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检索条件"机构=Mechatronics and Robotics Engineering"

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Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping

Increasing Admittance of Industrial Robots By Velocity Feedb...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kangwagye Samuel Kevin Haninger Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Department of Automation Fraunhofer IPK Berlin Germany

Admittance and impedance controllers are often purely feedforward, using measured external force or motion, respectively, to generate a reference for an inner-loop controller. In this case, the range of dynamics which can be rendered is limited by the inner-loop, which causes, e.g. contact stability issues for low admittance industrial robots in stiff contact. When both position and force are measured, feedback control can be added to more flexibly reshape the rendered dynamics. This paper uses velocity feedback to increase the admittance of motion-controlled industrial robots in force control applications. This allows an industrial robot with a lower intrinsic admittance, which may be needed for payload, speed, or accuracy, to realize a higher admittance by control, allowing lighter manual guidance and safer contact. This is achieved by a modified disturbance observer, where an inverse dynamic model estimates external forces and amplifies them with positive feedback. This approach is compared with using positive velocity feedback with a shaping filter. Here, velocity reference calculated by the virtual admittance model is modified by the DOB (Dist-Add) or the positive velocity feedback (Vel-Add). When combined with an outer-loop admittance controller, these methods can render a higher admittance while maintaining contact stability compared to standard feedforward admittance control.

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Conceptualization of a Hybrid Machine Combining Laser Beam Micro Machining (LBMM) and Micro Electrical Discharge Machining (Micro-EDM) in a Single Setup

Conceptualization of a Hybrid Machine Combining Laser Beam M...

引用

International Conference on mechatronics (ICOM)

作者： Wan Ahmad Bin Wan Azhar Tanveer Saleh Autonomous Systems and Robotics Research Unit Department of Mechatronics Engineering International Islamic University Malaysia Jalan Gombak Kuala Lumpur Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

The utilization of hybrid laser beam micro machining (LBMM) in conjunction with micro electrical discharge machining $(\mu\text{EDM})$ has gained widespread popularity due to its ability to improve material removal rates and enhance surface quality. Typically, these processes occur on separate machines, resulting in drawbacks such as time loss during workpiece transfer, potential misalignment issues, and increased risks of sample damage during the transfer. This research provides a system and method for a two-step sequential machining process of LBMM and $\mu\text{EDM}$ that allows the workpiece to remain at the same location for both processes. A LBMM process is used for drilling a rough blind hole, followed by $\mu\text{EDM}$ for the finishing process. The workpiece is fixed and positioned in the $\mu\text{EDM}$ workstation. A microscopic camera, which is mounted on the $\mu\text{EDM}$ machine, is used to provide common coordinate position data for the laser and $\mu\text{EDM}$ machine. This coordinate is used by the $\mu\text{EDM}$ machine to position the electrode perfectly on top of LBMM hole before machining. The results suggest that LBMM- $\mu\text{EDM}$ machining can reduce machining time while achieving good hole quality and repeatability. The hybrid sequential process significantly reduces drilling time, being about 1.55 times faster than the pure $\mu\text{EDM}$ [method. However, the findings also indicate that it is not necessary to use LBMM- $\mu\text{pEDM}$ for low aspect ratio holes. This concept enables the workpiece to stay in one position throughout both processes, eliminating any time loss and damage during transfer, as well as avoiding misalignment issues.

关键词： Drilling mechatronics Surface discharges Microscopy Surface emitting lasers Machining Micromachining

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A Study of Cantaloupe Fruit Classification Using Deep Learning Algorithms

A Study of Cantaloupe Fruit Classification Using Deep Learni...

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2024 International Conference on Control, robotics and Informatics, ICCRI 2024

作者： Tran, Huy Q. Le, Quoc Ngoc Ha, Cheolkeun Van Nguyen, Tan Tan, Quoc Phan Nguyen Tat Thanh University Robotics and Mechatronics Research Group Faculty of Engineering and Technology Viet Nam Faculty of Information and Technology SaigonTech Ho Chi Minh City Viet Nam University of Ulsan Department of Aerospace Engineering Ulsan Korea Republic of Thu Dau Mot University Faculty of Engineering and Technology Viet Nam Saigon University Faculty of Information Technology Viet Nam

ISBN: (纸本)9798350380309

This study focuses on identifying cantaloupes using deep learning algorithms. Subsequently, the cantaloupes are categorized into two groups (green and yellow) based on their distinct shape and color characteristics. We also recognized the unripe cantaloupe using several recent deep-learning algorithms. Experimental results from the dataset collected in Tay Ninh province, Vietnam, demonstrated classification accuracies of Yolov8, SSD Mobilenet V2, and Faster - RCNN are impressive, especially the Yolov8 model, which achieved an average accuracy of nearly 97%. © 2024 IEEE.

