2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)最新文献_第7页

Study of model-PI predictive controller for coke fractionation tower using Matlab 基于Matlab的焦炭分馏塔模型- pi预测控制器研究

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097275

Amal Govind, U. Ramachandraiah

引用次数: 0

Heuristics approach for robot path minimization for lamination assembly 分层装配机器人路径最小化的启发式方法

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097235

A. Patil, D. Sachan

{"title":"Heuristics approach for robot path minimization for lamination assembly","authors":"A. Patil, D. Sachan","doi":"10.1109/RACE.2015.7097235","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097235","url":null,"abstract":"In many industries, the use of robots is constantly increasing due to creation of new applications and also due to increasing level of robot technology. In energy industry, the use of robots is limited due to heavy and large parts. One of the key applications in energy industry where robots can be deployed is the process of stacking stator core laminations for generators and large motors. To eliminate the need of huge investment of time and money to build an actual prototype for such a process, cycle time needs to be estimated through the simulation with suitable layout of equipment. The layout having multiple pick tables and multiple place positions for the assembly of laminations creates a problem of analysis of cycle time as there are many choices of heuristic that can be used while optimizing the robot path and program. This paper describes and analyses six heuristic methods with dual objectives of minimizing robot path and achieving uniform unloading of the pick stations. An actual example is used to demonstrate the heuristic methods which can also be used for any pick and place applications for an automated or manual device. The results revealed that the some heuristics have an advantage over others making them viable to use in actual applications.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124118521","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

Numerical modelling of valveless based Pulse Detonation Engine 无阀脉冲爆震发动机的数值模拟

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097250

Neeraj Jerauld, G. Dinesh Kumar

引用次数: 1

Parametric investigation on laser forming of 3mm and 5mm FE-410 sheets for brake pedal and clutch pedal applications 激光成形制动踏板和离合器踏板用3mm和5mm FE-410板材的参数化研究

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097252

A. D'Souza, I. Palani, R. Padmanabhan, S. Shanmugam, H. Natu, Swamy

{"title":"Parametric investigation on laser forming of 3mm and 5mm FE-410 sheets for brake pedal and clutch pedal applications","authors":"A. D'Souza, I. Palani, R. Padmanabhan, S. Shanmugam, H. Natu, Swamy","doi":"10.1109/RACE.2015.7097252","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097252","url":null,"abstract":"Laser forming is a flexible manufacturing process which has potential use in the manufacturing and automotive industry. In this process, a high power laser scans the metal sheet across its length. The metal sheet absorbs the laser and a steep temperature gradient is generated across the sheet thickness. The induced uneven thermal stresses, and the resulting bending moments, during the process deform the sheet metal without the use of any external forces. In this paper, steel sheets of FE-410 are bent using high power CO2 laser. Experiments were performed on 5 mm and 3 mm FE-410 steel sheets using CO2 Laser with maximum energy of 3000 W. Various parameters were varied namely power (1.5 KW to 3 KW), number of passes (0 to 130), scan speed (10 to 30 mm/s), laser spot diameter (4 mm to 13 mm) and frequency (500 Hz to 20000 Hz) to get maximum bend angle. The variation in the bend angle with respect to the power, scan speed, spot diameter, number of passes and thickness is studied. A data set of 320 samples is obtained from the experiment. This data set in the form of multi-input and single output is used to develop an optimum artificial neural network model to predict the bend angle. Here the output variable is bend angle and input variables are laser power, scan speed, spot diameter, sheet thickness and number of passes or scans. Micro-structure analysis of the deformed region and the heat affected zone in comparison with the base material is done. And a comparative study of the variation in micro-hardness of all these regions is done.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126357118","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

Optimization of parameters for uniform magnetic field 均匀磁场参数的优化

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097259

R. Sasi, Subbu S. Kanmani

引用次数: 1

Conceptual design and linear static analysis of nose landing gear 前起落架概念设计及线性静力分析

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097261

S. Pragadheswaran, P. Balguri

{"title":"Conceptual design and linear static analysis of nose landing gear","authors":"S. Pragadheswaran, P. Balguri","doi":"10.1109/RACE.2015.7097261","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097261","url":null,"abstract":"Landing is one of the most maneuvers occurring in aircraft. Landing gear is considered as a nonlinear structure due to its complicated behavior. In this paper we did linear static analysis of nose landing gear of a subsonic civil transport aircraft. During landing period large amount of impact forces are transferred into nose gear and main landing gear. We have considered the nose landing gear under two loading conditions, a. Static load 1g, when the aircraft is parked on ground and b. When the aircraft is manoeuvring nose touch down at the velocity of 10 ft/sec. We have designed the landing gear structural components using CATIA V5 R19. which is a commercially available CAD tool for 3D structural designing, stress analysis carried out using MSC Nastran and Patran, Patran is used for importing the geometry, meshing and for defining material properties whereas Nastran is used for a solver. Pre-existing methods are used to model landing gear. Static loads are applied over the landing gear and then analyzed the stresses on it. After calculating the stresses over the landing gear structure, we concluded whether the designed structure can able to withstand the load or not.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128007305","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

