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Among the processes for making final products using fibers, the final process can be called a sewing process. The sewing process generally corresponds to the process that requires the most manpower in the production of textile products. The cost of sewing has gradually increased due to the recent rise in labor costs. The automation of the sewing process and the smart factory are expected to be carried...
Venus flytrap is a special kind of plant that has the ability to grip the insects and make them be trapped in their leaves and thorns. In this paper, a bio-inspired gripper is designed and tested to imitate the gripping process of the Venus flytrap. The gripper is driven by a dielectric elastomer actuator (DEA), which contains two-leaf functional structure aiming to mimic the leaf closing of Venus...
The task of autonomously gripping delicate objects such as fresh produce remains a challenge even in modern robotics. Current robotics grippers are mostly made of mechanical linkages and actuators which follow very structured trajectories. As these exhibit little mechanical compliance they can readily apply too much pressure as a point load, leading to blemishing or bruising of produce (eg. kiwifruit)...
This paper describes the development of an autonomous mapping system (AMS) for basic terrain mapping and quantifies it's performance relative to conventional survey instruments. The AMS platform is an off-the-shelf robotic chassis equipped with wheel encoders, IMU and a survey-grade GNSS RTK receiver. The AMS is autonomously controlled by the Robot Operating System (ROS) using open-source and purpose-written...
Medical exoskeletons are robotic devices that provide paraplegics with the ability to ambulate again. There are four current market leaders in the industry: REX, by Rex Bionics; ReWalk, by Argo Medical Technologies Ltd; Ekso GT, by Ekso Bionics; and Indego, by Parker Hannifin. A weighted table-based method was used to evaluate the capability of these four devices, which was then compared to their...
This paper presents a novel suspension design for single-passenger Electric Vehicles, with four in-wheel-motor drive and all-wheel independent steering. Since this design keeps the advantage of each wheel's independent steering and power driven, a suspension system employs motorcycle steering dampers tempers under supporting by head tube. This paper presents a 3D metal printing (additive manufacture)...
This paper focuses on accuracy improvement of human activities detection and classification by using single Inertia Measurement Unit sensor (IMU sensor: an acceleration sensor, a gyro sensor, a magnetometer, and an air pressure sensor) which is a type of the wearable sensors. Generally, performance of classification model is determined by these methodologies; number and type of sensors, coordinate...
Interaction with non-rigid objects poses a challenge for manufacturing systems. The dimensions, locations and physical properties of soft-tissue objects like fruit or meat are subject to considerable variation and uncertainty. Possible ways to accommodate this are to use a number of different types of sensors and actors. However, a control system physically located next to a manufacturing system is...
The nature of fibre placement/manipulation in electrospinning has been recorded through the utilization of surface actuation and electrostatic manipulation. This study investigates the potential of a simplistic approach to fibre placement manipulation through the utilization of non-uniform non-conducting collecting surfaces. A solution of Nylon 6,6 and Formic acid was electrospun with an ES1a device...
Cellular Manufacturing Systems (CMS) are a central concept in just-in-time and lean manufacturing. Although CMS are able to provide a strategic operating advantage, machine cell clusters do not remain optimal over an extended period of time. This paper presents a method for planning the evolution of the CMS over a multi-period horizon, such that the machine cell clusters are periodically reconfigured...
Water-driven jetpacks have become a commercial product since 2010, however have not become as popular as other recreational water craft such as jet skis due to user reluctance. The high capital investment required to acquire this product puts it out of the reach of most of the private market and increases the risk vs return for potential commercial investors. The presently available products require...
Automated inspection of apples requires that the entire surface of the fruit passes through the view of at least one camera. This work uses Monte Carlo simulation to investigate the extent of coverage of the apple surface when viewed by three four and five cameras arranged in a plane. Each camera has a circular inspection area that is 45 to 50% of the apple size. The number of images per apple rotation...
The concept of the laser lighthouse is introduced and related to the localization of manufacturing tools carried by a mobile robot. Positioning with the laser lighthouse uses triangulation, for which a triplet of light sensors on the robot is applied. The influence of the arrangement of the triplet on the error propagation of the position calculation is investigated by calculation and comparison of...
Robots assist rescuers in search and rescue operations. The important aspects investigated in this study are the integration of a mechatronic system that will allow for a robotic platform with a vision system. The research collaboration between Argentina and South Africa is discussed with the correlating research areas that each country will investigate to allow for the development and advancement...
In supervised machine learning applications, a data set of training and validation features and labels is required to train a neural network. In this paper, we present a remote-controlled, mobile robot and describe software used to generate a data set for vision-based, supervised machine learning applications. We present results from an experiment, which validates the developed platform, and also...
Soft actuators are a critical component of soft robotic systems, the multi-cavity composite soft pneumatic actuators have wide potential applications due to their ability to generate complex motions. A timesaving and flexible fabrication process of this actuator was presented in this paper. Then, we analysed and proposed the parameters of the material and proved its validity by comparing the result...
This paper presents a new method for designing the weights used for development of robust controllers for a quadrotor model with parameter uncertainty. The weights alongside the controllers are developed for attitude and altitude tracking by resolving a constrained non-linear minimization problem formulated over the conventional mixed sensitivity optimization S over T method. The optimization routine...
The paper presents a new methodology to solve the actuation and modelling problems of a soft-bodied swallowing robot (SR), developed for human swallow evaluation. To solve the actuation problem, a central pattern generator (CPG) based novel actuation scheme is developed and implemented to generate peristalsis in the robot. Machine learning based technique is used to determine the governing dynamics...
This paper proposes an online compensation method of gravity and friction by least squares method (LSM) for robots implementing haptics. In order to expand the range of tasks using the robot such as telepresence robot, implementing haptics technology is essential. However, with higher gear ratio motors, the friction lowers the quality of the haptic transmission. In order to comfortably control the...
Writing and solving the inverse kinematics equations of a robot is a cumbersome task. Furthermore, an analytic solution exists only for an ideal model and only if the structure of the robot meets certain criteria. If enhanced positioning precision is required, the robot needs to be calibrated. This eliminates most of the errors due to the differences in the ideal model and the real robot. Calibration...
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