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Direct Teaching/Playback Method for the Contact Task of a Six-DOF Manipulator Using a Parallel-Wire-Type Teaching Device with a Remote Center Compliance Device 23

Direct Teaching/Playback Method for the Contact Task of a Si...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Okochi, Tatsuya Sakai, Masao Morita, Yoshifumi Graduate School of Engineering Nagoya Institute of Technology Electrical and Mechanical Engineering Program Department of Engineering Gokiso-cho Aichi Nagoya466-8555 Japan Industrial Research Center Aichi Center for Industry and Science Technology Onda-cho 1-157-1 Aichi Kariya-shi448-0013 Japan Nagoya Institute of Technology Department of Electrical and Mechanical Engineering Gokiso-cho Showa-ku Aichi Nagoya466-8555 Japan

ISBN: (纸本)9788993215274

This study proposes a direct teaching method for the task of pressing an end effector attached to a robot manipulator against a workpiece with a constant force. When performing contact tasks, such as deburring or polishing using a manipulator, a passive compliance is required for the end effector to suppress excessive contact force and impact. Therefore, we developed an end effector that combines a 'parallel wire-type teaching device,' which enables direct teaching, and a compliance device. In the case of pressing a workpiece with a constant force, after teaching the robot's trajectory to trace the edge of the workpiece, the amount of pressing can be calculated from the stiffness of the end effector and the desired pressing force;the robot's trajectory can be edited to teach contact tasks. An experiment was conducted to press a straight trajectory with a constant force as the target value and evaluate the accuracy of force teaching. © 2023 ICROS.

关键词： End effectors

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Intelligent Adaptive RRT* Path Planning Algorithm for Mobile Robots

Intelligent Adaptive RRT* Path Planning Algorithm for Mobile...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Omar Khattab Ahmed Yasser Mohammad A. Jaradat Lotfi Romdhane Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Mechanical Engineering Department American University of Sharjah Sharjah UAE

In this paper a new variant of the widely used Rapidly exploring Random Tree (RRT*) algorithm is proposed. The main goal of this variant is to improve the efficiency of the generated path, in both computation time and the quality of the path. In a previous work by the authors, an improved version RRT*N was proposed, where a normal probability distribution was used to control the generation of the random nodes. The proposed variant utilizes an intelligent fuzzy logic system (FLS) to control the generation of the random nodes and commands the robot to the required target introducing an intelligent fuzzy adaptive RRT*N path planning approach (FA-RRT*N). The proposed approach not only reduced the time required about 29.5 % of the time required by the RRT*, but also generally resulted in shorter path about 63% of the path generated by the traditional RRT * .

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Heading Angle Estimation Using Intelligent Fusion for Autonomous Vehicles

Heading Angle Estimation Using Intelligent Fusion for Autono...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Ali A. Barakat Mohammad A. Jardat Ahmed M. Elsergany Nidal A. Sherif Mechanical Engineering Department American University of Sharjah Sharjah UAE Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

Low-cost navigation systems for ground vehicles often rely on the fusion with Global Positioning System (GPS) for improved state estimation. In this study a low-cost gyroscope is fused with a GPS for improved vehicle heading angle estimation using several Artificial Intelligence (AI) based architectures that include Shallow Neural Networks (SNN), Multi-Layer Neural Networks (MLNN), and Adaptive Neuro- Fuzzy Inference Systems (ANFIS). The primary goal behind using AI based sensor fusion is to obtain a highly accurate vehicle heading estimation suitable for autonomous navigation applications. When available, the GPS signal is used to correct the vehicle's heading angle. The neural networks and ANFIS methods both use the difference between the GPS signal and the heading angle from the integrated gyroscope as inputs. The performance achieved is shown and analyzed. According to the results obtained, the MLNN provides the most accurate heading estimates.

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Cidade Inteligente: análise da evolução dos indicadores de uma Cidade Universitária da região norte a partir da ISO 37122:2020

Cidade Inteligente: análise da evolução dos indicadores d...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Lucas Henrique Brito Santos Kaylane de Sousa Silva Elen Priscila Lobato Jhennifer Freitas dos Santos Allan R. A. Manito Wellington da Silva Fonseca Marcelo de Oliveira e Silva Faculty of Electrical and Biomedical Engineering Federal University of Pará Belém Brazil Electrical Engineering Graduate Program Federal University of Pará Belém Brazil Mechanical Engineering Graduate Program Federal University of Pará Belém Brazil

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Simulation and Dynamic System Modeling in an Elastically Supported Rigid Cylinder for Vibration Energy Harvesting 1

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5th International Conference on mechanical engineering, ICOME 2021

