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Experimental study of surface roughness in the case of turning of free-cutting steel AUT20 (22S20)

Academic Journal of Manufacturing engineering 2017年第3期15卷 49-54页

作者： Nedezki, Claudiu Mihai Trif, Adrian Bugnar, Florin Deteşan, Ovidiu Lǎzǎrescu, Lucian Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania Technical University of Cluj-Napoca Department of Manufacturing Engineering Romania Technical University of Cluj-Napoca Faculty of Machine Building Bd. Muncii nr.103-105 Romania Technical University of Cluj-Napoca Department of Mechanical Systems Engineering Romania

A steel part (AUT20 / 22S20) was turned with various cutting parameters for different cylindrical sections and the roughness was measured for each section with the Hommel T500 tester. On the other hand, purely geometric calculations of surface roughness were used. The measured values were compared with the calculated values. All calculations were done in MS Excel which helped us obtain the graphs of cutting parameter influence on roughness. The interpretation of the graphs led to drawing important conclusions regarding the cutting parameters of the above-mentioned steel.

关键词： Surface roughness

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Macro/micro-positioning control and stability analysis of contactless active robotic joint using active magnetic bearing

Macro/micro-positioning control and stability analysis of co...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Mohamed Selmy Mohamed Fanni Abdelfatah M. Mohamed Faculty of Engineering at Shoubra Benha University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept Mansoura University Egypt Electrical Engineering Department Assiut University Egypt

ISBN: (纸本)9781509062355

In clean environments, such as surgery or clean rooms, the robots with conventional joints are source of friction, dust generation, and oil lubrication. To overcome this problem, robots with contactless active robotic joint using active magnetic bearing (AMB) can be used. Moreover, this proposed kind of robots can be used in the applications that need high precision micropositioning control such as semiconductor wafers manipulation to form semiconductor devices. In this paper the macro/micro-positioning control of a novel contactless active robotic joint using active magnetic bearing is presented. In addition, the stability analysis of the controller is studied. The robotic joint used in this paper is designed using finite element method. This joint has 6 degrees-of-freedom (DOFs), 1-DOF for robot joint roll angle and 5-DOF for AMB. The robot joint roll angle is controlled in macro-scale accuracy. The macro-scale positioning of the joint roll angle is needed for gross motion like normal robot revolute joint. The other 5-DOF of the joint are controlled like AMB with the different that the target pitch and yaw angles as well as the axial, vertical and horizontal movements are different than zero but in micro-scale range. The robot joint roll angle is controlled using a PID-based Feedback linearization controller, while a state feedback controller with integral term is used for controlling the AMB 5-DOFs. The macro/micro-positioning control of the novel robotic joint is implemented using MATLAB/Simulink. The robustness of the controllers is tested against payload variations. The results demonstrate that the proposed novel robotic joint is feasible and valid in the applications that need high precision macro-micro-positioning control.

关键词： Robots Mathematical model Air gaps Brushless DC motors Magnetic levitation

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design of soft actuator using 3D-printed composite

Design of soft actuator using 3D-printed composite

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sung-Hyuk Song Sung-Hoon Ahn Cheol Hoon Park Young Su Son Department of Mechanical & Aerospace Engineering Seoul National University Seoul Korea Department of Robotics and Mechatronics Korea Institute of Machinery & Materials Daejeon Korea Institute of Advanced Machines and Design Seoul National University Seoul Korea

This paper describes a soft composite actuator using a 3D-printed scaffold structure. The actuator consists of a scaffold structure embedded in the center and two wires embedded above and below the scaffold to generate motion. Each component is combined with a soft polymer, so it has the advantage of a soft morphing motion. When the wire is pulled, a bending based motion is generated, because of the eccentric force, according to the neutral surface of the composite actuator. The actuating shape can be designed according to the scaffold layer combination and deformation magnitude can be controlled by the length of the pulled wire. Two different scaffold structures, consisting of symmetric and asymmetric ply combinations, were used, and symmetric and asymmetric bend-twist motions (upper 4.3°, lower 25.9° twisting angle) can be realized.

关键词： Actuators Wires Polymers Shape Service robots Couplings

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Filtering 3D keypoints using GIST for accurate image-based localization 27

Filtering 3D keypoints using GIST for accurate image-based l...

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27th British Machine Vision Conference, BMVC 2016

作者： Azzi, Charbel Asmar, Daniel Fakih, Adel Zelek, John Systems Design Engineering University of Waterloo Waterloo Canada Vision and Robotics Lab Mechanical Engineering Department American University of Beirut Beirut Lebanon

Image-Based Localization (IBL) is the problem of estimating the 3D pose of a camera with respect to a 3D representation of the scene. IBL is quite challenging in large-scale environments spanning a wide variety of viewpoints, illumination, and areas where matching a query image against hundreds of thousands of 3D points becomes prone to a large number of outliers and ambiguous situations. The current state of the art IBL solutions attempted to address the problem using paradigms such as bag-of-words, features co-occurrence, deep learning and others, with varying degrees of success. This paper presents GIST-based Search Space Reduction (GSSR) for indoor and large scale Image-Based Localization applications such as relocalization, loop closure and location recognition. GSSR explores the use of global descriptors, in particular GIST, to introduce a new similarity measure for keyframes that combines the GIST descriptor scores of all neighboring frames to qualify a limited number of 3D points for the matching process, hence reducing the problem to its small size counterpart. Our results on standard datasets show that our system can achieve better localization accuracy and speed than the main state of the art. It obtains approximately 0.24m and 0.3◦ in less than 0.1 seconds. © 2016 British Machine Vision Association, BMVA. All rights reserved.

