system is designed to upgrade existing production equipment in order to implement IIoT and CPPS approaches and to use all the advantages of these approaches. Authors constructed proposed monitoring system using ESP32-CAM and Arduino Uno. For the testing one analog-digital sound sensor KY-037, one water level sensor, and two temperature and humidity sensors DHT11 were used. then there was developed hardware and software that allowed to obtain desired results of getting data from sensors and processing them in necessary way. Experimental results showed a possibility of using such a system for existing production equipment upgrade. © 2023 IEEE.

关键词： Industry 4.0

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Mathematical Modeling of a Mobile Robot's Motion Control System based on LQR 5

Mathematical Modeling of a Mobile Robot's Motion Control Sys...

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5th IEEE international conference on Communications, Information, Electronic and Energy systems, CIEES 2024

作者： Bektilevov, Aldabergen Kurmangalieva, Lazzat Issabekov, Zhanibek Zhamuratova, Makhabbat Baiturganova, Vinera Rakhmetova, Perizat Satbayev University School of Transport Engineering and Logistics Named After M. Tynyshpayev Almaty Kazakhstan Satbayev University Dept. of Robotics and Technical Means of Automation Almaty Kazakhstan Abay Myrzakhmetov Kokshetau University Kokshetau Kazakhstan

ISBN: (纸本)9798350352863

Now, the development of mobile robots is a promising industry, as these types of robots are acquiring more and more functionality for solving various tasks and in most cases are developed as universal robots that help perform different tasks simultaneously. In this regard, this article discusses the problem of developing a mathematical model of a motion control system for a helicopter-type mobile robot. A mathematical model of a mobile robot motion control system has been developed, using an unmanned aerial vehicle (UAV) as an example, which allows you to track the flight movement in state space. Simulation model of UAV control system based on a PD-controller has been developed using Matlab/Simulink. the simulation model controls the spatial motion of the UAV through four control channels (roll, pitch, yaw, and altitude). the calculations were performed based on the optimal method using the integral quadratic criterion for a nonstationary linear control system. the simulation results show that the developed mathematical model is an optimal simulation for stabilizing a mobile robot (UAV) in desired positions and orientations. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Fully Automated Robotic Inspection of Power Generators 20

Fully Automated Robotic Inspection of Power Generators

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20th IEEE/ASME international conference on Mechatronic and Embedded systems and Applications (MESA)

作者： Canali, Carlo Leggieri, Sergio Ludovico, Daniele Pistone, Alessandro Manara, Federico Poka, Ardit Del Verme, Lorenzo De Mari Casareto Longinotti, Iacopo Caldwell, Darwin G. Ist Italiano Tecnol IIT Adv Robot ADVR Via Morego 30 I-16163 Genoa Italy Univ Genoa Dipartimento Ingn Meccan Energet Gest & Trasporti Via Balbi 5 I-16126 Genoa Italy RAISE Ecosyst I-16126 Genoa Italy

ISBN: (纸本)9798331516246;9798331516239

To face both the ageing of power generators and their stress, the inspection of power generators is a critical task necessary to prevent damages and keep the performance and efficiency at their nominal level. In this context, robotic inspection can play a crucial role since it allows a quick and efficient method to acquire data on the status of generators within a short time. this paper describes an innovative robotic system composed of a crawler robot and an automatic positioning system able to move the robot radially along the power generator. thanks to a novel multi-sensor analysis method, this robotic system can inspect and evaluate the overall status of power generators. the inspection system combines several sensors on board a crawler robot to detect insulation failures, mechanical damages or other defects. this work describes a mechatronic system that can perform a completely automated inspection of power generators. the robotic system is extremely flexible and can be adapted to various power generators.

关键词： inspection robotics power generators automation

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Digital Control Method of Bucket Truck Based on DH Parameter Modeling 5

Digital Control Method of Bucket Truck Based on DH Parameter...

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5th international conference on Mechatronics, robotics and automation, ICMRA 2022

作者： Jian, Xu Huang, Beinuo Zhang, Yan Li, Jinbin Chen, Xin Xu, Shangchao Electric Power Research Institute State Grid Hubei Electric Power Co. Ltd Wuhan China China University of Geosciences School of Automation Wuhan China Shan Dong Tai Kai Automobile Manufacturing Co. Ltd Shandong China

ISBN: (纸本)9781665472654

In the aspect of electric power maintenance, the control of as bucket truck has always been a difficult problem, causing by its hardware structure. this requires operators to have rich operating experience. However, even so, the operator usually needs to adjust it repeatedly to move the end effector to the appropriate position, which greatly reduces the operation efficiency and increases the risk of the operation. To solve this problem, this paper proposes a digital control method of bucket truck based on DH parameter modeling. In terms of algorithm, we use DH method to establish the mathematical model of the bucket truck and complete the kinematic derivation. In terms of hardware, we modified the bucket truck, adding multiple encoders to obtain the joint values. Experiments show that our theoretical derivation is correct and has high accuracy when applied to the bucket truck. © 2022 IEEE.