关键词： Adversarial machine learning

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

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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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Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg

Modular Multi-axis Elastic Actuator with Torque Sensing Capa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Youngrae Kim Sunghyun Choi Jinhyeok Song Dongwon Yun Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu South Korea

This study proposes a modular Multi-axis Elastic Actuator (MAEA) for legged robots that can effectively cope with impacts that may occur during dynamic maneuvering. MAEA has multi-axis compliance and can measure the torque without additional encoders. Therefore, effective impact resistance is possible with less volume and weight than conventional Series Elastic Actuators (SEA). The 6-axis stiffness analysis of paired-Crossed Flexural Hinge (p-CFH) is extended from small deformation to large deformation, and the accuracy is verified through Finite Element Analysis (FEA) and experiments. Based on the analysis, the torque of p-CFH is measured, and feedback torque control is also performed. Finally, the robot leg was constructed with MAEA, and the multi-axis impact resistance performance of MAEA was demonstrated by analyzing the applied impact during landing experiments at various angles.

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Potentiodynamic study and microstructural evaluation of the corrosion behavior of mill scale and alumina reinforced aluminium metal matrix composites

Potentiodynamic study and microstructural evaluation of the ...

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2024 International Conference on Science, engineering and Business for Driving Sustainable Development Goals, SEB4SDG 2024

作者： Adediran, Adeolu A. Mosadomi, Oreofeoluwa A. Ikubanni, Peter P. Nana, Achile Ikumapayi, Omolayo Nwaeju, Cynthia C. Ojji, Immanuel O. Afolalu, Sunday A. Landmark University Department of Mechanical Engineering Kwara State Omu-Aran Nigeria Science University of Johannesburg Mechanical Engineering South Africa CSIR-National Metallurgical Laboratory Jamshedpur831007 India Afe Babalola University Department of Mechanical Engineering Ado-Ekiti Nigeria Nigeria Maritime University Department of Mechanical Engineering Delta State Okerenkoko Nigeria Demontfort University Department of Mechatronics and Robotics Leicester United Kingdom

ISBN: (纸本)9798350358155

The current study reports the corrosion behavior of aluminium metal matrix composites (AMMCs) reinforced with mill scale (MS) and alumina (Al2O3) in a simulated marine environment (3.5 % NaCl solution). Electrochemical technique and optical microscopy were used to evaluate the corrosion behavior of the composites developed at varying weight ratios of MS (0, 2, 4, 6, 8) and Al2O3 (0, 2, 4, 6, 8) respectively. From the results obtained, the average grain size of the composites after exposure to the marine environment varies significantly. Sample A showed an average grain size of 55.02 μm, B - 26.85 μm, C - 28.12 μm, D - 27.03 μm, E - 32.31 μm and F (control) - 37.02 μm. The contributory influence of the reinforcing materials is evident in the variation noted in the average grain sizes. Their presence acts as active sites for corrosion initiation. The oxidation of metal ions causes severe pitting with sample C having the optimum corrosion rate of 0.9532 mm/yr and sample D showing the least corrosion rate of 0.6188 mm/yr. The morphology of the corroded surfaces confirms the presence of pitting corrosion on the composites developed. © 2024 IEEE.

关键词： Pitting

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Mechatronic Design and Fabrication of Aerogenerator composed of Vertical Axis Wind Energy Station with Helical Blades

Mechatronic Design and Fabrication of Aerogenerator composed...

