481 research outputs found

    Two-link lower limb exoskeleton model control enhancement using computed torque

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    Robotic technology has recently been used to help stroke patients with gait and balance rehabilitation. Rehabilitation robots such as gait trainers are designed to assist patients in systematic, repetitive training sessions to speed up their recovery from injuries. Several control algorithms are commonly used on exoskeletons, such as proportional, integral and derivative (PID) as linear control. However, linear control has several disadvantages when applied to the exoskeleton, which has the problem of uncertainties such as load and stiffness variations of the patient’s lower limb. To improve the lower limb exoskeleton for the gait trainer, the computed torque controller (CTC) is introduced as a control approach in this study. When the dynamic properties of the system are only partially known, the computed torque controller is an essential nonlinear controller. A mathematical model forms the foundation of this controller. The suggested control approach’s effectiveness is evaluated using a model or scaled-down variation of the method. The performance of the suggested calculated torque control technique is then evaluated and contrasted with that of the PID controller. Because of this, the PID controller’s steady-state error in the downward direction can reach 5.6%, but the CTC can lower it to 2.125%

    Contributions to time series analysis, modelling and forecasting to increase reliability in industrial environments.

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    356 p.La integración del Internet of Things en el sector industrial es clave para alcanzar la inteligencia empresarial. Este estudio se enfoca en mejorar o proponer nuevos enfoques para aumentar la confiabilidad de las soluciones de IA basadas en datos de series temporales en la industria. Se abordan tres fases: mejora de la calidad de los datos, modelos y errores. Se propone una definición estándar de métricas de calidad y se incluyen en el paquete dqts de R. Se exploran los pasos del modelado de series temporales, desde la extracción de características hasta la elección y aplicación del modelo de predicción más eficiente. El método KNPTS, basado en la búsqueda de patrones en el histórico, se presenta como un paquete de R para estimar datos futuros. Además, se sugiere el uso de medidas elásticas de similitud para evaluar modelos de regresión y la importancia de métricas adecuadas en problemas de clases desbalanceadas. Las contribuciones se validaron en casos de uso industrial de diferentes campos: calidad de producto, previsión de consumo eléctrico, detección de porosidad y diagnóstico de máquinas

    Study and Development of Mechatronic Devices and Machine Learning Schemes for Industrial Applications

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    Obiettivo del presente progetto di dottorato è lo studio e sviluppo di sistemi meccatronici e di modelli machine learning per macchine operatrici e celle robotizzate al fine di incrementarne le prestazioni operative e gestionali. Le pressanti esigenze del mercato hanno imposto lavorazioni con livelli di accuratezza sempre più elevati, tempi di risposta e di produzione ridotti e a costi contenuti. In questo contesto nasce il progetto di dottorato, focalizzato su applicazioni di lavorazioni meccaniche (e.g. fresatura), che includono sistemi complessi quali, ad esempio, macchine a 5 assi e, tipicamente, robot industriali, il cui utilizzo varia a seconda dell’impiego. Oltre alle specifiche problematiche delle lavorazioni, si deve anche considerare l’interazione macchina-robot per permettere un’efficiente capacità e gestione dell’intero impianto. La complessità di questo scenario può evidenziare sia specifiche problematiche inerenti alle lavorazioni (e.g. vibrazioni) sia inefficienze più generali che riguardano l’impianto produttivo (e.g. asservimento delle macchine con robot, consumo energetico). Vista la vastità della tematica, il progetto si è suddiviso in due parti, lo studio e sviluppo di due specifici dispositivi meccatronici, basati sull’impiego di attuatori piezoelettrici, che puntano principalmente alla compensazione di vibrazioni indotte dal processo di lavorazione, e l’integrazione di robot per l’asservimento di macchine utensili in celle robotizzate, impiegando modelli di machine learning per definire le traiettorie ed i punti di raggiungibilità del robot, al fine di migliorarne l’accuratezza del posizionamento del pezzo in diverse condizioni. In conclusione, la presente tesi vuole proporre soluzioni meccatroniche e di machine learning per incrementare le prestazioni di macchine e sistemi robotizzati convenzionali. I sistemi studiati possono essere integrati in celle robotizzate, focalizzandosi sia su problematiche specifiche delle lavorazioni in macchine operatrici sia su problematiche a livello di impianto robot-macchina. Le ricerche hanno riguardato un’approfondita valutazione dello stato dell’arte, la definizione dei modelli teorici, la progettazione funzionale e l’identificazione delle criticità del design dei prototipi, la realizzazione delle simulazioni e delle prove sperimentali e l’analisi dei risultati.The aim of this Ph.D. project is the study and development of mechatronic systems and machine learning models for machine tools and robotic applications to improve their performances. The industrial demands have imposed an ever-increasing accuracy and efficiency requirement whilst constraining the cost. In this context, this project focuses on machining processes (e.g. milling) that include complex systems such as 5-axes machine tool and industrial robots, employed for various applications. Beside the issues related to the machining process itself, the interaction between the machining centre and the robot must be considered for the complete industrial plant’s improvement. This scenario´s complexity depicts both specific machining problematics (e.g. vibrations) and more general issues related to the complete plant, such as machine tending with an industrial robot and energy consumption. Regarding the immensity of this area, this project is divided in two parts, the study and development of two mechatronic devices, based on piezoelectric stack actuators, for the active vibration control during the machining process, and the robot machine tending within the robotic cell, employing machine learning schemes for the trajectory definition and robot reachability to improve the corresponding positioning accuracy. In conclusion, this thesis aims to provide a set of solutions, based on mechatronic devices and machine learning schemes, to improve the conventional machining centre and the robotic systems performances. The studied systems can be integrated within a robotic cell, focusing on issues related to the specific machining process and to the interaction between robot-machining centre. This research required a thorough study of the state-of-the-art, the formulation of theoretical models, the functional design development, the identification of the critical aspects in the prototype designs, the simulation and experimental campaigns, and the analysis of the obtained results