作者： Subekti Guntur, Harus Laksana Djanali, Vivien S. Syaifudin, Achmad Graduate Program of Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Kampus Keputih-Sukolilo Jl. Arif Rahman Hakim Surabaya60111 Indonesia Mechanical Engineering Department Universitas Mercu Buana West Jakarta Indonesia

ISBN: (数字)9789811915819

ISBN: (纸本)9789811915802

This paper discusses the dynamic system modeling in an elastically supported rigid cylinder for electrodynamic vibration energy harvesting. In this paper, the fluid flow used is very different from the research that has been done, the fluid that will be used is air. A lot of airflows is generated in tall buildings, especially in the ducting flow. By utilizing airflow, home energy is developed. The harnessed energy used is electrodynamic vibration energy harvesting which arises from the tension of the wire and beam that vibrates due to the turbulence that is formed which produces an external force, causing the cylinder to insulate. The simulation results show that the airflow velocity and diameter greatly affect the amount of power generated. At an airflow rate of 8 m/s, the power generated is 2 × 10−17 watts. At a diameter of 80 m, the power generated is less stable. The phenomenon that occurs due to the placement of electrodynamic vibration energy harvesting, placement at point B has a faster power than the placement at point A. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Energy harvesting

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Hardware Implementation of a Sliding Detection Algorithm for Robotic Hands Using Force Sensors

Hardware Implementation of a Sliding Detection Algorithm for...

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Symposium on Integrated Circuits and Systems Design (SBCCI)

作者： Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Systems Graduate Program Automation and Control Group/GRACO Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.

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Monitoring Industrial Systems Using ESP-NOW Protocol with Mesh and Ad Hoc Network

Monitoring Industrial Systems Using ESP-NOW Protocol with Me...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Lucas Henrique Brito Santos Eduardo José Monteiro Da Silva Aleqssandro Alexandre De Oliveira Farias Jhennifer Freitas Dos Santos Iago Ranieri Miranda Rodrigues Morais Wellington Da Silva Fonseca Marcelo De Oliveira e Silva Faculty of Electrical and Biomedical Engineering Federal University of Pará Belém Brazil Electrical Engineering Graduate Program Federal University of Pará Belém Brazil Mechanical Engineering Graduate Program Federal University of Pará Belém Brazil

Nowadays, industrial processes are creating increasing demands for optimized and efficient sensing systems and require high reliability and a short time interval for information delivery. This paper presents an embedded sensor system that uses the ESP-NOW protocol with a Mesh and Ad Hoc network, in order to provide an auto mesh configuration upon failure at some point in the network. This system was implemented to monitor the variables of an induction motor, after which, before sending the data to the cloud, local processing is performed to reduce the volume of data. Finally, a computer simulation of the WROOM-32 module is performed for a thermal analysis during its operation, where the heating points of the plate are identified and analyzed, in order to validate that the system, even processing a large amount of data, maintains a high reliability during its operation.

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Investigation of manufacturing conditions of single roll rapidly solidified ribbon for anode materials of magnesium rechargeable batteries

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Keikinzoku/Journal of Japan Institute of Light Metals 2023年第11期73卷 537-544页

作者： Kirimoto, Yuichi Fuke, Kousuke Tsukeda, Tadayoshi Aida, Tetsuo Nemoto, Yasunori Ikeda, Minoru Tabata, Hironobu Kurihara, Hideki Suzuki, Mayumi Department of Nano and Functional Material Science Graduate School of Science and Engineering for Education University of Toyama 3190 Gofuku Toyama-shi-shiToyama Toyama930-8555 Japan Program of Materials Science and Engineering Studies in Science and Engineering Graduate School of Science and Engineering University of Toyama Toyama-shi-shiToyama Toyama Japan Faculty of Sustainable Design Academic Assembly University of Toyama Toyama-shi Toyama-shi-shiToyama Toyama Japan FLOW Science JAPAN Shizuoka Hamamatsu-shi Japan CHUETSU METAL WORKS CO. LTD Nakaniikawa-gun Toyama Japan Saitama Industrial Technology Center Saitama Kawaguchi-shi Japan Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University Imizu-shi Toyama Japan

Magnesium rechargeable batteries are attracting attention as next-generation rechargeable batteries because of their resource abundance, cost, safety, and high electrical capacity per volume compared to conventional lithium-ion rechargeable batteries. Our joint research team focused not only on the electrochemically active magnesium composition of ribbon for the negative electrode materials of magnesium rechargeable batteries but also on the production process, focused on the single roll type liquid quenching and rapid solidification method, which can be produced at a lower cost. In this study, the optimal processing conditions were examined by comparing CAE analysis with ribbon actually manufactured, with the aim of further improving manufacturing conditions using the same method, such as length discontinuities, thickness, and surface properties of ribbon. We specifically various process parameters such as injection pressure and roll peripheral speed for evaluation. As a result, several linear cracks were observed on the surface of the ribbon as the peripheral speed increased and as the Gap became wider, and the surface properties tended to deteriorate. Also, It was found that the dominant factor in the length of the ribbon was the peripheral speed. As the peripheral speed increased, the length of the ribbon tended to increase. © 2023 Japan Institute of Light Metals. All rights reserved.

