2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)最新文献_第3页

Physics of Drop Coalescence on a Surface with Graded Wettability 具有渐变润湿性的表面上液滴聚结的物理学

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097822

Manjinder Singh

引用次数: 0

Path Tracking Methods Employed in Lane Centering Systems 车道定心系统中的路径跟踪方法

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097807

M. N. Yazar, Zülfikar Ali Erbudak, Alperhan Bay, İlkay Dost, Abdurrahim Semiz

{"title":"Path Tracking Methods Employed in Lane Centering Systems","authors":"M. N. Yazar, Zülfikar Ali Erbudak, Alperhan Bay, İlkay Dost, Abdurrahim Semiz","doi":"10.1109/ICMERR56497.2022.10097807","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097807","url":null,"abstract":"In this paper, a simulation environment with lane detection system emulator has been developed in order to compare the performance of path tracking methods. Path tracking problem is handled in local coordinate frame employing the lane detection system emulator outputs. By performing this environment, a detailed and proper comparison of geometric and model based path tracking methods, mostly used in the literature, are executed with respect to different speeds and road curvatures. The performance results show that the compared path tracking methods do not work well enough for all the determined performance criteria and the methods have complementary features. These complementary features show that path tracking methods can be employed in a hybrid structure to achieve a generally better performance results for the speed range (0–130 [km/h]) where autonomous driving is enabled. In addition, the obtained simulation results reveal the necessity of adaptive adjustment of the gain parameters of the path tracking methods with respect to the road curvature and vehicle speed.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"26 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":"125425409","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

Augmenting the Thermal Performance of Solar Air Heater with Absorber Plate Roughened with Pin-Fins 翅片粗化吸收板提高太阳能空气加热器热性能的研究

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097726

A. B. Khelkar, Kynjrilang Syrti, R. S. Das, B. Sarkar

{"title":"Augmenting the Thermal Performance of Solar Air Heater with Absorber Plate Roughened with Pin-Fins","authors":"A. B. Khelkar, Kynjrilang Syrti, R. S. Das, B. Sarkar","doi":"10.1109/ICMERR56497.2022.10097726","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097726","url":null,"abstract":"Solar air heaters (SAH) are one of the most promising and economical solar thermal collection appliances which can cater mainly to the needs of space heating and drying of agricultural products. They are easy to operate requiring minimum maintenance owing to their simple design without any moving parts. In the current work, effort is made to improve the thermal performance of a solar air heater by incorporating pins-fins on the absorber plate. The RNG $mathbf{k}-boldsymbol{varepsilon}$ turbulence model is applied in the study, by utilizing the finite volume-based solver ANSYS FLUENT 19.2. The length of absorber plate is considered to be 1100 mm, while taking three values of pin fin diameter (d) as 6 mm, 8 mm and 10 mm corresponding to height ratio (HR) of 0.17, 0.25 and 0.34 respectively, pitch ratio (PR) of 8, 10 and 15, with the variation of Reynolds number from 3,500-16,000. To get an insight of the flow physics and heat transfer characteristics, velocity streamlines, contours of velocity, temperature, heat transfer coefficient are provided. The highest value of Nusselt number (Nu) is found to be 162.31 at $boldsymbol{Re}=mathbf{16,000},mathbf{H}_{mathbf{R}} =mathbf{0.17}$ and $mathbf{P}_{mathbf{R}} =mathbf{8}$. Thermo-hydraulic augmentation index (THAI) of the pin fins absorber plate is reported to improved performance to that of the other type of absorber plate. At $boldsymbol{Re}$ = 10,000, $mathbf{H}_{mathbf{R}} =mathbf{0.25}$ and $mathbf{P}_{mathbf{R}} =mathbf{8}$ has the highest value of THAI of 2.212, the minimum value of THAI is 1.666 found at $mathbf{Re}=mathbf{13,000},mathbf{H}_{mathbf{R}} =mathbf{0.34}$ and $mathbf{P}_{mathbf{R}} =mathbf{10}$. The results indicate that for the considered range of $boldsymbol{Re}$, the new absorber plate design led an improved performance of the SAH in terms of heat transport from the absorber plate to the air stream, with minimal concomitant pressure drop penalty.","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":"123088571","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

Dynamics of Under-Actuated Leech-Inspired Robot 欠驱动水蛭机器人动力学

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097811

Ravi Chandra Murthy Sampathirao, Shubham Bhise, P. Gandhi

引用次数: 0

The Design and Simulation of a Novel Electromagnetic Launcher with Permanent Magnet 新型永磁电磁发射装置的设计与仿真

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097818

Bingxuan Cheng

引用次数: 0

An Intuitive and Efficient Framework for Programming Robotic Systems 一个直观高效的机器人系统编程框架

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097825

C. Bergner, Ronald Schmidt-Vollus, P. Heß, René Zuercher

引用次数: 0

Investigation of the F-Shape Manifold for Air-BioCNG Mixing in Twin-Cylinder Dual-Fuel Diesel Engine 双缸双燃料柴油机空气-生物柴油混合用f形歧管的研究

