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检索条件"机构=School of Robotics and Automation Engineering"

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Research of high-efficiency extraction of edges of large complex components in three-dimensional point clouds 5

Research of high-efficiency extraction of edges of large com...

引用

5th World Conference on Mechanical engineering and Intelligent Manufacturing, WCMEIM 2022

作者： Li, Jing Fan, Jiangchuan Shen, Nanyan Qian, Hui Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Fanuc Robot Co. Ltd Shanghai China

ISBN: (纸本)9781665473699

With the rapid development of the automobile manufacturing industry, major automobile manufacturers around the world are stepping up digital transformation to achieve high-flexible, efficient and high-quality automobile production to adapt to the increasingly competitive market situation. Robots play an important role in automobile manufacturing. In the process of automobile manufacturing, the performance and quality of the product largely depend on the size accuracy of the parts, so edge information needs to be tested before the product is produced and assembled. At the same time, in the field of path planning, people need to obtain geometric feature information such as the edge of components in advance. However, large components are due to various the accuracy of the error needs to be scanned on the spot, and then processed after obtaining the point cloud. In this paper, a new method for quickly extracting edge contours from large-scale point clouds is studied. In the process of finding edges in two-dimensional images, some optimizations have also been made to make them more suitable for edge extraction of such plane structures. We also demonstrated the application of this method in a bus and compared it with two traditional methods. © 2022 IEEE.

关键词： Motion planning

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Real-Time Control of Intelligent Production Line for Automatic Assembly of Aerospace Products 3

Real-Time Control of Intelligent Production Line for Automat...

引用

3rd International Symposium on Aerospace engineering and Systems, ISAES 2024

作者： Song, Hailong Yang, Shengluo Yin, Shuoxin Wang, Junyi Xu, Zhigang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai200093 China

ISBN: (纸本)9798350350418

Due to the wide variety and small number of aerospace products, the assembly process of related products becomes very complicated. In order to achieve the production requirements of safer, more efficient, better production quality and higher resource utilization, we integrate the control system into the assembly line of aerospace products to make it automated. In order to further verify the feasibility of the system, we use 3D virtual reality visualization to design the onsite real-time operation system scheme. © 2024 IEEE.

关键词： Smart manufacturing

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Valuation of Trash Management in Railway Compartment Using ENTROPY – A MCDM Method 1

引用

23rd International Conference on Intelligent Systems Design and Applications, ISDA 2023

作者： Vadivel, S.M. Eswaran, A. Praveena, L. Shetty, Deeksha Sanjay Abhinav, A. VIT Business School Chennai Vandalur - Kelambakkam Road Chennai600127 India Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai602105 India Department of Management Studies Karpaga Vinayaga College of Engineering and Technology Chengalpattu603308 India School of Humanities Social Sciences and Management National Institute of Technology Karnataka Surathkal575025 India VIT Law School Vandalur - Kelambakkam Road Chennai600127 India

ISBN: (数字)9783031648502

ISBN: (纸本)9783031648496

Indian train routes are the most fashionable open-space project in India, but they have a starting problem with prodigal waste association frame. This is a problem with dry and wet garbage being transported inside of moving trains, along road tracks, and over involved rail courses. Typically enough, India has 7000 pilgrim trains that carry 23 million people. In India, the 16000 km square area surrounding the train course track has not been destroyed in any way. According to estimates, 6289 tonnes of plastic enter India’s rail rails on a regular basis. Other than the usual impurity, this enormous season of garbage is causing terrible clinical problems. We have done empirical research while travelling from Chennai to Mangalore regarding this issue. This study effectively and comprehensively deals with the enormous dry and wet garbage disposal within the moving train. In addition to helping to maintain the trains and rail course tracks clean, this will assist with the assessment dustbins disposal inside of trains in terms of passengers perspective. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Entropy

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Real-time mechanical performance analysis of pusher structure of packaging machine based on digital twin system 5

Real-time mechanical performance analysis of pusher structur...

