2019 International Conference on Robotics and Automation in Industry (ICRAI)最新文献

Prototype Development of an Assistive Lower Limb Exoskeleton 辅助下肢外骨骼的原型开发

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967351

N. Siddique, Asmaa A. Saif, Furqan Imran, Abdullah Kamran, U. S. Virk, Imran Mahmood, Ahmad Ali, Nasir Ahmad, H. F. Maqbool

引用次数: 2

Low Cost, Eco-Friendly, Homemade, Graphite on Paper-based Wearable Temperature Sensor 低成本，环保，自制，石墨纸基可穿戴温度传感器

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967376

A. Arshad, K. Riaz, T. Tauqeer, M. Sajid

{"title":"Low Cost, Eco-Friendly, Homemade, Graphite on Paper-based Wearable Temperature Sensor","authors":"A. Arshad, K. Riaz, T. Tauqeer, M. Sajid","doi":"10.1109/ICRAI47710.2019.8967376","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967376","url":null,"abstract":"A low cost, light-weighted, simple sensor for health monitoring is essential for improving the health quality of developing countries. Wearable electronics devices have become a great interest due to lightweight and wearable. A lightweight and wearable sensor can use anytime and anywhere. To monitor human health in any condition a sensor should be highly sensitive, reliable, skin conforming and sustainable. Here we present fabrication and characterization of a low cost, eco-friendly, highly sensitive, light-weighted, paper-based graphite temperature sensor. The temperature sensor is fabricated by a conductive paste that is prepared with ink gel pen and graphite from dry cell. Sticky notes paper is used as a substrate, due its light weight and flexible properties. In addition, we investigate the response of temperature sensors at room temperature and body temperature by prepared conductive paste. Resistance properties of temperature sensor fabricated by conductive paste are change as a function of temperature. These kinds of sensors could be easily fabricated and integrated into smart bandage.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122011669","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

A Low Cost 1-DoF Encounter Type Haptic Device for Use in Education 一种用于教育的低成本1自由度接触式触觉装置

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967395

Ahmad Javaid, Hammad Munawar, Mohammad Armughan Mohyuddin

{"title":"A Low Cost 1-DoF Encounter Type Haptic Device for Use in Education","authors":"Ahmad Javaid, Hammad Munawar, Mohammad Armughan Mohyuddin","doi":"10.1109/ICRAI47710.2019.8967395","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967395","url":null,"abstract":"The use of haptic (or force-feedback) devices in education has the potential to improve learning efficiency in science, technology, engineering, mathematics and computing (STEM+C). Low cost haptic devices have been presented in literature and are being used in many universities as part of their curricula. These devices provide hands-on experience to students for learning different physical and virtual phenomena. These devices feature small workspaces and low force outputs which can limit their use for educational applications. In this paper a prototype 1 DoF (degree of freedom) encounter type haptic device that possesses a larger workspace, higher force output and the ability to render free space, while keeping the cost low, is proposed. Haptic rendering is achieved using Series Elastic Actuation (SEA), while free space is rendered using a low friction mechanical coupling. Smooth transition between haptic and free space rendering is implemented using a switch based control law. The use of SEA, easy to manufacture 3D printed parts, low cost actuators, sensors and processor make the device affordable for educational institutions and students. In this paper design of the prototype device, its control scheme and experimental characterization of performance has been presented.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129772867","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

Chattering Free Motion Control of an Assistive Robotic Device for Paraplegics 截瘫辅助机器人装置的抖振自由运动控制

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967359

A. Abdullah, Z. Kausar, R. Hashim

{"title":"Chattering Free Motion Control of an Assistive Robotic Device for Paraplegics","authors":"A. Abdullah, Z. Kausar, R. Hashim","doi":"10.1109/ICRAI47710.2019.8967359","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967359","url":null,"abstract":"One of the major concerns for paraplegic patients is their ability to sit and stand independently. Various studies are available in literature which discuss the design, modeling, and control of specially designed assistive devices for this purpose. In this paper, chattering free sliding mode control for an Assistive Robotic Device for Paraplegic patients is proposed. Mathematical modeling of the device reveals the nonlinear nature of the system. A sliding mode controller is thus designed to control the system. The controller is designed based on a first order sliding surface. The oscillation in the response, also known as \"chattering effect,\" is minimized by selecting a suitable time-varying boundary layer. Simulation results show that the oscillations in the response are eliminated after the implementation of the boundary layer. The torque requirement in chattering free results are also significantly decreased as compared to the torque required in the oscillatory response, which demonstrates the reduction in control effort. The chattering-free response also ensures the comfort of the patient while using the device.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128397760","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

Performance Comparison of Adaptive Power Line Interference Cancellers for ECG Signal 心电信号自适应电力线干扰消除器的性能比较

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967400

Suleman Tahir, N. Razzaq, Ayesha Zeb, M. Raja

引用次数: 1

Health Monitoring of Three-Phase Induction Motor Using Current and Vibration Signature Analysis 基于电流和振动特征分析的三相感应电动机健康监测

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967356

Muhammad Sarfraz Moiz, Shazaib Shamim, M. Abdullah, Hamdan Khan, I. Hussain, Anas Bin Iftikhar, T. Memon

