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Latency analysis of WirelessHART control message with variable payload 可变载荷下无线shart控制报文的延迟分析
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847798
Tran Duc Chung, R. Ibrahim, V. Asirvadam, N. Saad, S. Hassan
{"title":"Latency analysis of WirelessHART control message with variable payload","authors":"Tran Duc Chung, R. Ibrahim, V. Asirvadam, N. Saad, S. Hassan","doi":"10.1109/ROMA.2016.7847798","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847798","url":null,"abstract":"Since 2007, the emerging wireless technologies for industrial applications such as wireless highway addressable remote transducer (WirelessHART), and ISA100.11a have been used mainly for process monitoring application only. When gearing toward control application of these technologies a common factor that often being considered is network latency or known as delay. Although the typical network round trip (upstream, and downstream) delays have been reported in recent researches, only few have discussed on the relationship between message payload length and the network induced delays. Therefore, this paper carries out an investigation into the effect of variable payload on the delay of control message sending from controller to plant actuator using the widely preferred industrial wireless technology, WirelessHART.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116862438","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
Development of robotic arm using haptic feedback 基于触觉反馈的机械臂研制
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847815
Mansi Pawar, Pranav Lad
{"title":"Development of robotic arm using haptic feedback","authors":"Mansi Pawar, Pranav Lad","doi":"10.1109/ROMA.2016.7847815","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847815","url":null,"abstract":"In this paper, we have introduced how autonomous robots would benefit from improvements in haptic intelligence and overview of telerobotics systems. In the real world, we want robots to help to perform tasks in the remote environment. This paper also accentuates the synergy between the human operator and a robot and has various applications in healthcare, medicines, entertainment, education, graphic arts, the industry as well as space. Our aim is to design and construct a robotic arm through in cooperation of haptic feedback. Through the processes of conceptualization, design, assembly, and final coding, we were required to complete tasks ranging from needs assessment, static and dynamic load analyses, design for manufacturing, machining, troubleshooting, and finally microcontroller coding, to name but a few.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131200619","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
Mobile robot path planning using Ant Colony Optimization 基于蚁群算法的移动机器人路径规划
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847836
R. Rashid, N. Perumal, I. Elamvazuthi, M. Tageldeen, M.K.A.Ahmed Khan, S. Parasuraman
{"title":"Mobile robot path planning using Ant Colony Optimization","authors":"R. Rashid, N. Perumal, I. Elamvazuthi, M. Tageldeen, M.K.A.Ahmed Khan, S. Parasuraman","doi":"10.1109/ROMA.2016.7847836","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847836","url":null,"abstract":"Ant colony optimization (ACO) technique is proposed to solve the mobile robot path planning (MRPP) problem. In order to demonstrate the effectiveness of ACO in solving the MRPP problem, several maps of varying complexity used by an earlier researcher is used for evaluation. Each map consists of static obstacles in different arrangements. Besides that, each map has a grid representation with an equal number of rows and columns. The performance of the proposed ACO is tested on a given set of maps. Overall, the results demonstrate the effectiveness of the proposed approach for path planning.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133378743","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: 93
Obstacle avoidance using wall-following strategy for indoor mobile robots 基于墙体跟随策略的室内移动机器人避障
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847817
K. Al-Mutib, M. Faisal, M. Alsulaiman, F. Abdessemed, H. Ramdane, Mohammed A. Bencherif