引用

5th World Conference on Mechanical engineering and Intelligent Manufacturing, WCMEIM 2022

作者： He, Tianqiang Shen, Nanyan Shen, Jiquan Wu, Jianjun Li, Jing Li, Haoyang Mao, Jiawei Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Tobacco Machinery Co. Ltd Shanghai China

ISBN: (纸本)9781665473699

Digital Twin realizes the virtual reality interaction between the physical world and the information world, and can comprehensively and accurately evaluate the operation status of physical devices in the virtual space. Aiming at the problem of real-time mechanical performance evaluation of packaging machine pusher structure, this paper studies the real-time mechanical performance analysis based on digital twin technology, and focuses on the implementation methods of typical working condition finite element analysis, finite element proxy model and visualization model of stress nephogram. Based on the finite element proxy model and visualization model of stress nephogram, the stress distribution of key components under different working conditions is visualized, which lays a foundation for the optimization design of equipment structure and life prediction. © 2022 IEEE.

关键词： Visualization

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Stiffness-Based Hybrid Motion/ Force Control for Cable-Driven Serpentine Manipulator*

Stiffness-Based Hybrid Motion/ Force Control for Cable-Drive...

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IEEE International Conference on robotics and automation (ICRA)

作者： Wenshuo Li Wenfu Xu Peisheng Huang Boyang Lin Bin Liang School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Department of Automation Tsinghua University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, there has been a growing demand for robotic manipulators to perform tasks in various unstructured environments and situations requiring precision and force control. However, traditional robotic arms have limitations in fully leveraging their advantages in such scenarios. To address this demand, we have designed a cable-driven serpentine manipulator (CDSM) that combines force and precision motion control. This control method allows for precise manipulation of forces and torques at the end-effector, particularly in applications like electric vehicle charging and narrow-space exploration. It also enables independent control in multiple configurations. We achieve force-position hybrid control in task space, ensuring accurate control of end-effector force while achieving precise position control in other directions. Additionally, we implement joint angle closed-loop control in joint space to reduce the impact of cable elasticity deformation and friction on joint motion accuracy. Finally, servo control is applied at the lowest motor level. This paper investigates the modeling, sensing, and control of CDSM within a unified framework of hybrid motion/force control. Through experiments and simulations, we demonstrate the high accuracy and practicality of this control method in various scenarios.

关键词： Accuracy Force Aerospace electronics Arms End effectors Sensors Task analysis

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Design and Implementation of a Robotic System for Oropharyngeal Swab Sampling Application

Design and Implementation of a Robotic System for Oropharyng...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Dong, Jiaxiang Lu, Xiaowei Duan, Lihong Liu, Qi Zhang, Zhi Liu, Zhen Zhang, Xin Zhang, Xiaohua Wang, Chunbao Guo, Jing Long, Jianjun Lu, Yongtian Wei, Jianjun Li, Peng Wu, Zhengzhi Liu, Quanquan Zhao, Xuezhi South China University of Technology School of Mechanical and Automotive Engineering Guangzhou China The First Affiliated Hospital of Shenzhen University Department of Neurology Shenzhen China Guangdong University of Technology School of Automation Guangzhou China Guangdong Mk Smart Robotics CO. Ltd Zhuhai China Guangxi University of Science and Technology School of Mechanical and Automotive Engineering Liuzhou China Guilin University of Electronic Technology School of Mechanical and Electrical Engineering Guilin China Department of Rehabilitation Shenzhen Dapeng New District Nan'Ao People Hospital Shenzhen China School of Mechanical and Electrical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

The Oropharyngeal (OP) swab sampling is a routine, simple and effective method for the detection of respiratory infectious diseases, especially when a large-scale infectious disease outbreak occurs, such as the newly experienced COVID-19. The traditional manual OP swab sampling process is full of difficulties, such as the high demand for professional medical staff, the risk of cross-infection, and the inflexibility of sampling time, etc., making the efficient implementation of this sampling method particularly critical. Therefore, this paper proposes a novel OP swab sampling robot system to assist the OP swab sampling task. The dual-stage series-parallel hybrid manipulator component is driven by four flexible shafts with torsion properties, which guarantees the completion of sampling tasks in the narrow space of the oral cavity. Accurate sampling point location information is provided through sensor calibration and location recognition algorithms based on deep learning, and the entire sampling task is implemented using a visual-tactile fusion control system. The preliminary experiments verified the completion and feasibility of the sampling task of the OP swab sampling system, and provided a prototype for the OP swab sampling tasks. © 2023 IEEE.

