发布求助
文献互助 智能选刊 最新文献

2013 6th Robotics and Mechatronics Conference (RobMech)最新文献

筛选
英文 中文
Cutting force prediction for single point diamond tool-tip 单点金刚石刀尖切削力预测
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685503
M. Ayomoh, K. Abou-El-Hossein, O. Olufayo
{"title":"Cutting force prediction for single point diamond tool-tip","authors":"M. Ayomoh, K. Abou-El-Hossein, O. Olufayo","doi":"10.1109/ROBOMECH.2013.6685503","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685503","url":null,"abstract":"This paper aims at investigating the cutting force at the tip of a single point diamond tool (SPDT). Results from five different experimental trials are presented herein. The modeling procedure adopted is predicated on total differentiation of a multivariate function and adaptation of a continuous non-linear finite series convergent scheme. Initial cutting experiments were carried out using ultra-high precision machine to diamond-turn units of single crystal silicon workpiece. Other peripheral components for signal monitoring and conditioning include a Kistler force sensor, analog-digital (AD) data acquisition system and a signal amplifier unit amongst others. The experimental cutting parameters includes: feed rate, depth of cut and cutting speed. The analytical investigation of the cutting force was progressively evaluated at intervals of 1mm along the tool length from the point of sensor insert to the tip. Results obtained from validation largely justifies the effectiveness of the proposed model.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123536756","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: 6
High-index norm approach: A redundancy resolution scheme for inverse kinematics of redundant serial manipulators 高指标范数方法:一种冗余序列机械臂逆运动学的冗余解析方案
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685489
A. Singla
{"title":"High-index norm approach: A redundancy resolution scheme for inverse kinematics of redundant serial manipulators","authors":"A. Singla","doi":"10.1109/ROBOMECH.2013.6685489","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685489","url":null,"abstract":"In this paper, high-index norm approach towards inverse kinematic problem of redundant manipulators is investigated. It is well known that the inverse kinematics problem of redundant manipulator has infinite solutions. Out of these infinite solutions, only those solutions are preferred which fulfill some optimization criterion e.g joint toque minimization, obstacle avoidance, singularity avoidance etc. To calculate the joint velocities, the commonly practiced optimization criterion utilize Euclidean or infinity-norm of vectors in the joint space. This paper investigates the use of high-index norm and its comparison with other norm solutions, in formulating the optimization problem towards inverse kinematic solution of redundant manipulators. Several cases studies are reported to demonstrate the effectiveness of this approach to obtain the inverse kinematic solution, while optimizing secondary criteria like avoiding the joint limits, obstacle avoidance etc.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114299051","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: 2
Comparison of dancing humanoid upper bodies 舞蹈人形上半身的比较
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685492
C. Dube
{"title":"Comparison of dancing humanoid upper bodies","authors":"C. Dube","doi":"10.1109/ROBOMECH.2013.6685492","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685492","url":null,"abstract":"This paper provides a comparative study of the human motion imitation of twenty humanoid upper body structures. Human dance motion is used as a case study in motion imitation. The error between the desired humanoid posture and the actual posture attained is used to determine how well each humanoid imitates the human motion. Factors such as the number of joints, the range of joint motion, and location of the joints are investigated to determine their effects on the motion imitation results. It is found that the waist flexion joint and shoulder girdle joints are highly important for human motion imitation of humanoid upper bodies.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133664340","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
Android based semi-autonomous collision avoidance robot 基于Android的半自动避碰机器人
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685505
Nimai Stansfield, B. Bothma
{"title":"Android based semi-autonomous collision avoidance robot","authors":"Nimai Stansfield, B. Bothma","doi":"10.1109/ROBOMECH.2013.6685505","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685505","url":null,"abstract":"Modern Smartphones have become amazing devices which house processors that match processing speeds of a standard entry level computer. In this paper a model for using an Android™ based Smartphone as the main computational device for a semi-autonomous robot is presented. A stripped down National Instrument (NI) LabVIEW Robotics Starter Kit chassis together with a combination of an IOIO Board and a Android Smartphone serve as the hardware structure of the robot. The processes for designing a custom Android™ Application, issues with hardware and the shortcomings of technologies used are also presented. Finally a robot which is controlled remotely with integrated obstacle detection and avoidance is achieved.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132448086","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
Investigating the choice factors on the use of XBee/Bluetooth as the communication scheme in EEG sensor networks 探讨了采用XBee/蓝牙作为脑电图传感器网络通信方案的选择因素
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685491
C. Onunka, G. Bright, R. Stopforth
{"title":"Investigating the choice factors on the use of XBee/Bluetooth as the communication scheme in EEG sensor networks","authors":"C. Onunka, G. Bright, R. Stopforth","doi":"10.1109/ROBOMECH.2013.6685491","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685491","url":null,"abstract":"In recent technological developments, there has been an increase in the available wearable EEG data acquisition system. Current EEG data transmission uses wireless personal area network (WPAN) technology such as proprietary radio frequency, XBee and Bluetooth technology. As the opportunities offered in the uses of EEG data in automation and remote control strategies are expanding, there are choice factors associated with its use. Considerations with regards to convenience, quality of service (QoS), network optimization and network bit error rate (BER) are factors influencing the transmission of EEG data in WPAN. This paper discusses the choice factors associated with use of WPAN in EEG data transmission and communication scheme in automation and remote control applications.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128363801","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
Teaching and programming with Ch for tertiary-level mechatronics engineering education 在高等教育机电一体化工程教育中使用 Ch 进行教学和编程
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685507
R. Stopforth