{"title":"Obstacle avoidance using wall-following strategy for indoor mobile robots","authors":"K. Al-Mutib, M. Faisal, M. Alsulaiman, F. Abdessemed, H. Ramdane, Mohammed A. Bencherif","doi":"10.1109/ROMA.2016.7847817","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847817","url":null,"abstract":"This paper proposes a fuzzy logic methodology to control an indoor mobile robot for a complete navigation in an unknown environment. The methodology incorporates two basic behaviors, namely: reaching the goal and avoiding obstacles. The obstacle avoidance behavior is treated using wall-following scheme based on a fuzzy technique proposed for this proposed. The mobile robot control mechanism uses some sort of knowledge-base arranged in a set of fuzzy-rule-base to implement the wanted behavior that makes the mobile robot follow the boundary of an obstacle or a wall. A constant distance to the obstacle/wall is maintained while the robot tries successfully to get around this difficulty. Once the path is clear, the obstacle avoidance behavior is inhibited and reaching the goal behavior is activated using a second fuzzy controller. In order to handle data uncertainties, Type-2 fuzzy sets are considered. This methodology was successfully tested on a real mobile robot for different sort of scenarios.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126211218","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: 12
Harmonics analysis in a DC-DC converter based line frequency inverter for domestic lighting loads 基于直流-直流变换器的家用照明负载线频逆变器谐波分析
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847811
Ahamed Khan, Maiyaki Abdullahi Alkali, S. Parasuraman, I. Elamvazuthi, M. Amudha, Niranjan Debnath
{"title":"Harmonics analysis in a DC-DC converter based line frequency inverter for domestic lighting loads","authors":"Ahamed Khan, Maiyaki Abdullahi Alkali, S. Parasuraman, I. Elamvazuthi, M. Amudha, Niranjan Debnath","doi":"10.1109/ROMA.2016.7847811","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847811","url":null,"abstract":"This paper presents harmonics improvement in a DC-DC converter based line frequency inverter for domestic lighting loads. Harmonics problem in power electronics converters is not a new phenomenon as over the decade succeeded in effecting our power output. It is also recognized to be a problem that would destabilize the reliability of power system, to overcome this problem, the design of a suitable filter must be implemented. For this project, a LC Low Pass filter has been chosen to reduce the harmonics in the system to get a 5W power output. The input voltage is a DC battery having power capacity of 24W, 6V DC has been chosen as the input DC voltage and it will be stepped up to 12V DC using the push-pull converter. A voltage regulator circuit is installed to regulate the voltage to the microcontroller chip PIC16F877A that has been used as the main control unit for this project having the capability to generate Pulse Width Modulation (PMW) signals to drive the MOSFET turn ON and OFF. The 12V DC will be inverted to 220V AC using the line frequency inverter. The bulb having the power capacity of 6W is used as the output lighting loads.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125744588","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
Home-based interactive rehabilitation system for hand 居家互动式手部康复系统
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847835
Crispin Jee Chen Hung, N. Perumal, Irraivan Elamvazuthi, M. Tageldeen, M.K.A.Ahmed Khan, S. Parasuraman
{"title":"Home-based interactive rehabilitation system for hand","authors":"Crispin Jee Chen Hung, N. Perumal, Irraivan Elamvazuthi, M. Tageldeen, M.K.A.Ahmed Khan, S. Parasuraman","doi":"10.1109/ROMA.2016.7847835","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847835","url":null,"abstract":"A hand home-based rehabilitation system which is interactive, portable and affordable, equipped with the ability in qualitative and quantitative diagnosis on muscle performance and strength is reported in this paper. The therapy system utilizes the concept of game-based therapy which aims to develop interest of patient. The hardware input module has a compact joypad input design with wireless connectivity to promote portability. The system is designed using open-source platform, Adobe Flash Builder. The system introduces activities which is task oriented or with basic games which is derived from Fugl-Meyer Assessment (FMA) for the purpose of assessing muscle performance. The final design also includes the ability to diagnose muscle strength using electromyography measurement test (EMG).","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116090165","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
The development of tele-operated electro-hydraulic actuator (T-EHA) for mini excavator tele-operation 小型挖掘机遥控电液执行器(T-EHA)的研制
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847800
Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin
