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Design a low-cost delta robot arm for pick and place applications based on computer vision 设计一种基于计算机视觉的低成本三角机器人手臂
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2301099p
Phuong Hoai, V. Cong, T. Hiep
{"title":"Design a low-cost delta robot arm for pick and place applications based on computer vision","authors":"Phuong Hoai, V. Cong, T. Hiep","doi":"10.5937/fme2301099p","DOIUrl":"https://doi.org/10.5937/fme2301099p","url":null,"abstract":"In this paper, we develop a low-cost delta robot arm for grasping objects of unspecified size thanks to a vision system. Stepper motors are used instead of ac servo motors to build a low-cost delta robot arm. Furthermore, we use available materials and machining methods such as laser cutting and 3d printing instead of CNC milling and turning to reduce fabrication costs. The controller is based on a low-cost embedded controller - Arduino Uno for controlling the robot's motion. The vision system is constructed to determine the 3D coordinate of objects in the workspace as well as the sizes of objects. The gripper is opened with a distance of two fingers equal to the size of the objects, and the robot is controlled to the objects' coordinates to grasp them. An application to pick up objects on a conveyor belt is developed to validate the design. The experimental results show that the robot system works correctly, the robot arm moves smoothly, and the information determined by the vision system has a small error, ensuring that the robot can accurately pick up products.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"60 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73602475","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Development of a SCARA robot arm for palletizing applications based on computer vision 基于计算机视觉的SCARA码垛机械臂的研制
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2304541n
Vinh Ho, Duy Vo, Phan Trung
{"title":"Development of a SCARA robot arm for palletizing applications based on computer vision","authors":"Vinh Ho, Duy Vo, Phan Trung","doi":"10.5937/fme2304541n","DOIUrl":"https://doi.org/10.5937/fme2304541n","url":null,"abstract":"This paper develops a computer vision system integrated with a SCARA robot arm to pick and place objects. A novel method to calculate the 3D coordinates of the objects from a camera is proposed. This method helps simplify the camera calibration process. It requires no knowledge of camera modeling and mathematical knowledge of coordinate transformations. The least square method will predate the Equation describing the relationship between pixel coordinates and 3D coordinates. An image processing algorithm is presented to detect objects by color or pixel intensity (thresholding method). The pixel coordinates of the objects are then converted to 3D coordinates. The inverse kinematic Equation is applied to find the joint angles of the SCARA robot. A palletizing application is implemented to test the accuracy of the proposed method. The kinematic Equation of the robot arm is presented to convert the 3D position of the objects to the robot joint angles. So, the robot moves exactly to the required positions by providing suitable rotational movements for each robot joint. The experiment results show that the robot can pick and place 27 boxes on the conveyor to the pallet with an average time of 2.8s per box. The positions of the boxes were determined with an average error of 0.5112mm and 0.6838mm in the X and Y directions, respectively.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135612084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Experimental investigation on the thermal-hydraulic performance of channel with gradient metal foam baffles 梯度金属泡沫挡板通道热工性能试验研究
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2301014f
Karrar Fadhala, Ekhlas M. Fayyadh, Ali S. Mohammed
{"title":"Experimental investigation on the thermal-hydraulic performance of channel with gradient metal foam baffles","authors":"Karrar Fadhala, Ekhlas M. Fayyadh, Ali S. Mohammed","doi":"10.5937/fme2301014f","DOIUrl":"https://doi.org/10.5937/fme2301014f","url":null,"abstract":"Metal foam is a novel material recently utilized in baffles as an alternative to solid baffles for reducing flow resistance. However, the metal foam baffles are accompanied by low heat transfer efficiency. To overcome this issue, a new design of copper foam baffles has been suggested in this research, called baffles having a gradient pore density of the copper foam. The pore density either increases or decreases towards the wall. So, the experimental tests were carried out in a square channel and heated uniformly at the bottom wall of the test section. Its walls are mounted copper foam baffles at a fixed porosity of 95%. Baffles were alternately fixed upon the walls' bottom and top in staggered mode. The results were determined for various kinds of copper foam (10 and 20) pores per inch (PPI), and the gradient pore density was either with the order decreasing (DPPI) 10/20 PPI or increasing (IPPI) 20/10 PPI with a window cut ratio of 25% and a constant heat flux of 4.4 kW/m2 . The Reynolds number was changed from 3.8x104 to 5.4x104 . The data for conventional copper solid baffles were used to compare the influence of foam metal type. The obtained results revealed an enhancement in thermohydraulic performance for baffles with a gradient pore density of the order decreasing DPPI (10/20 PPI) higher than all the models of copper foam baffles.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"146 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77645972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Improvement of the pneumohydraulic amplifier for press machines: Design and parameter calculation 压力机气液放大器的改进:设计与参数计算
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2302176p
