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2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)最新文献

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Determination of Power Losses in Robotic Utility Vehicle Powertrain 机器人多功能车动力系统功率损失的确定
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097828
Tomas Petr, J. Brousek
{"title":"Determination of Power Losses in Robotic Utility Vehicle Powertrain","authors":"Tomas Petr, J. Brousek","doi":"10.1109/ICMERR56497.2022.10097828","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097828","url":null,"abstract":"This paper describes a method for determining the power losses occurring in the powertrain of a battery-powered robotic utility vehicle. In the first part, the paper defines the observed robotic vehicle, whose powertrain was virtualized using special simulation software to simulate the vehicle's energy consumption. The experimental part focuses on measuring the power loss in the powertrain using a special device on specific driving cycles, according to the parameters obtained from the virtual powertrain model.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115204572","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
Robotic Measurement of the Weld Gap Geometry Using a 2D Laser Scanner 利用二维激光扫描仪测量焊缝间隙几何形状
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097796
Marek Trebul'a, Martin Dekan, Zuzana Kovarikova, Andrej Babinec, F. Nagy, F. Duchoň, Dusan Labat
{"title":"Robotic Measurement of the Weld Gap Geometry Using a 2D Laser Scanner","authors":"Marek Trebul'a, Martin Dekan, Zuzana Kovarikova, Andrej Babinec, F. Nagy, F. Duchoň, Dusan Labat","doi":"10.1109/ICMERR56497.2022.10097796","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097796","url":null,"abstract":"The article describes the importance of robotic measurement of the weld gap geometry using a 2D laser scanner for the needs of a robotic intelligent welding workplace for small-volume production. The article presents algorithms for welding gap detection and the importance of laser-measured data. Furthermore, the article shows the results of measurements in comparison with other available software and the potential use of robotic measurement of the weld gap geometry","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122779765","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
Analysis of Robot Skill Learning Methods and Secondary Approaches to Enhance Learning 机器人技能学习方法及强化学习的二次途径分析
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097826
Batu Kaan Özen, Burak Han Demirbilek
{"title":"Analysis of Robot Skill Learning Methods and Secondary Approaches to Enhance Learning","authors":"Batu Kaan Özen, Burak Han Demirbilek","doi":"10.1109/ICMERR56497.2022.10097826","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097826","url":null,"abstract":"Robot skill learning is a long-existing problem that has gained attention due to the success of deep learning applications. When child learning is analyzed, they use a combination of methods for learning manipulation tasks. This situation inspired us to analyze different learning approaches. We present a comprehensive analysis of robot skill learning. The paper's primary focus is on exploring the effect of robot skill learning based on various learning methods, such as representation learning, predictive learning, and multi-modal learning. This paper also analyzes the advantages and disadvantages of these algorithms.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122171999","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 the Speed & Separation Monitoring Protective Separation Distance in Human-Robot Collaboration Safety Systems 人机协作安全系统中速度与分离监测保护分离距离的优化
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097793
Nitin Nandeshwar, J. Humphries, Nehal Amer
{"title":"Optimization of the Speed & Separation Monitoring Protective Separation Distance in Human-Robot Collaboration Safety Systems","authors":"Nitin Nandeshwar, J. Humphries, Nehal Amer","doi":"10.1109/ICMERR56497.2022.10097793","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097793","url":null,"abstract":"Efforts to create a safe collaborative working environment between humans and industrial robots are the subject of research interests. As per the current trend in industries, when a human enters a robot's workspace protected by fences, the safety system stops the robot. So, full efficiency is not realized as there is an increase in the robot's downtime. One solution is to enable a fluid human-robot collaboration in the same workspace in which the robot's need to stop is reduced. However, not stopping the robot leads to a potential risk of collision between the human and the robot. According to ISO/TS 15066, Safety control schemes based on speed and separation monitoring allow human operators to share the same workspace as the robot while in motion. The robot motion and velocity are dependent on the distance between the operator and the robot. In this paper, we examine how the researchers attempt to reduce the protective separation distance (PSD) between the robot and the human for human-robot collaboration work and modify its equation to identify scope for efficiency.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129107546","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
Stiffness and Modal Parameter Analysis of Cracked Rotor Used in Electric Motor 电机裂纹转子刚度及模态参数分析
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097794
Naresh K. Raghuwanshi
{"title":"Stiffness and Modal Parameter Analysis of Cracked Rotor Used in Electric Motor","authors":"Naresh K. Raghuwanshi","doi":"10.1109/ICMERR56497.2022.10097794","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097794","url":null,"abstract":"Electric motor is a device used to convert electrical energy into mechanical energy. The electric motor rotor consist a pair of permanent magnets rotor along with a shaft. The faults present in the rotor system are responsible for high vibration and subsequently the failure occurs. The crack in the shaft is one of the common fault which reduces the stiffness of the rotor system. Due to variation in stiffness, natural frequencies of the rotor system are changed. In the present study the effect of the cracks are analyzed for a complete revolution of the rotor. Different cases are analyzed e.g. crack depth ratio and axial crack location. The effect of cracks on natural frequencies and mode shapes are also discussed. Significant effects of even small cracks on stiffness and modal parameters are observed.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132509349","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 Stair Descending and Traversing Mechanism for a Cleaning Robot 清洁机器人下楼梯行走机构的研制
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097808
Andrea Galea Musu, M. Saliba