{"title":"The development of tele-operated electro-hydraulic actuator (T-EHA) for mini excavator tele-operation","authors":"Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin","doi":"10.1109/ROMA.2016.7847800","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847800","url":null,"abstract":"High risk and dangerous post disaster recovery operation requires the use of heavy vehicle tele-operation. This study deals with tele-operated electro-hydraulic actuator system or T-EHA for the operation of construction vehicle tele-operation that focuses on a robotic system to remotely control a mini excavator. The current development of the system, from design, simulation and control aspects of T-EHA is presented. A wireless PS2 controller with Arduino programming has been utilized as the remote controller for the system. The T-EHA system is later used to control a lever which is used to manipulate the movement of the mini excavator's boom. Simulation on the position control of T-EHA is conducted at a designated signal interval, with system flow rate and pressure of 0.7lpm and 20 bar respectively. The overall movement correlates with the simulated input signal. Laboratory evaluation on T-EHA tele-operation have been conducted at a distance of 5 meters, accordingly.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125830995","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: 5
Development of low-cost real-time data acquisition system for process automation and control 低成本过程自动化与控制实时数据采集系统的开发
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847826
Mohammad Haizad, R. Ibrahim, Anas Adnan, Tran Duc Chung, S. Hassan
{"title":"Development of low-cost real-time data acquisition system for process automation and control","authors":"Mohammad Haizad, R. Ibrahim, Anas Adnan, Tran Duc Chung, S. Hassan","doi":"10.1109/ROMA.2016.7847826","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847826","url":null,"abstract":"The use of data acquisition system (DAQ) is important in process industry as it enables analog signal from physical system to be converted into a digital signal for processing by computer and vice versa. However, many of the DAQs available in the market today are complex and expensive. This paper presents the development of a simple, low-cost and open source microcontroller-based DAQ system for process automation and control. The proposed DAQ system is built around Arduino Mega 2560 microcontroller. The test experimental results of the developed DAQ system proved its suitability for application in process monitoring and control applications.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126124089","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
Pattern investigation for landfill of methane gas concentration measurement 填埋场甲烷气体浓度测量模式研究
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847839
O. Bashi, W. Z. W. Hasan, S. Shafie, N. Azis
{"title":"Pattern investigation for landfill of methane gas concentration measurement","authors":"O. Bashi, W. Z. W. Hasan, S. Shafie, N. Azis","doi":"10.1109/ROMA.2016.7847839","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847839","url":null,"abstract":"One of the most important actual problems in the gas detection field is that there are strong demands for gas methane source detection to prevent explosions or poisoning accidents …etc. In this case we need an autonomous equipment to perform wide surveying of the ground area surface based on a pattern to know its concentration on each spot of the required ground area. The best method of performing this task is to use autonomous quadcopter with high flexibility which do not affect by risk of this gas and the rough and irregular ground surface and perform the task with high speed and lower cost. This paper presents a simulation comparison of search pattern types properties and practical methane gas concentration measurement.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129658395","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
Performance analysis of a drive system for electrical vehicle application 电动汽车驱动系统的性能分析
2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847810
M. K. A. A. Khan, M. Abdalla, S. Parasuraman, I. Elamvazuthi, M. Amudha, Niranjan Debnath
{"title":"Performance analysis of a drive system for electrical vehicle application","authors":"M. K. A. A. Khan, M. Abdalla, S. Parasuraman, I. Elamvazuthi, M. Amudha, Niranjan Debnath","doi":"10.1109/ROMA.2016.7847810","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847810","url":null,"abstract":"The field of electrical engineering is now being widely used in vehicle technology. The current demand of high electrical power owing to increase in electrical vehicle and the pressure on automobile markers to reduce emission levels have brought the usage of power converters and electric drives to the frontline in automation and robotic industries. This research aims to discuss the design and control scheme of an electric drive for vehicle application. The control system are many, however the use of vector control has been emphasized in this research as a method of control. A drive has been proposed and the simulation for the inverter part shows how the achievement of speed controls is done.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117206962","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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