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Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), International Conference on

作者： José Lima Thadeu Brito Olga Ferreira Maria J. Afonso Vítor H. Pinto José A. Carvalho Paulo Costa Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Bragança Portugal Laboratório Para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC) Instituto Politécnico de Bragança Bragança Portugal Centre for Robotic in Industry and Intelligent Systems Institute for Systems and Computer Engineering Technology and Science (INESC-TEC) Porto Portugal CeDRI SusTEC INESC-TEC Faculty of Engineering of University of Porto (FEUP) Porto Portugal SusTEC ESTiG Instituto Politécnico de Bragança Bragança Portugal ARISE & ECE Dept. Research Center for Systems and Technologies (SYSTEC) FEUP CeDRI SusTEC INESC-TEC FEUP

This paper presents the development of an acquisition system and data logger from an existing set of three continuous stirred-tank reactors in series. The reactors are currently used in chemical engineering educational laboratories to perform kinetic and tracer experiments. In this sense, to accomplish the store data process, the volumetric flow rate and the concentration of tracer, reactants and/or products of the reaction must be acquired as a function of time. In the original experimental setup, only the signal conditioning system was operational, while the acquisition, visualization, and control systems were obsolete and damaged. Thus, a new system composed of an interface and real-time acquisition data is proposed alongside preserving the main reactor structure. A graphical user interface and the automation of the various actuators were developed based on worldwide usage and low cost, respectively. This system, based on a common 8-bit microcontroller and an application developed in Lazarus, allows the storage of the acquired data in a time-series database. In this way, students can analyze the results later or in real time. Moreover, remote access allows controlling the reactor and getting data by the Internet of Things (IoT) resources. Additionally, the proposed system using IoT allows data to be shared with the community as a dataset.

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Analysis of the influence of surface roughness of various types of wood on the results of their hardness measured by the Leeb method

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IOP Conference Series: Materials science and Engineering 2021年第1期1199卷

作者： M Bembenek Ł. Kowalski J. Pawlik AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al. A. Mickiewicza 30 30-059 Krakow Poland

Determining the hardness in the Leeb scale consists in measuring the velocity of the impact mass before and after hitting the sample. The result is the speed of the impactor shall after the rebound divided by the speed before the rebound (multiplied by 1000). The measured hardness ranges from 0 to 1000 and is largely dependent on the Young's modulus of elasticity. The article presents the Leeb hardness measurement tests of six various species of wood. The samples were machining before testing in such a way that there were places with different surface roughness on its surface. The research showed the differentiation of the hardness test results for the same tree species depending on the roughness of the surface

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Modeling, Simulation and Control of a Pipe Inspection Mobile Robot with an Active Adaptation System

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IFAC-PapersOnLine 2018年第22期51卷 132-137页

作者： Ciszewski, Michal Buratowski, Tomasz Giergiel, Mariusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Al. Mickiewicza 30 Kraków30-059 Poland

In this paper, a tracked inspection mobile robot with an active adaptation system is presented. It can be used for visual inspection of various pipelines. Mathematical modeling of pedipulator mechanisms that allow adaptation of the robot to different shapes and sizes of pipes is described with focus on forward and inverse kinematics methods, implemented in MATLAB software. Application of a custom trajectory planning algorithm for the pedipulators is shown with numerical and graphical validation. Co-simulations of the robot motion, prepared in V-REP and MATLAB software are performed for horizontal and rough surfaces and horizontal pipe segments with connections and reducers. A prototype of the robot with a model-based control system is tested and laboratory experiments are compared to the simulation results. Different motion scenarios of the robot are shown with focus on adaptation capabilities of the motion unit to work environment. © 2018

关键词： Visual servoing

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Identification of heavy machines impact on soil using Ground Penetrating Radar

Identification of heavy machines impact on soil using Ground...