M. Polishchuk, M. Tkach, Y. Kornaga
{"title":"Improvement of the pneumohydraulic amplifier for press machines: Design and parameter calculation","authors":"M. Polishchuk, M. Tkach, Y. Kornaga","doi":"10.5937/fme2302176p","DOIUrl":"https://doi.org/10.5937/fme2302176p","url":null,"abstract":"Pneumohydraulic pressure amplifiers are widely used in mechanical engineering. Using a pneumohydraulic amplifier makes it possible to minimize the size of the presses while simultaneously multiplying their technological effort. A significant disadvantage of the classical method of force multiplication is the low speed of movement of the working bodies of technological equipment under a hydraulic drive. The article proposes a fundamentally new design of a pneumohydraulic amplifier, in which a high-speed pneumatic cylinder carries out the idling of the technological tool, and force multiplication is carried out only at the stage of the working stroke, which allows many times to increase the performance of the amplifier. This effect is achieved by using a movable hydraulic chamber. The engineering formulas and diagrams presented in the article for calculating the parameters of a new pneumohydraulic amplifier allow engineers to adapt the amplifier to various technological conditions. The economic effect when using the proposed amplifier design is achieved by multiplying the productivity of the press equipment.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"2 3 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78366469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Investigations on the mechanical and damping properties of styrene-butadiene rubber with graphene and carbon black 含石墨烯和炭黑的丁苯橡胶的力学和阻尼性能研究
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2303386c
C. Sivakumar, V. Muralidharan, N. Ravikumar, Manohar Murali
{"title":"Investigations on the mechanical and damping properties of styrene-butadiene rubber with graphene and carbon black","authors":"C. Sivakumar, V. Muralidharan, N. Ravikumar, Manohar Murali","doi":"10.5937/fme2303386c","DOIUrl":"https://doi.org/10.5937/fme2303386c","url":null,"abstract":"An experimental and numerical study on the mechanical and damping properties of styrene-butadiene rubber (SBR) composites with graphene nanoparticles (GNP) and carbon black (CB) is presented in this paper. The composites were tested for mechanical properties such as hardness and tensile strength. It is observed that the composites with GNP & CB fillers have higher stiffness and percentage elongation for failure. A scale model of the chassis was subjected to forced vibration to find the damping properties of each of the prepared composites. The experimental results were used to create a numerical model in ANSYS software using Yeoh's hyper-elastic model to generate a hyper-elastic material to simulate the composite property and to perform harmonic response analysis in ANSYS. The results from experiments and theoretical findings exhibited good agreement.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"33 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78351780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research and evaluation of the operating characteristics of used ship engine oil using the process parameter matrix method 用过程参数矩阵法研究和评价船用旧机油的运行特性
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2304497m
E. Mazur, P. Shcherban, V. Mazur
{"title":"Research and evaluation of the operating characteristics of used ship engine oil using the process parameter matrix method","authors":"E. Mazur, P. Shcherban, V. Mazur","doi":"10.5937/fme2304497m","DOIUrl":"https://doi.org/10.5937/fme2304497m","url":null,"abstract":"The marine engine circulating oil change interval suggested by manufacturers is a guideline based on general scale statistics and laboratory testing. At the same time, the actual remaining oil life can significantly correct the time and money spent by the chief mechanic service on system maintenance. In the present work, a method has been developed that makes it possible to increase the service life of mechanisms and the reliability of ship equipment under operating conditions. The effect is achieved by identifying and analyzing the most significant and influential parameters of the lubricant used. An array of physical and chemical data on lubricants, taking into account the equipment's time to failure, is processed by a special computer program for monitoring the state of a marine engine in operating mode. The developed software package allows more accurate and timely maintenance of the SPP (ship power plant).","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135611033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Performance analysis of elliptical journal bearing lubricated with experimentally characterized nanolubricant considering thermal effect using CFD technique 考虑热效应的实验表征纳米润滑剂润滑椭圆轴颈轴承性能CFD分析
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2304550a
Basim Abass, Ahmed Saba, Mohamed Yaser
{"title":"Performance analysis of elliptical journal bearing lubricated with experimentally characterized nanolubricant considering thermal effect using CFD technique","authors":"Basim Abass, Ahmed Saba, Mohamed Yaser","doi":"10.5937/fme2304550a","DOIUrl":"https://doi.org/10.5937/fme2304550a","url":null,"abstract":"This study uses computational fluid dynamics (CFD) to quantitatively examine the performance of an elliptical journal bearing (EJB) lubricated with TiO2 and ZnO nano-lubricant considering thermal effect. In an experiment, nanoparticles with particle concentrations varying from 0 to 2 weight percent are mixed with SAE15W40 engine oil to create these lubricants. The impact of weight fractions, rotational speed, eccentricity, and ellipticity ratios on the thermal performance of the EJB has been examined. The Kreger-Dougherty model is employed to understand the effects of oil film temperature as well as nanoparticle concentration on lubricant viscosity. The pressure and temperature determined by (Dang 2020) and (Wang 2021were evaluated against the CFD model with good agreement. The findings show that for 2 wt% nanoparticles, e of 0.6 and N of 5000 rpm, the load-carrying capacity increased by 5.5% and 4% and the side leakage flow decreased by 24.4% and 18%.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135611040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Surface roughness prediction of thin-walled parts impacted by radial depth of cut variations during peripheral milling process 周边铣削过程中径向切削深度变化对薄壁零件表面粗糙度的影响
