5 research outputs found

    Design and development of a low-cost hybrid wheeled-leg for an agricultural robot : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Manawatū Campus, Palmerson North, New Zealand

    Get PDF
    The following Figures are re-used with the publishers' permission: 9a, 11c, 13b, 14a, 16a, 19. These Figures are re-used with permission from IEEE: 10a ©2005 IEEE; 10b ©2008 IEEE; 11b ©2011 IEEE; 12a ©2010 IEEE; 13a ©2015 IEEE; 13c ©2010 IEEE; 14b ©2013 IEEE; 14c ©2010 IEEE; 15 & 22 ©2016 IEEE; 16b ©2017 IEEE; 18a, b &c ©2005 IEEE; 20a & b ©2011 IEEE; 21 ©2009 IEEE; 23 ©2016 IEEE. Other Figures are either in the public domain, or re-used under a Creative Commons license.Currently, New Zealand is financially dependent on its agricultural industry quite heavily. However, the agricultural sector faces several problems such as labour shortages, environmental issues and increasing costs. In other industries, robotics and automation have been used to combat these issues successfully. Yet, in agriculture, robotics and automation have only been adopted in horticulture but not in pastoral farming (dairy, sheep, and cattle). This is because the tasks and terrain in horticultural are well defined and structured, whereas, in pastoral farming, the terrain and tasks are unstructured and dynamic. The locomotion used by current horticulture robots is either not capable of operating in unstructured terrain or are inefficient. Therefore, pastoral farming will need to adopt new forms of locomotion in automation platforms. In this thesis, it is proposed that hybrid wheel-leg locomotion will enable robots to operate in unstructured and dynamic environments. With this in mind, a low-cost prototype hybrid wheeled leg has been designed and built. The leg has been designed to specifications which were developed based on the tasks that a multipurpose horticultural and pastoral farming robot is expected to do. A joint actuator is extremely influential towards the performance of any robotic leg. Due to the unstructured terrain, in which the leg will operate, it was concluded, that a mechanically compliant actuator is required. Because of the prohibitive cost of commercially available actuators, a prototype high torque, low-cost mechanically compliant actuator was designed and built to meet the specified torque requirements. This was in addition to the design and fabrication of the leg itself. Once the leg was assembled, the sensors, actuators and the motor were interfaced with ROS™ (Robot Operating System). ROS makes it easy to coherently control each leg's DOF (Degrees of Freedom) and makes it easy to combine and control multiple legs into a robot. Testing of the leg produced very encouraging results, but there were two issues with the performance of the actuator. The first issue is due to the poor implementation of the position control algorithm that came standard with the actuator motor driver. The problem can be resolved through software or the purchase of a different motor driver. The second issue is that the actuator only outputs 23 Nm of torque, but the motor used is rated at 50 Nm. This is due to the cheap drill motor used which is from an unknown brand; it is hoped that a more powerful drill motor from a well known reputable brand will be able to output its rated torque

    The Second Conference on Lunar Bases and Space Activities of the 21st Century, volume 1

    Get PDF
    These papers comprise a peer-review selection of presentations by authors from NASA, LPI industry, and academia at the Second Conference (April 1988) on Lunar Bases and Space Activities of the 21st Century, sponsored by the NASA Office of Exploration and the Lunar Planetary Institute. These papers go into more technical depth than did those published from the first NASA-sponsored symposium on the topic, held in 1984. Session topics covered by this volume include (1) design and operation of transportation systems to, in orbit around, and on the Moon, (2) lunar base site selection, (3) design, architecture, construction, and operation of lunar bases and human habitats, and (4) lunar-based scientific research and experimentation in astronomy, exobiology, and lunar geology

    Artech 2008: proceedings of the 4th International Conference on Digital Arts

    Get PDF
    ARTECH 2008 is the fourth international conference held in Portugal and Galicia on the topic of Digital Arts. It aims to promote contacts between Iberian and International contributors concerned with the conception, production and dissemination of Digital and Electronic Art. ARTECH brings the scientific, technological and artistic community together, promoting the interest in the digital culture and its intersection with art and technology as an important research field, a common space for discussion, an exchange of experiences, a forum for emerging digital artists and a way of understanding and appreciating new forms of cultural expression. Hosted by the Portuguese Catholic University’s School of Arts (UCP-EA) at the City of Porto, ARTCH 2008 falls in alignment with the main commitment of the Research Center for Science and Technology of the Arts (CITAR) to promote knowledge in the field of the Arts trough research and development within UCP-AE and together with the local and international community. The main areas proposed for the conference were related with sound, image, video, music, multimedia and other new media related topics, in the context of emerging practice of artistic creation. Although non exclusive, the main topics of the conference are usually: Art and Science; Audio-Visual and Multimedia Design; Creativity Theory; Electronic Music; Generative and Algorithmic Art; Interactive Systems for Artistic Applications; Media Art history; Mobile Multimedia; Net Art and Digital Culture; New Experiences with New Media and New Applications; Tangible and Gesture Interfaces; Technology in Art Education; Virtual Reality and Augmented Reality. The contribution from the international community was extremely gratifying, resulting in the submission of 79 original works (Long Papers, Short Papers and installation proposals) from 22 Countries. Our Scientific Committee reviewed these submissions thoroughly resulting in a 73% acceptance ratio of a diverse and promising body of work presented in this book of proceedings. This compilation of articles provides an overview of the state of the art as well as a glimpse of new tendencies in the field of Digital Arts, with special emphasis in the topics: Sound and Music Computing; Technology Mediated Dance; Collaborative Art Performance; Digital Narratives; Media Art and Creativity Theory; Interactive Art; Audiovisual and Multimedia Design.info:eu-repo/semantics/publishedVersio

    11th International Coral Reef Symposium Proceedings

    Get PDF
    A defining theme of the 11th International Coral Reef Symposium was that the news for coral reef ecosystems are far from encouraging. Climate change happens now much faster than in an ice-age transition, and coral reefs continue to suffer fever-high temperatures as well as sour ocean conditions. Corals may be falling behind, and there appears to be no special silver bullet remedy. Nevertheless, there are hopeful signs that we should not despair. Reef ecosystems respond vigorously to protective measures and alleviation of stress. For concerned scientists, managers, conservationists, stakeholders, students, and citizens, there is a great role to play in continuing to report on the extreme threat that climate change represents to earth’s natural systems. Urgent action is needed to reduce CO2 emissions. In the interim, we can and must buy time for coral reefs through increased protection from sewage, sediment, pollutants, overfishing, development, and other stressors, all of which we know can damage coral health. The time to act is now. The canary in the coral-coal mine is dead, but we still have time to save the miners. We need effective management rooted in solid interdisciplinary science and coupled with stakeholder buy in, working at local, regional, and international scales alongside global efforts to give reefs a chance.https://nsuworks.nova.edu/occ_icrs/1000/thumbnail.jp

    CIMODE 2016: 3º Congresso Internacional de Moda e Design: proceedings

    Get PDF
    O CIMODE 2016 é o terceiro Congresso Internacional de Moda e Design, a decorrer de 9 a 12 de maio de 2016 na cidade de Buenos Aires, subordinado ao tema : EM--‐TRAMAS. A presente edição é organizada pela Faculdade de Arquitetura, Desenho e Urbanismo da Universidade de Buenos Aires, em conjunto com o Departamento de Engenharia Têxtil da Universidade do Minho e com a ABEPEM – Associação Brasileira de Estudos e Pesquisa em Moda.info:eu-repo/semantics/publishedVersio
    corecore