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IEEE Students' Conference on Electrical, Electronics and Computer Science (SCEECS)

作者： Adrian Nacarino Andre Rueda-Lopez Anderson La-Rosa Jose Cornejo Ricardo Palomares Professional School of Mechatronics Engineering Ricardo Palma University Lima Peru Universidad Tecnologica del Peru Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Ricardo Palma University Lima Peru

ISBN: (数字)9798331529833

ISBN: (纸本)9798331529840

An innovative research, supervised by the Research Group of Advanced robotics and mechatronics (GI-ROMA) and the mechatronics engineering School at Ricardo Palma University, was conducted, which explored the development of a helical vertical axis wind energy station. The mechanical design of the helical vertical axis focused on determining the blade type to achieve a shear stress of τ=5*10 -10 , nearly negligible, to let a continuous air flow and obtain a desired voltage output of 5 V. The electrical and electronic design included developing a voltage rectification stage to obtain a regulated output of 5 V; subsequently, 6 V 4.5 Ah batteries were charged and connected in series, with a maximum voltage of 12.67 V, as determined experimentally, which was then connected to a voltage inverter which produced 220 V at 200 W, capable of powering appliances like a 5 W light bulb with a 78.50% efficiency.

关键词： Renewable energy sources mechatronics Wind energy Blades Inverters Wind turbines Voltage control Sustainable development Stress Robots

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Towards an Action Recognition Framework for Endovascular Surgery

Towards an Action Recognition Framework for Endovascular Sur...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Jochem Bos Dennis Kundrat Giulio Dagnino Robotics and Mechatronics (RAM) Group Faculty of Electrical Engineering Mathematics and Computer Science (EEMCS) University of Twente The Netherlands

Objective knowledge about instrument manoeuvres in endovascular surgery is essential for evaluating surgical skills and developing advanced technologies for cathlab routines. To the recent day, endovascular navigation has been exclusively assessed in laboratory scenarios. By contrast, information contained in available fluoroscopy data from clinical cases has been disregarded. In this work, we pioneer a learning-based framework for motion activity recognition in fluoroscopy sequences. The architecture is composed of two networks for instrument segmentation and action recognition. In this preliminary study, we demonstrate feasibility of recognising instrument manoeuvres automatically in our ex vivo *** relevance—The proposed framework contributes to image-based and automated assessment of endovascular tasks. This facilitates robotic control development, surgical education, and smart clinical documentation.

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Improving Biomedical Systems With robotics & Automation

Improving Biomedical Systems With Robotics & Automation

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International Symposium on High Capacity Optical Networks and Enabling Technologies, HONET

作者： Samuel J Slate Cole C Tryon Fernando E Uribe William Howland Matt Marshall Razvan Cristian Voicu Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

ISBN: (纸本)9781665461986

In biomedical processes, there are a wide variety of operations that require the use of pipetting and transferring liq-uids into a specialized dish known as a microplate. For example, researchers and scientists utilize Enzyme-Linked Immunosorbent Assay (ELIZA) to test for specific antigens within a testing solution. Researchers use a handheld, manual pipette during most ELISA tests to move solutions into microplates. While the entire ELISA process often incorporates machines/automation at different steps along the way, the pipetting process usually remains manual. Integrating an automated pipetting system into one such biomedical process can enhance repeatability and optimize time and accuracy. This paper presents the design and implementation of a custom biomedical pipetting system that uses stepper motors along three Cartesian axes to allow precise placement and control of the pipette end effector into individual bays of a microplate. The results show promising improvement both in time and equal volume distribution.

关键词： Liquids Automation Smart cities Manuals Throughput Filling Printers

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Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation

Exploring Robot-Assisted Optical Coherence Elastography for ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yeonhee Chang Elan Z. Ahronovich Nabil Simaan Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Mechanical Engineering Vanderbilt University Nashville TN USA

Optical Coherence Elastography (OCE) is a method that discerns local tissue stiffness using optical information. This method has recently been explored for laryngeal cancer tumor margin detection but has not been widely deployed clinically. Part of the challenge hindering such clinical deployment is the need for controlled high-precision mechanical probing of the tissue. This paper explores the concept of robot-assisted optical coherence elastography(OCE) and presents a preliminary system integration used to demonstrate the approach for stiffness mapping and discerning tumor margins. The approach is demonstrated on a custom Cartesian stage robot, and a custom-built OCE system comprised of an 830 nm broad-band laser with a vector-analysis method for phase gradient estimation and strain imaging. The paper illustrates one of the advantages of robot-controlled probing in terms of increasing the accuracy of the OCE system in a large range of displacement and strain. By leveraging motion information from the robot, online re-calibration of the OCE strain map may be achieved, thereby reducing OCE errors. After calibration, it is shown that the error in estimating the local Young's modulus is 0.485% in the silicon phantom and 0.531% in the agar phantom. These results suggest that future integration of optical coherence tomography(OCT) in clinically deployable robots may offer advantages in enabling local stiffness map estimation using OCE.

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