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2303284s
Abainia Sadredine
{"title":"Surface roughness prediction of thin-walled parts impacted by radial depth of cut variations during peripheral milling process","authors":"Abainia Sadredine","doi":"10.5937/fme2303284s","DOIUrl":"https://doi.org/10.5937/fme2303284s","url":null,"abstract":"During the peripheral milling process, great transverse displacement vibrations of the thin-walled part are occurred under the acting of milling tool edge forcesdue to their low dynamic rigidity and the radial depth of cut ae variations. In this work, the main surface roughness parameters are evaluated for stable milling process conditions through maximum radial displacements determined by a theoretical method and a finite element (FE) computation utilizing numerical simulations. The cutting tooth edge forces are calculated along the effective part for each tooth tool engaged into part material in discrete spatial and time steps using flat-end mills. Finally, the radial displacements are confronted, which are close in magnitude and in profile shape trend. Therefore, the generated cutting tooth edge forces showed gradual stabilities while changing the parameter ae from 05 mm to 0.75 mm, respectively. Then, the parameters Ra and Rq contribute more to these stabilities than Rv.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"19 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88101645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles 四旋翼无人机控制策略综述
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2303298s
Brajesh Singh, Awadhesh Kumar, G. Kumar
{"title":"Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles","authors":"Brajesh Singh, Awadhesh Kumar, G. Kumar","doi":"10.5937/fme2303298s","DOIUrl":"https://doi.org/10.5937/fme2303298s","url":null,"abstract":"The Quadrotor Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent years due to their versatile applications in civilian and military sectors. It is a highly nonlinear and underactuated system and an outdoor flight; it is always subjected to external disturbances due to wind gusts and other environmental factors. Implementing the control strategies could be improved in terms of high computational time, uncertainty, approximation error, and a large amount of training data. One of the major challenges in the development of quadrotors is the design of an efficient and reliable control system. This paper presents a comprehensive review of various control strategies for quadrotors and evaluates their performance. The review includes classical control techniques such as PID (Proportional-Integral-Derivative) and LQR (Linear Quadratic Regulator) and modern control strategies such as adaptive and fuzzy control. Comparative analysis of various control strategies has been presented with key challenges and future directions. This study provides a useful guide for researchers and engineers in the design of control systems for quadrotors.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"1 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80862175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Model Predictive collision-free path following control for nonholonomic mobile robots 非完整移动机器人预测无碰撞路径跟踪控制
IF 1.6
FME Transactions Pub Date : 2023-01-01 DOI: 10.5937/fme2302192h
T. Hiep, V. Cong, L. Phuong
{"title":"Model Predictive collision-free path following control for nonholonomic mobile robots","authors":"T. Hiep, V. Cong, L. Phuong","doi":"10.5937/fme2302192h","DOIUrl":"https://doi.org/10.5937/fme2302192h","url":null,"abstract":"In this research, a model predictive collision-free path following controller is developed and applied for an omnidirectional mobile robot (OMR). The mobile robot is controlled to track a reference path while avoiding collision with obstacles. The path-following problem is reformulated into the regulation problem of an extended plant by introducing a virtual degree of freedom, the path parameter of a geometric reference curve. Then a Model Predictive Controller (MPC) is then applied to steer the mobile robot. The optimization cost function is established from the difference between the state of the robot and the parameter path. The solution of MPC can be obtained by repeatedly solving an optimal control problem (OCP) to reduce the optimization cost function to a minimum value, making the robot state as close to the state of the path as possible. Obstacle avoidance is considered by adding terms as a function of the gap between the mobile robot and the objects in front of the robot. Constraints on the states and inputs of the system are also easily considered in the optimal control problem of MPC. This makes the control inputs not exceed the allowable limits of the robot. Simulations are carried out to reveal the controller's efficiency and show how to choose the right parameters to synchronize path tracking and obstacle avoidance tasks.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"45 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88637824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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