2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)最新文献_第3页

Development and evaluation of multi-stage phase-controlled converter for magnetron driver 磁控管驱动器多级相控变换器的研制与评价

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847830

S. Korkua, S. Chandhaket, Kamon Thinsurat, Kittipong Maneenopparat

{"title":"Development and evaluation of multi-stage phase-controlled converter for magnetron driver","authors":"S. Korkua, S. Chandhaket, Kamon Thinsurat, Kittipong Maneenopparat","doi":"10.1109/ROMA.2016.7847830","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847830","url":null,"abstract":"As clean and high energy efficient, the microwave drying system has gained popularity for a wide variety of food preservation and processing of bio-commodities. The main advantage is the acceleration of the drying process which is quite limited comparing to conventional hot air drying system. However, during microwave drying process, pressure and temperature will increase continuously and this might cause undesired side effects such as degradation and physical damages. In order to eliminate the mentioned problems and enhance higher performance of control system flexibility, in this paper, a design of multi-stage phase-controlled converter for microwave drying system is proposed. The objective of this multi-stage power control is to track the drying characteristics under microwave drying process at different power level depending on the stage of drying cycle period. This control approach is achieved by controlling the triggering events at appropriate phase angle of TRIAC based on predefined power profiles. By varying the pulse width, the average power output of the magnetron can be controlled. As the focus of this paper, the hardware design and component selections are discussed. The system flowchart and control algorithm based on microcontroller Arduino Mega 2560 are also presented in details. Experimental results of the proposed multi-stage phased-control converter are investigated and discussed.","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":"114453303","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

Control of autonomous underwater vehicle based on visual feedback for pipeline inspection 基于视觉反馈的自主水下机器人管道检测控制

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847814

Amjad Khan, S. Ali, A. Malik, Atif Anwer, Nur Afande Ali Hussain, F. Mériaudeau

引用次数: 3

Grasping analysis for a 3-Finger Adaptive Robot Gripper 三指自适应机械手抓取分析

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847806

A. S. Sadun, J. Jalani, F. Jamil

{"title":"Grasping analysis for a 3-Finger Adaptive Robot Gripper","authors":"A. S. Sadun, J. Jalani, F. Jamil","doi":"10.1109/ROMA.2016.7847806","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847806","url":null,"abstract":"A 3-Finger Adaptive Robot Gripper is an advanced robotic research that provides a robotic hand-like capabilities due to its flexibility and versatility. However, the grasping performance has to be analyzed and monitored based on the motor encoder, motor current, and force feedback so that the finger position and grasping force can be effectively controlled. This paper provides an open-loop grasping analysis for a 3-Finger Adaptive Robot Gripper. A series of grasping tests has been conducted to demonstrate the robot capabilities and functionalities. Different stiffness levels of the grasped objects have been chosen to demonstrate the grasping ability. In the experiment, a Modbus RTU protocol and Matlab/Simulink are used as communication and control platform. A specially modified interlink FSR sensor is proposed where a special plastic cover has been developed to enhance the sensor sensitivity. The Arduino IO Package is employed to interface the sensor and Matlab/Simulink. The results show that the significant relationships between finger position, motor current, and force sensor are found and the results can be used for a proper grasping performance.","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":"122930790","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: 17

A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand 多指机械手直流伺服电机的粒子群优化pid控制

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847837

W. F. W. Tarmizi, I. Elamvazuthi, N. Perumal, K. Nurhanim, M.K.A.Ahmed Khan, S. Parasuraman, A. Nandedkar

引用次数: 9

Global mobile robot path planning using laser simulator 基于激光模拟器的移动机器人全局路径规划

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847828

Mohammed A. H. Ali, W. A. W. Yusoff, Z. Hamedon, Zulkifli B. M. Yusssof, M. Mailah

{"title":"Global mobile robot path planning using laser simulator","authors":"Mohammed A. H. Ali, W. A. W. Yusoff, Z. Hamedon, Zulkifli B. M. Yusssof, M. Mailah","doi":"10.1109/ROMA.2016.7847828","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847828","url":null,"abstract":"This paper presents the utilization of novel laser simulator search graph approach for global path determination in unknown environment using MATLAB. The environment of the robot is represented in 2D map and the laser simulator is used to find the collision free path within this environment without prior knowledge about the visiting cells. By using the laser simulator row points procedures, the point that determine the planned path in front of robot can be generated continuously and this process is repeated until the robot reaches the goal position. Two kinds of environments are used to test laser simulator; the first one is represented with cleared borders and polygons whereas the other includes some noises and uncertainties. The developed laser simulator is implemented successfully in these environments and the simulation results are compared with the classical A* algorithm. From the results, the laser simulator has advantages in computational time and low collision possibility in comparison with A* algorithm while the path cost of laser simulator is always greater than path cost of A* algorithm.","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":"115222470","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

Robotics rehabilitation for assessment of activities of daily living (ADL) 日常生活能力评估的机器人康复

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847832

Pui San Chee, I. Elamvazuthi, L. I. Izhar, M. Tageldeen, G. Capi

引用次数: 0

Design and analysis of an RF rectifying circuit upon integration with monopole and Fractal antennas 单极和分形天线集成射频整流电路的设计与分析

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847804

R. Ibrahim, Syed Faizan-ul-Haq Gilani, A. Jamil, M. Yusoff

{"title":"Design and analysis of an RF rectifying circuit upon integration with monopole and Fractal antennas","authors":"R. Ibrahim, Syed Faizan-ul-Haq Gilani, A. Jamil, M. Yusoff","doi":"10.1109/ROMA.2016.7847804","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847804","url":null,"abstract":"RFID tags are commonly used in the industry for tracking and managing assets. The long range of a RFID reader is essential for detection of the RFID tags. Due to this requirement, tags are powered by batteries which deplete over a period of time and cause an inconvenience in the process of RFID tags detection. Therefore, a rectenna architecture consisting of a seven stage Cockroft-Walton voltage multiplier rectifying circuit and two Fractal antennas have been individually developed to counter the usage of batteries in RFID tags. The rectifying circuit harvests the RF energy generated by Wi-Fi signals to produce a voltage output. This paper focuses on the performance of the rectenna architecture after its integration with an antenna. The performance of a Koch-curve Fractal antenna, a bended Koch-curve Fractal antenna and a microstrip monopole antenna has been evaluated by measuring the output voltage after integration with the rectifying circuit. The Koch-curve Fractal antenna outperforms its counterparts in terms of received signal strength and output voltage produced. Therefore, the rectifying circuit is integrated with the Koch-curve Fractal antenna and effectively tested for average path loss. Hence, the performance of the rectenna is more optimized with Fractal antenna as compared to a microstrip monopole antenna.","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":"130779451","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

Evolution of railway track crack detection system 铁路轨道裂纹检测系统的发展

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847816

Pranav Lad, Mansi Pawar

引用次数: 24

Predictive PI controller for wireless control system with variable network delay and disturbance 可变网络延迟和干扰无线控制系统的预测PI控制器

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847802

S. Hassan, R. Ibrahim, N. Saad, V. Asirvadam, Tran Duc Chung

引用次数: 13

Force control for a 3-Finger Adaptive Robot Gripper by using PID controller 基于PID控制器的三指自适应机械手夹持力控制

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847807

A. S. Sadun, J. Jalani, Jumadi Abdul Sukor, F. Jamil

引用次数: 7