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Workspace Analysis of a Novel Parallel Kinematic Machine with 6 Degrees of Freedom 1

7th International Scientific-Technical Conference, MANUFACTURING 2022

作者： Popișter, Florin Oarcea, Alexandru Stan, Sergiu-Dan Trifan, Costan-Vlăduț Faculty of Industrial Engineering Robotics and Production Management Technical University of Cluj-Napoca Cluj-Napoca Romania Faculty of Automotive Mechatronics and Mechanical Engineering Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (数字)9783031008054

ISBN: (纸本)9783031008047

This paper presents research within are studied and applied distinct types of determination of the workspace of a 6 DOF Parallel Kinematic Machine (PKM). PKM structures assume the incorporate of flexibility and/or envelope founded in robotic architecture alongside with the rigidity and efficiency provided by the machine tools kinematics. With the help of modern techniques that are used worldwide within different applications in various fields of the industries, and it is to be studied in the early study years of Bachelor of Science the Computer Aided Design (CAD) systems proved to be the correct solution for modeling-simulate-optimize before implement the final product. In this direction the work conducted through the research of this paper uses a modern, efficient, and adequate CAD system - SolidWorks. The current research focuses on using geometrical methods of identification and evaluation of the volume for the workspace of a 6 DOF PKM. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： CAD Geometrical method PKM SolidWorks Workspace analysis

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Surface Defects Detection of Cylindrical High-Precision industrial Parts Based on Deep Learning Algorithms: A Review

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Operations Research Forum 2024年第3期5卷 58页

作者： Wei, Li Solihin, Mahmud Iwan Saruchi, Sarah ‘Atifah Astuti, Winda Hong, Lim Wei Kit, Ang Chun School of Computer Science and Technology (School of Software) Guangxi University of Science and Technology Guangxi 545006 China Faculty of Engineering Technology and Built Environment UCSI University Kuala Lumpur 56000 Malaysia Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pahang Pekan 26600 Malaysia Computer Engineering Department Automotive and Robotics Engineering Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

High-precision cylindrical parts are critical components across various industries including aerospace, automotive, and manufacturing. Since these parts play a pivotal role in the performance and safety of the systems they are integrated into, they are often subject to stringent quality control measures. Defects on the interior and exterior wall surfaces of these cylindrical parts can severely undermine their function, leading to degraded performance, increased wear, and even catastrophic failures in extreme cases. This article aims to comprehensively summarize the task definition, challenges, mainstream methods, public datasets, evaluation metrics, and other aspects of surface defect detection for high-precision cylindrical parts, in order to help researchers quickly grasp this field. Specifically, the background and characteristics of industrial defect detection are first introduced. Owing to the unique geometric features of cylindrical part surfaces, algorithms and equipment for image data acquisition used in surface defect detection are elaborated in detail. This article presents an extensive overview of state-of-the-art surface defect detection techniques designed for high-precision cylindrical components, all rooted in deep learning. The methods are systematically classified into three main categories: fully supervised, unsupervised, and alternative approaches, based on their data labeling strategies. Additionally, the paper conducts a comprehensive analysis within each category, shedding light on their unique strengths, limitations, and practical use cases. Concluding the discussion, the paper provides insights into future development trends and potential research directions in this field that will lead to manufacturing innovation. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Anomaly detection Computer vision Deep learning Defect detection High-precision cylindrical parts Image processing Optical illumination

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Cosmic Troubleshooting: Exploring Third-Person View for Error Handling in Telerobotic Planetary Infrastructure Maintenance

Cosmic Troubleshooting: Exploring Third-Person View for Erro...

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Space robotics (iSpaRo), International Conference on

作者： Liliane Filthaut Dave Murray-Rust Maria Luce Lupetti Neal Y. Lii Peter Schmaus Daniel Leidner Faculty of Industrial Design Engineering Delft University of Technology Delft The Netherlands German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC) Weßling Germany

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

This study investigates error handling intricacies in supervised autonomy orbit-to-ground teleoperation for space exploration robots, emphasizing scenarios with communication delays that render Earth-based ground control assistance unfeasible. In this setting, one major challenge lies in empowering the crew to independently mitigate robot errors that may occur as the robot plans its actions. To address this limitation of current supervised autonomy interfaces, we propose a third-person perspective and game design principles to improve environmental awareness in error situations. 16 experts with similar technical background as the target crew members tested the interface in a physical user study, while 42 people assessed it in an online study. We conclude that a third-person view brings significant improvements to mental workload, overall experience and the ability to identify and rectify planning errors.

关键词： Space vehicles Games Space exploration Planning Maintenance Delays Planetary orbits

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Design and Implementation of Decisioning System for Wifi Access Point Installation using Genetic Algorithm

Design and Implementation of Decisioning System for Wifi Acc...