{"title":"Teaching and programming with Ch for tertiary-level mechatronics engineering education","authors":"R. Stopforth","doi":"10.1109/ROBOMECH.2013.6685507","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685507","url":null,"abstract":"Programming in the C language has become critical at the tertiary engineering education and research level. It is used vastly in industry, either at the programming level, or as the underlining instructions being executed. Ch, which is primarily based on the C language, integrates the powerful functions and utilities of other programming languages which could be executed at a command prompt level. Documentation to solve engineering and scientific problems, which are related to the Ch language, are available that allow students and researchers to understand the concept of logical processing. Students and researchers are able to visualize the results of algorithms they are developing, by means of graphs and the monitoring of variable values. Toolkit packages allow for Ch to be used to improve research simulations. Details of how Ch is used at a tertiary education and research level, within a third world country, are explained with the observed ways people have benefited.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126542551","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
Design of a large-force piezoelectric Inchworm motor with a force duplicator 带力复制器的大力压电尺蠖电机设计
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685490
E. Williams, P. Loveday, N. Theron
{"title":"Design of a large-force piezoelectric Inchworm motor with a force duplicator","authors":"E. Williams, P. Loveday, N. Theron","doi":"10.1109/ROBOMECH.2013.6685490","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685490","url":null,"abstract":"A novel piezoelectric Inchworm motor (IWM) that utilizes a cantilever between the load and the extender of the motor have been shown to double the stall load of the motor without compromising on the speed. A simple but effective means to calculate the stall limit is also presented, and applied to both a conventional IWM design as well as the new design. This method was experimentally verified.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124545394","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: 3
Application of ensemble learning approach in function approximation for dimensional synthesis of a 6 DOF parallel manipulator 集成学习方法在6自由度并联机械臂尺寸综合函数逼近中的应用
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-12-19 DOI: 10.1109/ROBOMECH.2013.6685487
D. Modungwa, N. Tlale, Bhekisipho Twala
{"title":"Application of ensemble learning approach in function approximation for dimensional synthesis of a 6 DOF parallel manipulator","authors":"D. Modungwa, N. Tlale, Bhekisipho Twala","doi":"10.1109/ROBOMECH.2013.6685487","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685487","url":null,"abstract":"Presented in this paper is an investigation of the use of ensemble methods in machine learning for developing function approximation models of the analytical objective function, to be applied to an optimization search process of a 6 DOF parallel manipulator. The process of optimization of these mechanisms can be cumbersome, as it often involves complex objective functions and diverse design parameters. The use of ensemble methods in machine learning methods combination is demonstrated and evaluated against the individual or base methods using dataset from a parallel robotic manipulator. Experiments are carried out to determine whether an ensemble performs better than the base methods.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126733674","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
Simultaneous vibrotactile feedback for multisensory upper limb prosthetics 多感官上肢假肢的同步振动触觉反馈
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-10-01 DOI: 10.1109/ROBOMECH.2013.6685493
D. van der Riet, R. Stopforth, G. Bright, O. Diegel
{"title":"Simultaneous vibrotactile feedback for multisensory upper limb prosthetics","authors":"D. van der Riet, R. Stopforth, G. Bright, O. Diegel","doi":"10.1109/ROBOMECH.2013.6685493","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685493","url":null,"abstract":"This paper examines the ability of a test subject to correctly interpret an incoming sensory signal through a haptic interface. A vibrotactile armband was used to do this consisting of four vibration motors. The success of interpretation is compared as the number of sensory signals is increased to a maximum of four. These senses simulated in the tests are grip force, slippage, object temperature and object texture. The ability to discriminate between these four communication channels is evaluated and it is found that spatial discrimination is the most accurate. The results showed a decrease in discrimination accuracy as the number of channels increases. It was found that the system would be suitable for low resolution multi-sensory feedback. Future work should be done to investigate different haptic feedback communication protocols and training programs.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114587398","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: 8
Robotics competitions as motivator for project oriented learning in mechatronics 机器人竞赛作为机电一体化项目导向学习的激励因素
2013 6th Robotics and Mechatronics Conference (RobMech) Pub Date : 2013-10-01 DOI: 10.1109/ROBOMECH.2013.6685506
P. Butala, Rok Vrabič, Gašper Škulj, G. Oosthuizen
{"title":"Robotics competitions as motivator for project oriented learning in mechatronics","authors":"P. Butala, Rok Vrabič, Gašper Škulj, G. Oosthuizen","doi":"10.1109/ROBOMECH.2013.6685506","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685506","url":null,"abstract":"A project-based approach to educate mechatronics at the University of Ljubljana is presented. It combines the classical curriculum composed of various engineering subjects with project-based work. The emphasis is on ‘learning-by-doing’ with concrete projects. Doing this student teams design systems and manufacture mechatronic prototypes. Recently, one of the project offerings has been related to the Eurobot competition. Eurobot is an international amateur robotics contest open to teams of young people. Annually, a new specification gets published in September for the contest to be held in June the following year. The Eurobot specifications and its timing fit well into the mechatronics curriculum and the contest represents a real challenge as motivator for students. The two case studies presented include design, development and rapid prototyping. Experiences from the Eurobot competitions encouraged the authors to introduce a robotic competition in the Summer School on Mechatronics. It turned out to be a successful way to encourage students to study mechatronics. The approach is also considered to be implemented in South Africa. This can help raise technological awareness and hopefully create a do-it-yourself culture among the youth.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"298 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122710245","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: 2
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信