Embedded system design for I&C of Prototype Fast Breeder Reactor 原型快堆I&C嵌入式系统设计

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097282

T. Sridevi, D. Thirugnana Murthy, N. Murali, S. S. Satya Murty

{"title":"Embedded system design for I&C of Prototype Fast Breeder Reactor","authors":"T. Sridevi, D. Thirugnana Murthy, N. Murali, S. S. Satya Murty","doi":"10.1109/RACE.2015.7097282","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097282","url":null,"abstract":"High dependability on Instrumentation and control (I & C) systems calls utmost importance for smooth functioning as well as the safety of Nuclear power plants. I&C systems are employed for monitoring of the parameters, control of these parameters and protection of the plant and persons. The Embedded systems play major role in design and development of I&C systems. While designing I&C systems of Prototype Fast Breeder Reactors (PFBR), they are categorized into safety critical, safety related and non nuclear safety systems. Since embedded systems are used in safety systems, the hardware and software quality are of paramount importance which ensures safety and availability of the plant. The issues in designing safety systems which calls for high dependability with features like simple, failsafe, high availability to be deployed in mission critical applications. The challenges and issues in employing the embedded systems for PFBR I&C are elaborated in this paper. It discusses the standards and guidelines available for mission critical application and their suitability in adopting the latest technology. This paper also briefs the requirements, architecture, design & development methodology and qualifications of I&C systems of PFBR. The illustrations of the embedded systems designed and developed for PFBR I&C as case study are presented in this paper.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134322390","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

Design and analysis of multipurpose mobile manipulator for defence application and study the dynamic effects on stability of an unmanned tracked vehicle 军用多用途移动机械臂的设计与分析，研究了动力学对无人履带车辆稳定性的影响

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097262

N. Babu

{"title":"Design and analysis of multipurpose mobile manipulator for defence application and study the dynamic effects on stability of an unmanned tracked vehicle","authors":"N. Babu","doi":"10.1109/RACE.2015.7097262","DOIUrl":"https://doi.org/10.1109/RACE.2015.7097262","url":null,"abstract":"Manipulator arms on an unmanned tracked vehicle are widely used for handling different defence application in an undulated terrain condition. Therefore, it is important to design a suitable multipurpose mobile manipulator without compromise the maneuverability of the unmanned ground vehicle. The criticality in the manipulator design is dynamic effect of the manipulator system should not affect the dynamic stability of the unmanned tracked vehicle during the motion. In this paper presents a design of two serial arm manipulator, each is having five degrees of freedom to carry mine detection sensor. Moreover, the same arm is designed to handling the mine clearance tools once the mine location is identified. In the case of mine detection, two arms are configured as parallel manipulator to carry a heavy sensor payload such as ground penetrating radar. For mine clearance, two serial arms are operating in cooperative mode with gripper for handling the mines. This paper also describes a Kinematic analysis using DenavitHertenberg method for the dual manipulator arm for determining the work envelope with consideration of vehicle operating kinematic constrains. Further, briefed about the folding and deployment trajectory for mine detection and clearance mission. The dynamics of the manipulator system while handling the heavy mine detection sensor are discussed using Newton -Euler approach. Further, integrated the dynamics of manipulator and unmanned tracked vehicle as single system and studied effect on maneuverability and stability of unmanned tracked vehicle. Here, Zero Moment Point stability index is proposed for determining the stability margin of integrated vehicle and manipulator system as a single system. The results and discussion of design, kinematic, dynamic and stability study for manipulator and vehicle during the mission are presented. The proposed method is the straight forward solution for studying the stability of integrated unmanned system.","PeriodicalId":161131,"journal":{"name":"2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE)","volume":"337 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133381497","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

Raspberry PI based global industrial process monitoring through wireless communication 基于树莓派的全球工业过程监测，通过无线通信

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2015-02-01 DOI: 10.1109/RACE.2015.7097298

K. Raguvaran, J. Thiyagarajan

引用次数: 26

Conception and development of Dexto:Eka: The Humanoid Robot - Part IV Dexto:Eka:类人机器人的概念与发展——第四部分

2015 International Conference on Robotics, Automation, Control and Embedded Systems (RACE) Pub Date : 2013-10-01 DOI: 10.1109/ISR.2013.6695620

Sulabh Kumra, M. Mohan, Sumit Gupta, Himanshu Vaswani

引用次数: 0