关键词： Deep learning

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A face recognition system for automated door opening with parallel health status validation using the kinect v2 33

A face recognition system for automated door opening with pa...

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33rd International Symposium on Automation and robotics in Construction, ISARC 2016

作者： Ogawa, A. Mita, A. Georgoulas, C. Bock, T. Department of System Design Engineering Keio University Kanagawa Japan Chr. for Building Realization and Robotics Technical University of Munich Germany

Nowadays it is said that extending the healthy life expectancy is important in the aging society target group. Of course it is important for every singleperson household to be regularly checked upon their safety, but especially for elderly people the importance is higher at the point of healthy living, because this particular target group comprises a higher accidents rate. Therefore, the authors here propose the design and implementation of an unobtrusive vision system for single-person households, particularly for elderly people, based on the Microsoft Kinect v2. The entrance area of the home environment is here considered, where the monitoring system is activated upon while the user approaches, in order to first detect and calculate the user's fatigue levels, as well as to secondly identify the user by facial recognition, in order to actuate a door opening mechanism. The proposed system algorithm is divided into two distinct phases. The first phase concerns the acquisition of the user knee position while walking up a staircase in order to calculate fatigue. The second phase comprises the face recognition based door opening method. The proposed system has been successfully tested, and it could undoubtedly comprise an unobtrusive health status validation and automated door opening solution for elderly people in single-person households.

关键词： Face recognition

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Human state estimation system implemented in an Office Deployable Getaway based on multiple bio information 33

Human state estimation system implemented in an Office Deplo...

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33rd International Symposium on Automation and robotics in Construction, ISARC 2016

作者： Nakaso, Sayaka Güttler, Jörg Mita, Akira Bock, Thomas Department of System Design Engineering Keio University Yokohama Japan Chr. for Building Realization and Robotics Technical University Munich Germany

This article is proposing a human state estimation system on the basis of multiple bio information implemented into a movable cover chair called "Office Deployable Getaway". The proposed system consists of 2 sub-systems;the first sub-system analyzes fatigue based on eye movement including blinking rate and eye closure time while the second sub-system analyzes breath frequency. These indicators are detected by applying image processing to IR images, using the Microsoft Kinect sensor. Hardware tests were conducted to determine the proper Microsoft Kinect (Kinect V1 or Kinect V2) and its position inside the chair to efficiently detect eye movement and respiration. The experimental results showed that these bio information could be measured appropriately under the condition that the Kinect V2 was set at the eye level opposite from the user. Based on the result, the implementation of the proposed system into the chair was carried out, installing the Kinect and a personal computer at appropriate positions. Finally, this system was tested in a real environment with test person sitting inside the chair;after the fatigue is analyzed over eye movement, breath frequency is analyzed. The results of these analyzations are indicated in the computer screen. This performance test showed that this system could be feasible for the realistic use. For future development, the authors will focus on audio system that triggers proper music based on estimated human state, which will be implemented into this chair.

关键词： State estimation

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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The HRC model set for human-robot collaboration research

arXiv

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arXiv 2017年

作者： Zeylikman, Sofya Widder, Sarah Roncone, Alessandro Mangin, Olivier Scassellati, Brian Center for Engineering Innovation and Design Yale University New HavenCT06511 United States Social Robotics Lab Computer Science Department Yale University New HavenCT06511 United States

In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components and custom designs. With this work, we aim at reducing the amount of work required to set up and reproduce HRC experiments, and we provide a unified framework to facilitate the comparison and integration of contributions to the field. The model set is designed to be modular, extendable, and easy to distribute. Importantly, it covers the majority of relevant research in HRC, and it allows tuning of a number of experimental variables that are particularly valuable to the field. Additionally, we provide a set of software libraries for perception, control and interaction, with the goal of encouraging other researchers to proactively contribute to our work. Copyright © 2017, The Authors. All rights reserved.

关键词： Robots

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Variable impedance walking using Time-Varying Lyapunov Stability Margins

Variable impedance walking using Time-Varying Lyapunov Stabi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Emmanouil Spyrakos-Papastavridis Peter R. N. Childs Nikos G. Tsagarakis Imperial College London Dyson School of Design Engineering Knightsbridge London UK Q-Bot Ltd. Riverside Business Centre UK Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

ISBN: (纸本)9781538646793

This paper introduces novel methods for a humanoid robot's online balance monitoring, as well as for the tuning of its impedance parameters, based on Time-Varying Lyapunov Stability Margins (TVLSMs). It distinguishes itself from previous works by considering TVLSMs whose values evolve in real-time, in accordance with the references supplied to a trajectory tracking controller, as opposed to the previously-considered static LSMs that revolve around the use of set-point regulators. As a result, an analytical relationship between the system's energy and its Centre-of-Pressure (CoP) is derived, providing a means of predicting the robot's balancing behaviour based on the evolution of the closed-loop system's actual and critical, energy values. An appropriate manipulation of this expression facilitates a real-time tuning of the active stiffness gains, which may be viewed as a process of constraining the robot's energy to residing within a `safe region' of operation. Walking experiments performed using the COmpliant huMANoid (COMAN), reveal the proposed technique's accuracy in terms of predicting stable states, in addition to its capability of enabling an automated real-time tuning of a robot's impedance levels. The proposed strategy has permitted the stable replication of a wide range of joint impedance values, which is imperative for ground interaction during walking.

关键词： Impedance Legged locomotion Mathematical model Tuning Lyapunov methods Stability analysis

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Heat distribution in the deep drawing device components working by high temperatures

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IOP Conference Series: Materials Science and engineering 2018年第1期393卷

作者： M Tropp F Brumerčík J Šteininger P Weis A Glowacz Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina 010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 30-059 Kraków Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results.

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