    An Overview of Industrial Robots Control and Programming Approaches

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    Nowadays, manufacturing plants are required to be flexible to respond quickly to customer demands, adapting production and processes without affecting their efficiency. In this context, Industrial Robots (IRs) are a primary resource for modern factories due to their versatility which allows the execution of flexible, reconfigurable, and zero-defect manufacturing tasks. Even so, the control and programming of the commercially available IRs are limiting factors for their effective implementation, especially for dynamic production environments or when complex applications are required. These issues have stimulated the development of new technologies that support more efficient methods for robot control and programming. The goal of this research is to identify and evaluate the main approaches proposed in scientific papers and by the robotics industry in the last decades. After a critical review of the standard IR control schematic, the paper discusses the available control alternatives and summarizes their characteristics, range of applications, and remaining limitations

    Lernen, Lehren und Forschen in einer digital geprägten Welt. Gesellschaft für Didaktik der Chemie und Physik. Jahrestagung in Aachen 2022

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    Die Tagung der Gesellschaft für Didaktik der Chemie und Physik (GDCP) fand vom 12. bis zum 15. September 2022 an der RWTH Aachen statt. Der vorliegende Band umfasst die ausgearbeiteten Beiträge der Teilnehmenden zum Thema: "Lernen, Lehren und Forschen in der digital geprägten Welt"

    Mathematical modeling and kinematic analysis of 5 degrees of freedom serial link manipulator for online real-time pick and place applications

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    Modeling and kinematic analysis are crucial jobs in robotics that entail identifying the position of the robot’s joints in order to accomplish particular tasks. This article uses an algebraic approach to model the kinematics of a serial link, 5 degrees of freedom (DOF) manipulator. The analytical method is compared to an optimization strategy known as sequential least squares programming (SLSQP). Using an Intel RealSense 3D camera, the colored object is picked up and placed using vision-based technology, and the pixel location of the object is translated into robot coordinates. The LOBOT LX15D serial bus servo controller was used to transmit these coordinates to the robotic arm. Python3 programming language was used throughout the entire analysis. The findings demonstrated that both analytical and optimized inverse kinematic solutions correctly identified colored objects and positioned them in their appropriate goal points

    PROCEEDINGS 5th PLATE Conference

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    The 5th international PLATE conference (Product Lifetimes and the Environment) addressed product lifetimes in the context of sustainability. The PLATE conference, which has been running since 2015, has successfully been able to establish a solid network of researchers around its core theme. The topic has come to the forefront of current (political, scientific & societal) debates due to its interconnectedness with a number of recent prominent movements, such as the circular economy, eco-design and collaborative consumption. For the 2023 edition of the conference, we encouraged researchers to propose how to extend, widen or critically re-construct thematic sessions for the PLATE conference, and the paper call was constructed based on these proposals. In this 5th PLATE conference, we had 171 paper presentations and 238 participants from 14 different countries. Beside of paper sessions we organized workshops and REPAIR exhibitions

    Wheat Improvement

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    This open-access textbook provides a comprehensive, up-to-date guide for students and practitioners wishing to access in a single volume the key disciplines and principles of wheat breeding. Wheat is a cornerstone of food security: it is the most widely grown of any crop and provides 20% of all human calories and protein. The authorship of this book includes world class researchers and breeders whose expertise spans cutting-edge academic science all the way to impacts in farmers’ fields. The book’s themes and authors were selected to provide a didactic work that considers the background to wheat improvement, current mainstream breeding approaches, and translational research and avant garde technologies that enable new breakthroughs in science to impact productivity. While the volume provides an overview for professionals interested in wheat, many of the ideas and methods presented are equally relevant to small grain cereals and crop improvement in general. The book is affordable, and because it is open access, can be readily shared and translated -- in whole or in part -- to university classes, members of breeding teams (from directors to technicians), conference participants, extension agents and farmers. Given the challenges currently faced by academia, industry and national wheat programs to produce higher crop yields --- often with less inputs and under increasingly harsher climates -- this volume is a timely addition to their toolkit
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