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097809

Akash Chandrabhan Chandekar, Dhananjay Singh, B. Debnath

{"title":"Investigation of the F-Shape Manifold for Air-BioCNG Mixing in Twin-Cylinder Dual-Fuel Diesel Engine","authors":"Akash Chandrabhan Chandekar, Dhananjay Singh, B. Debnath","doi":"10.1109/ICMERR56497.2022.10097809","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097809","url":null,"abstract":"Recently, biologically produced compressed natural gas (bioCNG) is being considered as an alternative to the fossils. The present study evaluates the twin-cylinder engine of dual-fuel mode with diesel as a pilot and bioCNG as a primary fuel. It incorporates an F-shape intake manifold with the port-fuel injector for bioCNG induction. This study aims to analyse the flow behaviour of the air-bioCNG mixture for different bioCNG substitutions. The manifold geometry is modelled based on its actual dimensions. The flow simulation of the mixture of air and bioCNG inside the F-shape inlet manifold is executed using computational fluid dynamics. The experiments at different substitutions used as the boundary conditions, such as the inlet pressure and air and bioCNG mass flow rates. The parametric distributions in the manifold are analysed to examine the flow characteristics of the mixture. It is found that the flow characteristics show improvement concerning an increase in the substitution rate in terms of gas request ratio (GRR), with a peak velocity of 37.2 m/s in 80% bioCNG.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"169 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":"132275026","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

Deep Learning Based Synthetic Image Generation for Defect Detection in Additive Manufacturing Industrial Environments 基于深度学习的增材制造工业环境缺陷检测合成图像生成

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097812

Daniel Matuszczyk, Niklas Tschorn, F. Weichert

{"title":"Deep Learning Based Synthetic Image Generation for Defect Detection in Additive Manufacturing Industrial Environments","authors":"Daniel Matuszczyk, Niklas Tschorn, F. Weichert","doi":"10.1109/ICMERR56497.2022.10097812","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097812","url":null,"abstract":"As the amount of additive manufactured parts is rising methods for part defect detection are needed to guarantee good product quality and fulfill quality management requirements. The usage of deep learning methods in industrial environments for artefact detection is growing, therefore, it is crucial to obtain enough training data in order to deploy powerful models for intelligent control systems. We propose a novel approach for synthetic image creation for object defect detection of Fused Deposition Modeling (FDM) manufactured parts based on deep learning methods and demonstrate the capability to enhance deep learning based defect detection with synthetic images. Our approach is based on physical rendering in combination with a generative adversarial network (GAN) for synthetic data generation. We illustrate how the generated synthetic images can be used to enhance deep learning methods by training an auto encoder model which afterwards is used for failure detection. By an evaluation study it is depicted that our approach for synthetic image generation achieves good results where, in comparison to real world images nearly the same amount of images are assumed to be real. Using the advantage of synthetic data, the autoencoder model is able to detect failures in real images. Therefore, the approach is able to generate photo realistic images which can be used to detect defects on parts with limited training material.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"206 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":"132200945","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

Human-Robot Contact Detection in Assembly Tasks 装配任务中的人机接触检测

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097827

Kiavash Fathi, Maryam Rezayati, H. W. van de Venn

{"title":"Human-Robot Contact Detection in Assembly Tasks","authors":"Kiavash Fathi, Maryam Rezayati, H. W. van de Venn","doi":"10.1109/ICMERR56497.2022.10097827","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097827","url":null,"abstract":"Industry 5.0 complements the existing Industry 4.0 paradigm by, amongst others, focusing on flexible and human-centered manufacturing. However, there are some challenges when humans and robots share a workspace, such as human safety and limited robot perception. Addressing the above-mentioned challenges, we present in this paper a modular contact detection architecture for physical human-robot collaborations, especially for assembly tasks. This architecture consists of two sub-modules: a torque regressor using Gaussian Process Regressor (GPR) and a contact classifier using a Convolutional Neural Network (CNN). In fact, the GPR calculates deviations from expected joint torque values and the CNN detects object/human contacts with the robot, based on the estimated torque values. The result of the real-time implementation on an actual robot shows that the model can achieve a balanced accuracy of over 99% when the robot speed is over 27% and below 45% of its maximum speed even though the dataset was gathered with a speed of only 25%. This indicates the model's generalization capability to higher robot speeds. In addition, the generalization capability of the modular architecture for new movements was tested. The results show, that retraining the GPR can handle the data distribution shift and consequently, the contact classifier is not required to be retrained. Solving the impact of data distribution shift on the contact classifier makes the proposed modular architecture superior to the current state-of-the-art models.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"72 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":"115905416","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

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR 2022) 第七届机械工程与机器人研究国际会议(ICMERR 2022)

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/icmerr56497.2022.10097810

引用次数: 0