关键词： Trucks

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Kinodynamic Motion Planning for robotics: A Review 5

Kinodynamic Motion Planning for Robotics: A Review

引用

5th international conference on robotics and automation Sciences (ICRAS)

作者： Zhang, Jun PLA Naval Submarine Acad Dept Strateg Missile Teaching & Res Qingdao Peoples R China

ISBN: (纸本)9780738133119

During the last three decades, there are many notable approaches were proposed in the field of motion planning, such as Bug Algorithms, Cell Decomposition, Roadmap, Potential Field, Sampling-based motion planning and so on. Even though, Kinodyamic moton planning is still an open challenging for robotics regarding dynamic constraints, for the purpose of completeness, safety, or efficiency.

关键词： robotics motion planning kinodynamic sampling-based planning manipulator

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A Miniature Tubular Linear Electromagnetic Actuator: Design, Modeling and Experimental Validation 5

A Miniature Tubular Linear Electromagnetic Actuator: Design,...

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5th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Ben Salem, Mouna Petit, Laurent Khan, Muneeb Ullah Terrien, Jeremy Prelle, Christine Lamarque, Frederic Coradin, thibaud Egles, Christophe Univ Technol Compiegne Roberval Lab Mech Energy & Elect F-60200 Compiegne France Univ Technol Compiegne Dept Elect Sorbonne Univ F-60200 Compiegne France Sorbonne Univ CNRS Lab Chem Condensed Matter Paris F-75005 Paris France Univ Technol Compiegne CNRS UMR 7338 Biomech & Bioengn BMBI F-60203 Compiegne France

ISBN: (数字)9781665459730

ISBN: (纸本)9781665459730

In this paper, a miniature tubular linear actuator capable of moving and reaching discrete positions inside a tube is presented. Its small size and ability to realize small strokes makes it suitable for biomedical applications. We then present the electromagnetic modeling of the actuator followed by an experimental validation. Results show that the actuator can reach discrete positions inside the tube with an average value of 3.5mm and a standard deviation of 0.1mm for a supplied current of 0.5 A.

关键词： Actuators automation Electromagnetic modeling Electron tubes Electromagnetics Standards Robots

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Preliminary Design and Analysis of a Modular Autonomous Mobile Robot for Vineyard Operations 7th

Preliminary Design and Analysis of a Modular Autonomous Mobi...

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7th Ragusa international conference on Safety, Health and Welfare in Agriculture and Agro-Food systems (SHWA)

作者： Calciolari, Luca Pantano, Matteo Pantano, Giorgio Conchere, Gianmaria Univ Padua Dept Ind Engn Via Gradenigo 6-A I-35131 Padua Italy Azienda Agr Giorgio Pantano Via Straddle 40 I-35020 Candiana PD Italy Univ Padua Dept ICEA Via Venezia 1 I-35131 Padua Italy

ISBN: (纸本)9783031635069;9783031635045;9783031635038

robotics is affecting more and more different sectors. In particular automation of agricultural processes could bring several advantages by reducing waste and human effort, that's why several robots to perform a wide range of agricultural tasks are in development. However, the design of a multi-purpose robot for vineyard operations presents still some challenges like its hardware adaptability and compatibility. To tackle some of these challenges, this paper presents the conceptual design of a modular autonomous mobile robot for vineyard operations. the aim of this work is to provide design principles for a modular robot able to perform multiple tasks that are common for vine growers, such as green pruning, winter pruning and spraying. the main advantages of such a robot are multiple. First, it can be considered eco-friendly as it can reduce chemicals consumption, polluting emissions and soil compaction. Second, it can minimize the need for manpower, that means less repetitive tasks to be done and less exposure to chemicals. Finally, its modularity can allow to easily switch tools and to re-design some modules with little changes to other features. For designing this system, we adopted a design thinking approach. thus, first requirements and concepts were created and evaluated via interviews of vine growers. Second, concepts were classified upon the evaluation. And last, the winning prototype was designed with Solidworks CAD software and evaluated on its mechanical and functional properties via a FEM analysis. By using this method, we have developed an initial design for a multipurpose robot that concentrates on the drive system and the serial hybrid powertrain design, the selection of the structure, the tool design, and their incorporation with the frame, as well as an initial estimation of the mass to conduct a preliminary FEM static analysis of the frame. As a result, we have evaluated the feasibility of the concept and identified the key features of all subsystem

关键词： Modular robotics Mobile robotics Vineyard Spraying Agricultural automation Winter Pruning

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