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作者： Akinniyi, Akinsunmade Karczewski, Jerzy Pysz, Pawel Tomecka-Suchoń, Sylwia Uhl, Tadeusz AGH University of Science and Technology Faculty of Geology Geophysics and Environmental Protection al. Mickiewicza 30 Cracow30-059 Poland Nigerian Geological Survey Agency Abuja Nigeria AGH University of Science and Technology Department of Robotics and Mechatronics ul. Reymonta 9 Cracow30-059 Poland

Soil quality is important to effective agricultural practices and as such, the optimum utilization and maintenance of it cannot be overemphasized. However, human activities via the use of heavy machine as leverage for high production of farm produce have significant impact on the compaction of the soil. Thus, the physical properties of the soil which may enhance high yield rate are degraded. The present study aimed at using ground penetrating radar- a geophysical method of investigation to identify the zones of the impact of the heavy machine operations on soil properties. Initial approach started with modeling and simulation of the response of soil compaction to GPR signals and then the correlation of the results with real field measurement. The study has shown that the method is appropriate for the delineation of soil compaction and can thus be integrated towards improving future machines to be manufactured for the same purpose. © 2019, Springer Nature Switzerland AG.

关键词： Ground penetrating radar systems

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MRPB 1.0: A unified benchmark for the evaluation of mobile robot local planning approaches

arXiv

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arXiv 2020年

作者： Wen, Jian Zhang, Xuebo Bi, Qingchen Pan, Zhangchao Feng, Yanghe Yuan, Jing Fang, Yongchun The Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China The Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China The School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China The Faculty of Robot Science and Engineering Northeastern University Shenyang110000 China The College of Systems Engineering National University of Defense Technology Changsha410073 China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Assist Timing Decision Method for Wire Type Walking Assist Suit by Hip Joint Angular Acceleration

Assist Timing Decision Method for Wire Type Walking Assist S...

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： Junyuan Zhang Hiroumi Murai Akihito Ito Nobutaka Tsujiuchi Tsuyoshi Inoue Kenta Murakami Fumiya Hanzawa Kazuaki Kishimoto Jun Ozawa Faculty of Science and Engineering Doshisha University Kyoto Japan Faculty of Robotics & Design (of Affiliation) Osaka Institute of Technology Osaka Japan Living Innovation Division Panasonic Corporation Tokyo Japan Technical Development Div. ATOUN Inc. Nara Japan Panasonic-AIST Advanced AI Research Laboratory National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (数字)9781728198026

ISBN: (纸本)9781728198033

In this study, we proposed a method to determine the assist timing for wire type assist suit. In this method, since the assist timing is determined based on the hip joint angular acceleration by the IMU sensor, the assist can be performed at the optimal timing for each user. As a result of the experiment that in some trials, the maximum hip extension torque were reduced compared to normal walking can be observed. That is the effectiveness of this method can be expected.

关键词： Legged locomotion Torque Wires Timing Acceleration Hip Consumer electronics

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Detecting layered structures of partially occluded objects for bin picking

Detecting layered structures of partially occluded objects f...

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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yusuke Inagaki Ryosuke Araki Takayoshi Yamashita Hironobu Fujiyoshi Dept. of Robotics Science and Technology Grad Chubu Univ Aichi JP Dept. of Computer Science Grad Chubu Univ Aichi JP Faculty of Computer Science Chubu Univ Aichi JP Faculty of Robotics Science and Technology Chubu Univ Aichi JP

When robots engage in bin picking of multiple objects, a failure in grasping partially occluded objects may occur because other objects may overlap the desired ones. Therefore, the layered structure of objects needs to be detected, and the picking order needs to be established. In this paper, we propose a new dataset that evaluates not only the area of objects but also the layered structures of objects. In this dataset, three tasks are targeted: object detection, semantic segmentation, and segmentation of occluded areas for bin picking of multiple objects. The dataset, called “the Amazon robotics Challenge (ARC) Multi-task Dataset” contains 1,500 RGB images and depth images, including all scenes containing bounding box labels, semantic segmentation labels, and occluded area labels. This enables representing the layered structure of overlapped objects with a tree structure. A benchmark of the ARC multi-task dataset demonstrated that occluded areas could be segmented using a Mask regional convolutional neural network (R-CNN) and that layered structures of objects could be predicted. Our dataset is available at the following URL:http://***/research/arc_dataset_2017_e.

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Positioning Cyber-Physical Systems and Digital Twins in Industry 4.0

Positioning Cyber-Physical Systems and Digital Twins in Indu...

