4 research outputs found
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High torque density cycloid electrical machine for robotic application
This thesis investigates a novel cycloid electric machine that integrates both cycloid gear drive and permanent magnet synchronous machine (PMSM), and proposes to apply the machine in robotic transmission system. Cycloid gear drive is a transmission device that is commonly used to boost up the output torque. It has been widely applied in many industrial applications including ship power transmission, robotic actuation, hybrid electric vehicle and renewable energy due to advantages of high mechanical efficiency, low backlash, compact size and high ratio mechanical transmission. The structure of cycloid gear is different from common gears which engage externally, it engages internally and operates in cycloidal motion. In robotic industry, requirements on compact size and high transmission ratio result in the application of cycloid gear drives. Chapter 2 would introduce it in detail. Synchronous electric machine has been widely applied and investigated for more than a century. In industry, synchronous machines are used for power generating, electric power drive and many other electro-mechanical transformations. In particular, permanent magnet synchronous machine (PMSM) is the most common one because the control strategy is relatively simple with the help of booming power electronics. Commonly, PMSM is used as mechanical power input in robotic industry. Chapter 3 would elaborate it. Typical human-sized legged locomotion needs an output torque around 300 N∙m to accomplish motions. The direct drive design uses only one high-torque electric machine with multi-stage transmission cannot meet the size and weight requirement of the leg actuation. This research proposes a novel cycloid electric machine to replace the conventional motor transmission system. An estimated 40 percent size and weight reduction is expected [19].Keywords: road networks, Siskiyou Mountains, Oregon, Phytophthora lateralis, Port-Orford-cedar, spatial epidemiology, landscape disturbance, timber harves
Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment
To navigate autonomously in a manufacturing environment Automated Guided Vehicle (AGV) needs the ability to infer its pose. This paper presents the implementation of the Extended Kalman Filter (EKF) coupled with a feedforward neural network for the Visual Simultaneous Localization and Mapping (VSLAM). The neural extended Kalman filter (NEKF) is applied on-line to model error between real and estimated robot motion. Implementation of the NEKF is achieved by using mobile robot, an experimental environment and a simple camera. By introducing neural
network into the EKF estimation procedure, the quality of performance can be improved
Prediction of Robot Execution Failures Using Neural Networks
In recent years, the industrial robotic systems are designed with abilities to adapt and to learn in a structured or unstructured environment. They are able to predict and to react to the undesirable and uncontrollable disturbances which frequently interfere in mission accomplishment. In order to prevent system failure and/or unwanted robot behaviour, various techniques have been addressed. In this study, a novel approach based on the neural networks (NNs) is employed for prediction of robot execution failures. The training and testing dataset used in the experiment consists of forces and torques memorized immediately after the real robot failed in assignment execution. Two types of networks are utilized in order to find best prediction method - recurrent NNs and feedforward NNs. Moreover, we investigated 24 neural architectures implemented in Matlab software package. The experimental results confirm that this approach can be successfully applied to the failures prediction problem, and that the NNs outperform other artificial intelligence techniques in this domain. To further validate a novel method, real world experiments are conducted on a Khepera II mobile robot in an indoor structured environment. The obtained results for trajectory tracking problem proved usefulness and the applicability of the proposed solution