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An Improved Plant Disease Detection Method Based on YOLOv5

An Improved Plant Disease Detection Method Based on YOLOv5

引用

International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC

作者： Hongxia Cai JiaYing Jiang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

To overcome the challenges of weak generalization, high false detections, and missed targets in multi-scale plant disease detection under complex scenarios, this paper proposes an enhanced method based on YOLOv5. The method improves YOLOv5 by incorporating a multi-scale feature fusion module, an attention mechanism, and optimizing the loss function to accurately locate and classify plant disease targets. Experimental results show significant improvements over the original YOLOv5 model in terms of mAP, precision, and recall, with enhancements of 3.99%, 1.56%, and 1.27% respectively. Additionally, the proposed method outperforms other commonly used models. This study provides an efficient and accurate approach for plant disease detection, enabling real-time monitoring of plant health and precise disease control in plant factories.

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Trajectory Tracking Using Linear State Feedback Controller for a Mecanum Wheel Omnidirectional 6th

Trajectory Tracking Using Linear State Feedback Controller f...

引用

6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Ly, Trinh Thi Khanh Long, Nguyen Thanh Dzung, Le Quoc Department of Mechanical Design and Robotics School of Mechanical Engineering HanoiUniversity of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9783030918910

This paper presents a method to design a linear state feedback controller for the mecanum wheel omnidirectional to track a NURBS curve trajectory. Firstly, the robot's kinematic model and kinematic error were established to design a linear state feedback controller. Then, determine the parameters of the controller according to the varying angular velocity for the desired trajectory. An omnidirectional robot platform has been experimental designed and manufactured for experimental verification of the proposed controller. The simulation and experimental results show that the kinematic controller devel-oped by this study has high-performance trajectory tracking with minor tracking errors. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Controllers

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Microsphere Superlenses-Based Optical Super-Resolution Imaging of Ovarian Tissue Sections 13

Microsphere Superlenses-Based Optical Super-Resolution Imagi...

引用

13th IEEE International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2023

作者： Yuan, Shuai Jiang, Chaodi Luo, Hao Li, Shendi Wang, Xiaoduo School of Electrical & Control Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China School of Shenyang Ligong University Shenyang110159 China Institutes for Robotics and Intelligent Manufacturing Shenyang110016 China Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798350315196

Tissue sections can reveal tumour-specific changes, and a tumour diagnosis can be made by analyzing the arrangement and distribution of cells on the surface. Although histopathological diagnosis based on tissue section observation has been the gold standard for tumour diagnosis, there is still much room for improvement in terms of scale due to the limited spatial resolution of conventional optical microscopy. Microsphere super-resolution microscopy offers a potential solution to these problems. Super-resolution imaging of the surface of tissue sections was achieved with the aid of microspheres fixed to the surface of the tissue section and a removable piezoelectric ceramic displacement stage. A single microsphere of barium titanate, measuring 50µm in diameter, is capable of achieving super-resolution and is particularly suitable for observing the surface nanostructure of tissue sections. In our experiment, we successfully combined the microsphere super-resolution microscope with scanning stitching techniques to obtain tissue section structure images with a resolution lower than 200nm. Our research results will help improve the accuracy of tissue section observations and promote advancements in this field. © 2023 IEEE.

关键词： Microspheres

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Wearable Piezoresistive Pressure Sensor Based on Graphene and PDMS Nanocomposite Sponge for Foot Steps Detection

Wearable Piezoresistive Pressure Sensor Based on Graphene an...

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Computer, Control and robotics (ICCCR), International Conference on

作者： Eric Kwame Owusu Aristide Djoulde Mei Liu Jiang Zhen Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

Wearable sensors based on nanocomposite sponge are gaining popularity due to their high sensitivity, stretchability and offer new opportunities for applications ranging from finger motion detection to soft robotics. However, when designing skin-adaptable, mountable, or non-invasive wearable devices, several features need to be taken into account, such as stretchability, flexibility, sensitivity, and biocompatibility. Herein, we present a facile, cost-effective, flexible, and stretchable piezoresistive pressure sensor based on a graphene/polydimethylsiloxane (PDMS) nanocomposite sponge (GPNCS) for finger motion detection. The maximum sensitivities were 133.95 kPa −1 for the pressure range of 1–10 N and 5.05 kPa −1 for the pressure range of 10–20 N respectively. When various pressures are applied, the pressure response of the devices are highly stable, repeatable, and reversible. Moreover, the piezoresistive pressure sensor has excellent sensing performance at various pressures ranging from 1 to 20 N and is mechanically robust enough to work under repeated load without degradation. The proposed device demonstrated an exceptional ability to monitor small and large finger motion, which has numerous applications in the range of finger motion detection, flexible insole as wearable healthcare monitoring and gait monitoring device

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