Modeling of the Natural Product Deboning Process Using Biological and Human Models

©1999 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Presented at the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 1999), 19-23 September 1999, Atlanta, GA.DOI: 10.1109/AIM.1999.803141One critical area in automation for commercial deboning systems for meat processing, is the inability of existing equipment to adapt to varying sizes and shapes of products. This usually results in less than desirable outcomes when measured in terms of yield of the operations. In poultry processing for example, the initial cut of wing-shoulder joints is the most critical step in the deboning process. Two approaches for determining a trajectory for the cut is presented. The first is a technique using x-ray and visual images to obtain a 2-D model that locates the shoulder joint with respect to the surface features of the product. The second approach is obtained by determining a 3-D cutting trajectory and the associated forces/torques using a motion analysis system and a force/torque sensor incorporated with a knife. We then discuss the potential application of these results in the design of an automated cutting system that uses the obtained trajectory as a nominal cutting path. The system would make'adjustments during the cut using force feedback so as to emulate the manual cutting process

Force sensing enhancement of robot system

At present there is a general industrial need to improve robot performance. Force feedback, which involves sensing and actuation, is one means of improving the relative position between the workpiece and the end-effector. In this research work various causes of errors and poor robot performance are identified. Several methods of improving the performance of robotic systems are discussed. As a result of this research, a system was developed which is interposed between the wrist and the gripper of the manipulator. This system integrates a force sensor with a micro-manipulator, via an electronic control unit, with a micro-computer to enhance a robot system. The force sensor, the micromanipulator and the electronic control unit, were all designed and manufactured at the robotic centre of Middlesex Polytechnic. The force feedback is provided by means of strain gauges and the associated bridge circuitry. Control algorithms which define the relationship between the force detected and the motion required are implemented in the software. The software is capable of performing two specific tasks in real time, these are: 1- Inserting a peg into a hole 2- Following an unknown geometric path A rig was designed and manufactured to enable the robot to follow different geometric shapes and paths in which force control was achieved mainly by control of the micro-manipulator

Automation and computer integrated manufacturing in food processing industry: an appraisal

This study is concerned with a research programme on automation and computer integrated manufacturing (CIM) in food processing industry, culminating in an implementation framework detailing the extent of automation and application of computer based technologies in Irish food processing industries. This work involved with designing of a postal survey questionnaire and mailing it to 221 manufacturing companies, and designing a web-based survey and emailing it to 31 manufacturing companies in the Republic of Ireland. Questions were designed to capture information about the level of automation, envisaged level of automation, motivation and obstacles to implement computer-based technology, and the extent of implementation of CIM environments at plants. The key findings point to the existence of a linear relationship between practice and performance. From the perspective of competitive advantage, the traditional postal survey gives a higher response rate than web-based survey, but on the other hand the web based survey takes shorter response time and cost s less than a traditional postal survey. The results of this study show variable levels of automation. A large number of the manufacturing plants are applying automation, and are trying to increase the automation level m their plants. This work has demonstrated that the manufacturers have the desire to adopt CIM systems at different levels, despite the cost obstacle of implementing them