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2022 International Electrical engineering Congress, iEECON 2022

作者： Thitinaruemit, Aphirak Sitjongsataporn, Suchada Prongnuch, Sethakarn Mahanakorn University of Technology Electrical Engineering Graduate Program Faculty of Engineering and Technology Bangkok Thailand Faculty of Engineering and Technology Dept. of Electronic Engineering Bangkok Thailand Suan Sunandha Rajabhat University Faculty of Industrial Technology Dept. of Robotics Engineering Bangkok Thailand

ISBN: (纸本)9781665402064

This paper presents the design and implementation of a WiFi indoor localization system using genetic algorithm. The coverage capability of the wireless access point is an important parameter in the design to estimate the distance from the transmitted and received signals. The main purpose of this work is to find the effective number of wireless access points in the design area by using genetic algorithm. The Received Signal Strength (RSSI) is measured for the signal quality. The test area consists of the multiple classrooms on the same floor inside the building and the conditions are unobstructed and used the line-of-sight for transmitted and received signals. The experimental results by measuring the received signal through a laptop are indicated that RSSI = -35 dBm at a distance of 5 meters is a prominent indicator of signal quality that can be used to search a variety of information from internet inside the classroom. © 2022 IEEE.

关键词： Genetic algorithms

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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Study of a Microsatelite Hinge Concept Using 3D Printed Prototypes

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Macromolecular Symposia 2023年第1期411卷 2200193-2200193页

作者： Stoica, Marilena Anania, Florea Dorel Zapciu, Miron Georgescu, Luminita Elena Faculty of Mechanical Engineering and Mechatronics Politehnica University of Bucharest Splaiul Independentei 313 Bucharest060042 Romania Faculty of Industrial Engineering and Robotics Politehnica University of Bucharest Splaiul Independentei 313 Bucharest060042 Romania

The CubeSat microsatellites are structures that can be found in many applications of industry and educations, but not only. Based on this, a new concept Card-Sat structure is used in the present study. For a better understanding of the functionality microstructure Card-Sat, this paper aims to study the geometry of joints manufactured from plastic materials by using the FFF 3D printing method and assembling to identify the suitable joint for this type of structures. © 2023 Wiley-VCH GmbH.

关键词： Microstructure

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Machine Learning Algorithms for Natural Language Processing Tasks: A Case of COVID-19 Twitter data (Thailand)

Machine Learning Algorithms for Natural Language Processing ...

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2022 International Conference on Computational Science and Computational Intelligence, CSCI 2022

作者： Kularbphettong, Kunyanuth Vichivanives, Rujijan Kanjanaprakarn, Pannawat Chutrtong, Jaruwan Ruksuntorn, Nareenart Suan Sunandha Rajabhat University Computer Science Program Bangkok Thailand Suan Sunandha Rajabhat University Faculty of Science and Technology Bangkok Thailand Suan Sunandha Rajabhat University Robotics Engineering Program Faculty of Industrial Technology Bangkok Thailand

ISBN: (纸本)9798350320282

This paper presents the use of natural language processing for the problem of information extraction and sentiment analysis. The dataset is from Twitter that has the information of people mentioning about COVID-19, this study has two tasks: (i) classification approach for information extraction task and (ii) deep learning approach for sentiment analysis task. In information extraction task, the data was gathered from twitter that related to COVID-19 information, and the sequence labelling method applied to classify text before giving it to classification algorithms (K-NN, Naïve Bayes, Decision Tree, Random Forest, and SVM). In sentiment analysis task, data was classified by convert the word into index and using word embedding, then to process deep learning algorithm (Bi-directional GRU). The accuracy of two tasks are 98% and 79% respectively. © 2022 IEEE.

关键词： COVID-19

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Ibrahim A. Seleem Mohamed A. Naeem Hiroyuki Ishii Department of Modern Mechanical Engineering Waseda University Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Egypt Department of Mechatronics Engineering School of Mechanical and Electrical Engineering Harbin Institute of Technology Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype’s shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams.

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Thermal influence on positioning error and position repeatability of a machining center axes

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UPB Scientific Bulletin, Series D: Mechanical engineering 2021年第2期83卷 181-188页

作者： Artimon, Flavia-Petruța-Georgiana Stochioiu, Constantin Popan, Gheorghe Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania and Research Assistant National Institute of Research and Development in Mechatronics and Measurement Technique Romania Dept. of Strength of Materials University POLITEHNICA of Bucharest Romania National Institute of Research and Development in Mechatronics and Measurement Technique Romania

The development of the aerospace, automotive, medical and other industries require a continuous improvement of fabrication technologies, including computer numerical controlled machine tools. Currently, the 5-axis CNC machine tools can reach machining precisions of a micrometer, but this characteristic depends on the multitude of fabrication and environmental conditions. In this paper, a general approach and the thermic influence on positioning error and positioning repeatability are presented. The experimental tests have been performed using a Renishaw XL-80 interferometer on a 5-axis CNC vertical machining center Makino D200Z. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Computer control systems

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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International Conference on Electrical engineering and Informatics, ICEEI

作者： Munzir Qadri Danang Karuna Harjanto Jonathan Miharja Winda Astuti Yosica Mariana Sofyan Tan Mahmud Iwan Solihin Mechanical Engineering Department Engineering Faculty University of Muhammadiyah Jakarta Jakarta Indonesia Computer Engineering Department Automotive and Robotics Program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Industrial Engineering Department Product Design program BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Departement of Mechanical & Mechatronics Engineering UCSI University Kuala Lumpur Malaysia

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time.

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