关键词： Surface properties

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Improvement of corrosion resistance and heat dissipation of Mg-6%Al-4%Ca alloy by the addition of Mn, Mm, and the surface treatment

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Keikinzoku/Journal of Japan Institute of Light Metals 2023年第12期73卷 646-650页

作者： Ito, Mizuki Kondo, Natsuki Kirimoto, Yuichi Tsukeda, Tadayoshi Aida, Tetsuo Tabata, Hironobu Kurihara, Hideki Suzuki, Mayumi Program of Materials Science and Engineering Studies in Science and Engineering Graduate School of Science and Engineering University of Toyama 3190 Gofuku Toyama-shi Toyama930-8555 Japan School of Sustainable Design Materials and Engineering University of Toyama Toyama Toyama-shi Japan Department of Nano and Functional Material Science Graduate School of Science and Engineering for Education University of Toyama Toyama Toyama-shi Japan Faculty of Sustainable Design Academic Assembly University of Toyama Toyama Toyama-shi Japan CHUETSU METAL WORKS CO LTD.. Nakaniikawa-gun Toyama Japan Saitama Industrial Technology Center Kawaguchi-shi Saitama Japan Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University Toyama Imizu-shi Japan

With the recent digitization, electronic equipment housings are required to be thin-walled and have rigidity, heat dissipation, corrosion resistance, and electromagnetic shielding properties. Magnesium alloys are promising materials that satisfy these requirements. Mg-Al alloys have good castability and high strength, but their thermal conductivity decreases. In general, adding alloying elements to magnesium decreases thermal conductivity the effect of aluminum addition is significant. It was found that adding calcium to Mg-Al alloys to form Mg-Al-Ca (AX) alloys results in higher thermal conductivity than that of Mg-Al alloys. However, AX alloys have poor corrosion resistance and require post-treatment such as surface treatment. In this study, AX64, which has high thermal conductivity among the AX series alloys, was used as the basic composition, and corrosion resistance was improved by adding manganese and misch metal, and an attempt was made to improve corrosion resistance and emissivity through surface treatment. The change in thermal conductivity by heat treatment was also investigated. Experimental results showed that the addition of manganese and misch metal improved corrosion resistance and thermal conductivity. Plasma anodization also improved corrosion resistance and emissivity. Heat treatment of these alloys at 400°C improved the thermal conductivity with longer holding time. © 2023 The Japan Institute of Light Metals.

关键词： Corrosion resistance

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Fuzzy Logic for Assessing the Health of a Corn Crop within Family Farming

Fuzzy Logic for Assessing the Health of a Corn Crop within F...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Vanessa Mendonça Mikael Santos Daniel M. Muñoz Carlos Humberto Llanos Department of Computer Science Federal Institute of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Department of Agronomy Federal Institute of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Technological advancements are increasingly evident across various sectors, including automobiles, industry, and healthcare. In precision agriculture, significant progress has been made, with AgroTICs and Smart Agriculture gaining substantial traction in the market. However, a gap remains between cutting-edge technology and family farming, presenting a challenge from both social and applied research perspectives. However, there is still a gap between cutting-edge technology and family farming, which creates a challenge from a social and applied research point of view. In this context, this paper proposes a monitoring model based on Fuzzy Logic and sensor automation applied to estimate the health of a corn crop. The proposed Fuzzy inference system involves calculating an indicator of nutrients as well as the average color and area of corn plants. The nutrient indicator is automatically computed by an ESP32 microcontroller using sensor readings, while the average color and area inputs are manually entered via a mobile application. Additionally, the Fuzzy inference is integrated into the ESP32. The model underwent experimental validation on the health of the plantation, and the results were evaluated in four areas: one was designated for testing, and three were for validation. The model achieved an accuracy of 97.5% in Scenario 3, categorized as ’Very Favorable’, and an accuracy of 65% in Scenarios 2 and 4, categorized as ‘Unfavorable’. The implications of this research contribute to the advancement of AgroTICs among small producers, with the potential to enhance and automate the monitoring of their harvest production.

关键词： Fuzzy logic Accuracy Computational modeling Plantations Crops Production Color Nutrients Monitoring Fuzzy systems

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