{"title":"Health Monitoring of Three-Phase Induction Motor Using Current and Vibration Signature Analysis","authors":"Muhammad Sarfraz Moiz, Shazaib Shamim, M. Abdullah, Hamdan Khan, I. Hussain, Anas Bin Iftikhar, T. Memon","doi":"10.1109/ICRAI47710.2019.8967356","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967356","url":null,"abstract":"This paper revolves around the discussion of detection of faults occurs in three-phase induction motor especially outer-race bearing faults using two significant methods, Current Signature Analysis and Vibration Signature Analysis, in order to deploy predictive maintenance technique. Detection of bearing fault is important because most of the failures in induction motors are related to bearing faults which can lead to excessive downtimes and large revenue losses. Early detection of fault helps to reduce downtime and unexpected breakdowns. The current signature analysis uses stator currents spectrum to determine fault harmonics around the fundamental frequency. Every machine generates vibration and due to dynamic stresses, vibrational behavior of the machine is influenced by the mechanical condition. This disturbance can be analyzed by Vibration signature analysis. The experiment is done on induction motor of 1 HP, connected to three-phase 50 Hz supply and 6303 model bearings are artificially damaged to generate fault conditions. From experimental results, we have compared the above two techniques for fault detection and analyze the bearing fault frequency.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121135588","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

Formal Verification and Development of an Autonomous Firefighting Robotic Model 自主消防机器人模型的形式化验证与开发

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967388

Anum Tahir, K. Saghar, Harris Bin Khalid, Umar Shadab Butt, U. S. Khan, U. Asad

{"title":"Formal Verification and Development of an Autonomous Firefighting Robotic Model","authors":"Anum Tahir, K. Saghar, Harris Bin Khalid, Umar Shadab Butt, U. S. Khan, U. Asad","doi":"10.1109/ICRAI47710.2019.8967388","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967388","url":null,"abstract":"Formal verification is a potent and novel technique that is commonly used by researchers to verify software and embedded systems. Formal verification, recently, has been used by researchers to verify robotic systems. This paper is based on a robotic system for extinguishing the fire on rough terrains whose design has been verified using model checking and formal verification. An autonomous robot that can help the fire rescue team using sensors, has many increasingly modern applications that can automate our lives, for instance, a robot can benefit us where the approach of humans can be dangerous or risky. This research paper aims to develop a prototype model for the depiction of working of firefighting robot using various sensors. An arena is designed for this purpose having different modules for the robot model to surmount. Robotic systems concerning fire-fighting mechanisms have not been formally verified before, hence the model under study leads to the innovation in the design and working of autonomous robots because robotic formal verification is a potent technique that can detect and remove bugs from embedded systems in the design stage.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132673095","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

Robust Control Design of 6-DOF Robot for Nuclear Power Plant Dismantling 核电站拆除六自由度机器人鲁棒控制设计

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967383

H. Khan, S. Abbasi, Karam Dad Kallu, Min Choel Lee

{"title":"Robust Control Design of 6-DOF Robot for Nuclear Power Plant Dismantling","authors":"H. Khan, S. Abbasi, Karam Dad Kallu, Min Choel Lee","doi":"10.1109/ICRAI47710.2019.8967383","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967383","url":null,"abstract":"Controller design for robotic manipulator in a nuclear environment has been a challenging task for more than a decade. In this paper three different control techniques were proposed which include PID control, sliding mode control (SMC) and sliding mode control with sliding perturbation observer (SMCSPO). Dynamic modeling of the system was done using the Lagrange approach. The trajectory was planned for manipulator’s end-effector, then trajectory for each joint was computed. Then control algorithms were designed and implemented in MATLAB/Simulink. The simulation results illustrated that PID is a linear control, therefore, when controlling the system with uncertainties the performance of PID is not good. Sliding mode control is a robust non-linear control and have good performance characteristics but information of upper bound of perturbation is necessary. To overcome this problem SMCSPO a robust control with disturbance rejection logic has been implemented and result shows that SMCSPO performance is better than SMC and PID in the presence of uncertainties and external disturbance due to disturbance compensation.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114595966","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: 7

Simple and low cost triboelectric nanogenerator (TENG) for resource limited environment 资源有限环境下简单、低成本的摩擦电纳米发电机

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967354

Muhammad Umaid Bukhari, K. Riaz, T. Tauqeer, M. Sajid

引用次数: 4

The Swimmers Motion Detection Using Improved VIBE Algorithm 基于改进VIBE算法的游泳者运动检测

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967390

Muhammad Aftab Hayat, Goutian Yang, A. Iqbal, A. Saleem, Adil Hussain, M. Mateen

{"title":"The Swimmers Motion Detection Using Improved VIBE Algorithm","authors":"Muhammad Aftab Hayat, Goutian Yang, A. Iqbal, A. Saleem, Adil Hussain, M. Mateen","doi":"10.1109/ICRAI47710.2019.8967390","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967390","url":null,"abstract":"this paper proposed a novel method for drowning person detection in the swimming pool using video images. For background extraction and to update the exact motion area from the whole video using frame by frame difference vibe algorithm is used. Static and dynamic features are detected to recognize the normal swimmer and drowning person. The present invention discloses video-based swimming pools drowning event detection method. In the detection process Time of map(Tom), the method is used to improve the traditional VIBE result. The sequence of video images of the swimming pool is collected in real-time by using a camera installed above the water surface, which mainly includes three steps of swimmers detection, swimmers tracking and drowning person behavior analysis. In the aspect of swimmer detection, an improved VIBE swimmer detection algorithm is proposed, and the algorithm is used to determine the swimmer's position. The swimmer tracking and particle filter based on the color distribution model which is combined with the nearest neighbor data association algorithm to achieve tracking of multiple swimmers. In the analysis of drowning behavior, three characteristics of drowning behavior are proposed to determine whether the swimmer is drowning. The invention can monitor the swimming pool in real-time through the camera installed above the water surface in a real public swimming place, and automatically detect the drowning person, which has great engineering application value.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130845682","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: 13