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Industrial Cyber-Physical Systems (ICPS)

作者： Flávia Pires Victória Melo Jonas Queiroz António Paulo Moreira Fernando De La Prieta Elísabet Estévez Paulo Leitao Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Campus de Santa Apolónia Bragança Portugal São Paulo State University (UNESP) IGCE/DEMAC Rio Claro São Paulo Brazil INESC TEC - INESC Technology and Science Faculty of Engineering University of Porto Rua Dr. Roberto Frias Porto Portugal BISITE Digital Innovation Hub University of Salamanca Edificio Multiusos I+D+i Salamanca Spain Electronics and Automation Engineering Department University of Jaén Jaén Spain Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC) Instituto Politécnico de Bragança Campus de Santa Apolónia Bragança Portugal

ISBN: (数字)9798350363012

ISBN: (纸本)9798350363029

Industry 4.0 has brought innovative concepts and technologies that have greatly improved the development of more intelligent, flexible and reconfigurable systems. Two of these concepts, Cyber-Physical Systems (CPSs) and Digital Twins (DTs), have gained significant attention from various stakeholders, e.g., researchers, industry practitioners, and governmental organizations. Both are vital to support the digitalisation of products, machines, and systems, and they focus on the integration of physical and cyber processes, where one affects the other through feedback loops. Having this in mind, this paper aims to better understand how CPS and DT are correlated, particularly exploring their similarities and differences, their positioning within the Industry 4.0 paradigm, and their convergence to develop Industry 4.0 solutions. Some research challenges to develop Industry 4.0 solutions by integrating these concepts are also discussed.

关键词： Semantics Organizations Data models Real-time systems Fourth Industrial Revolution Digital twins Stakeholders

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Study of maximum electric power consumption to produce hydrogen from urine and normal water

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AIP Conference Proceedings 2023年第1期2845卷

作者： Bhishma Karki Saddam Husain Dhobi Jeevan Jyoti Nakarmi Digvijay Pandey Sahar R. Abdul Kadeem Ahmed J. Obaid Trichandra Multiple Campus Tribhuvan University Kathmandu Nepal Patan Multiple Campus Lalitpur-44600 Tribhuvan University Kathmandu Nepal Robotics Academy of Nepal Lalitpur-44700 Nepal A.P.J. Abdul Kalam Technical University Uttar Pradesh India National University of Science and Technology Dhi Qar Iraq Faculty of Computer Science and Mathematics University of Kufa Najaf Iraq

The production of hydrogen from urine as an electrolyte is about 6 to 9times faster than water as electrolyte measured at constant voltage 10V, 15V, 19V, 23V, 27V, and 30V per minute. The power consumption for urine electrolytes is higher than water-electrolyte was observed. Such a rate producesan increase in the efficiency of hydrogen production which is future energy. The utilization of urine rather than water as an electrolyte control soil and water pollution. Urine electrolyte has more beneficial than water because water-electrolyte needed chemical (acid or base) to increase the efficiency of hydrogen production, have to buy and transport while but urine electrolyte has no such problem.

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Estimation of Forearm Pose Based on Upper Arm Deformation Using a Deep Neural Network

Estimation of Forearm Pose Based on Upper Arm Deformation Us...

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IEEE International Conference on robotics and Biomimetics

作者： Sung-Gwi Cho Tetsuya Kurasumi Masahiro Yoshikawa Ming Ding Jun Takamatsu Tsukasa Ogasawara Division of Information Science Nara Institute of Science and Technology (NAIST) Japan Faculty of Robotics & Design Engineering Osaka Institute of Technology (OIT) Japan

Activities of body tissues such as muscles, tendons, and bones appear in the deformation of skins. It would be possible to obtain the information of the body motions by measuring the skin deformation. In our research, we focused on upper arm deformation, which is changed with not only the elbow flexion and extension but also the forearm pronation and supination. Thus, with the measurement of the upper arm deformation, we can estimate the elbow pose. In this paper, we propose a forearm pose estimation method based on upper arm deformation. A distance sensor array with eight sensor units is developed to measure the upper arm deformation. From the measured deformation, a deep neural network (DNN) based model is trained and used to estimate the forearm pose. The results of experiment show that our proposed method was able to estimate the forearm pose with RMSE of 2.9 degrees for the elbow joint angle and 7.6 degrees for the forearm pronation and supination angle.

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