{"title":"Development of a Stair Descending and Traversing Mechanism for a Cleaning Robot","authors":"Andrea Galea Musu, M. Saliba","doi":"10.1109/ICMERR56497.2022.10097808","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097808","url":null,"abstract":"The development and commercialization of domestic floor cleaning robots has increased rapidly over recent years, however these remain limited to operation on flat floors without stairs. A small number of stair cleaning robots have been proposed in the academic literature, however these generally incorporate complex stair climbing and descending mechanisms that may inhibit their commercialization. In this work, we propose that in most practical applications, a domestic stair and floor cleaning robot needs only the capability to descend (not ascend) a staircase. We present the design and construction of a first prototype for a new stair descending and sideways-traversing mechanism that could be applied to such a domestic cleaning robot. The conceptual, embodiment and detailed design stages of this development, including mechanical analysis, control system design, and material selection, are described in detail. The robot chassis was manufactured by 3D printing and laser cutting. An evaluation of the assembled prototype is also presented.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114513019","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
Proposal of a Low-Cost System Architecture for Prototyping and Learning SLAM 一种用于SLAM原型设计和学习的低成本系统架构的建议
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097724
Bruno B. Bastos, João M. C. S. Da Silva, Brendo S. F. Santos, M. Nogueira
{"title":"Proposal of a Low-Cost System Architecture for Prototyping and Learning SLAM","authors":"Bruno B. Bastos, João M. C. S. Da Silva, Brendo S. F. Santos, M. Nogueira","doi":"10.1109/ICMERR56497.2022.10097724","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097724","url":null,"abstract":"Most SLAM enabled robotics system require expensive hardware, which makes it difficult f or students to experiment with them. This work proposes a low cost mobile robotic system for implementing and testing SLAM, allowing students to experiment with its various implementations in the real world and better understand each one. We present experimental results that show sensor data acquirement, such as odometry and images, and communication of those data to a central computer, where the SLAM algorithm can be implemented using whatever technique and programming language the student chooses.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128698797","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
The Tuned Mass Damper as a Subject in Engineering Mechanics Dynamics 调谐质量阻尼器作为工程力学动力学研究课题
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097804
D. J. Dorantes-Gonzalez
{"title":"The Tuned Mass Damper as a Subject in Engineering Mechanics Dynamics","authors":"D. J. Dorantes-Gonzalez","doi":"10.1109/ICMERR56497.2022.10097804","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097804","url":null,"abstract":"The course of Engineering Mechanics Dynamics is one of the most challenging courses for both mechanical and civil engineering programs, among others. But few universities dare to introduce projects to enhance students' curiosity, interest, and engagement toward engineering by constructing do-it-yourself physical prototypes, making measurements, and calculations to compete for the best performance. The intention of this project is to introduce a complex multiple-degree-of-freedom vibration problem in an easy manner, namely, the topic of a tuned mass damper (TMD) applied to earthquake-like oscillations. This type of projects directly addresses all seven student outcomes recommended by the Accreditation Board of Engineering and Technology (ABET). The project develops critical thinking and inquiry skills by designing and constructing the prototype of a building-like structure and its corresponding TMD; conducting an experiment under certain constraints to test the attenuation after an initial displacement; applying an open-source freeware to plot and measure underdamped oscillations; calculating main vibration parameters; as well as comparing performance results with another teams. Students approach this complex tunning problem by trial-and-error of key TMD parameters, a strategy that sparks fun and gambling to the process and competition for the best performance in attenuation efficiency. Data from direct observation of students' performance, student surveys, reports, presentation videos, office hours, and interviews showed that students enthusiastically responded at all project stages, understood the TMD functioning, and appreciated the value of dynamics in engineering in a more meaningful way than it would be without this type of projects.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129800454","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
Positional Error Estimation of the Parallel Manipulator for Control Application 并联机械臂位置误差估计在控制中的应用
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097725
B. B. Ghosh, B. Sarkar, R. Saha
{"title":"Positional Error Estimation of the Parallel Manipulator for Control Application","authors":"B. B. Ghosh, B. Sarkar, R. Saha","doi":"10.1109/ICMERR56497.2022.10097725","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097725","url":null,"abstract":"Parallel manipulator (PM) become popular in industrial application over serial manipulator owing to the higher accuracy, fast response and rigidity. In the present study electrohydraulic two degree of freedom (2DOF) PM is considered for study the control performance. Apart from measurement and sensor error parallel manipulator may experienced structural error, which may cause of joint clearance. Lab. scale 2DOF PM has been considered structural error analysis due to joint clearance. Further, a model free self-tuning fuzzy-PID-bias (F-PID-B) controller has been developed for control of the orientation of the top platform of PM. The controller performance has been studied for combined sinusoidal heave and pitch demand. The robustness of the controller has been tested under various demand and different external load. F-PID-B controller has shown the ability to handle external load disturbances with measurement uncertainty and system nonlinearity using a low cost proportional valve controlled hydraulically actuated PM.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129811436","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
Modeling and Simulation of a Biomimetic Underwater Vehicle 仿生水下机器人的建模与仿真
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097824
tiago. antonio, Paulo P. Silva, B. Damas, Miguel B. Moreira
{"title":"Modeling and Simulation of a Biomimetic Underwater Vehicle","authors":"tiago. antonio, Paulo P. Silva, B. Damas, Miguel B. Moreira","doi":"10.1109/ICMERR56497.2022.10097824","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097824","url":null,"abstract":"This paper describes the mathematical model developed to simulate the behavior of a BUV, the TOBIAS vehicle, which is being developed at the Portuguese Naval Academy as part of the SABUVIS project. During the development of the model the hydrodynamic coefficients of t he vehicle were estimated, as well as the thrust generated by the undulatory motion of the tail and the effects of the pectoral fins. U sing this model, it is possible to perform a series of maneuvers verifying the performance of the BUV as a function of different control parameters.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130059509","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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