Using an HSV-based approach for detecting and grasping an object by the industrial manipulator system

In the context of the industrialization era, robots are gradually replacing workers in some production stages. There is an irreversible trend toward incorporating image processing techniques in the realm of robot control. In recent years, vision-based techniques have achieved significant milestones. However, most of these techniques require complex setups, specialized cameras, and skilled operators for burden computation. This paper presents an efficient vision-based solution for object detection and grasping in indoor environments. The framework of the system, encompassing geometrical constraints, robot control theories, and the hardware platform, is described. The proposed method, covering calibration to visual estimation, is detailed for handling the detection and grasping task. Our approach's efficiency, feasibility, and applicability are evident from the results of both theoretical simulations and experiments

Enhancement of the Tracking Performance for Robot Manipulator by Using the Feed-forward Scheme and Reasonable Switching Mechanism

Robot manipulator has become an exciting topic for many researchers during several decades. They have investigated the advanced algorithms such as sliding mode control, neural network, or genetic scheme to implement these developments. However, they lacked the integration of these algorithms to explore many potential expansions. Simultaneously, the complicated system requires a lot of computational costs, which is not always supported. Therefore, this paper presents a novel design of switching mechanisms to control the robot manipulator. This investigation is expected to achieve superior performance by flexibly adjusting various strategies for better selection. The Proportional-Integral-Derivative (PID) scheme is well-known, easy to implement, and ensures rapid computation while it might not have much control effect. The advanced interval type-2 fuzzy sliding mode control properly deals with nonlinear factors and disturbances. Consequently, the PID scheme is switched when the tracking error is less than the threshold or is far from the target. Otherwise, the interval type-2 fuzzy sliding mode control scheme is activated to cope with unknown factors. The main contributions of this paper are (i) the recommendation of a suitable switching mechanism to drive the robot manipulator, (ii) the successful integration of the interval type-2 fuzzy sliding mode control to track the desired trajectory, and (iii) the launching of several tests to validate the proposed controller with robot model. From these achievements, it would be stated that the proposed approach is effective in tracking performance, robust in disturbance-rejection, and feasible in practical implementation

INPUT SHAPING CONTROL TO REDUCE RESIDUAL VIBRATION OF A FLEXIBLE BEAM

In this paper, three control algorithms based on input shaping method are developed to suppress the residual vibration of a flexible beam. The flexible beam is modeled as an under-damped system. Three input shapers, ZV, ZVD, and ZVDD, are used to control the flexible beam. The three control algorithms are implemented by using the Mechatrolink-III motion system. The experiments are performed to verify the effectiveness of the three control algorithms

Design of an Open Platform for Multi-Disciplinary Approach in Project-Based Learning of an EPICS Class

Nowadays, global engineers need to be equipped with professional skills and knowledge to solve 21st century problems. The educational program, created in digital learning rooms of the Higher Engineering Education Alliance Program (HEEAP) program supported by Arizona State University, became a pioneer in teaching learners to work within the community. First, the combination of a novel instructional strategy and an integrated education in which project-based approach is employed to apply the technical knowledge. During this, students in mechatronics, computer science, and mechanics must collaborate with peers from industrial systems engineering. Second, in this paper, the design of an open structure connecting multi-disciplinary major is illustrated with a new teaching approach. It is proved to be better by combining specialized understandings of various types in a wide range of applications. From this basis support, participants could implement additional components quickly while keeping the cost low, making the products feasible and user-friendly. Last but not least, students are facilitated with a free library that helps to control simply despite lacking experience in robotics or automation. Several examples show that students are capable of developing things by themselves on open design. In brief, this platform might be an excellent tool to teach and visualize the practical scenario in a multi-disciplinary field

A Multidisciplinary Mechatronics Program: From Project-Based Learning to a Community-Based Approach on an Open Platform

To face contemporary problems, international engineers must be trained in advanced learning environments and with professional skills and knowledge. Sponsored by USAID (US Agency for International Development), the Build-IT (Building University-Industry Learning and Development through Innovation and Technology) program leverages the vast capabilities of the implementing partner from Arizona State University and plays a key role as an innovative pioneer in converging personalities from various fields. A well-educated engineer can contribute to the sustainable development of society. With the aim of building community-oriented education, an integrated strategy was proposed in which a problem-based learning method is investigated to apply technical knowledge. In accordance with this strategy, in our proposed method, students from Mechatronics Engineering first had to work together with other learners in the electronics, software, control automation, and mechanics fields, followed by the design of an open platform integrated multi-disciplinary approach. By collaborating with their peers in developing this hardware, students become better equipped with specialized knowledge. This process also allows students to feel confident in implementing their innovative thinking while still maintaining the core meaning of the instrument. One of the key benefits of this approach is that helping students overcome their problems concurrently enhances the engineer’s function in the community despite missing some specialized skill sets. Based on experimental works using this open framework, the present approach demonstrates that pupils in our program have sufficient ability to contribute to social achievements. Lastly, the feasible, low-cost, and visually educational instrument made by the participants showcases the value of such a multi-disciplinary approach

Emerging the real‐time performance for the single axis slave controller in the decentralised network

Abstract In the era of the fourth industrial revolution, many certain technologies such as Internet of Things (IoT) or Internet of Service (IoS) have been implemented for the improvement of current system. However, most of them did not ensure the real‐time performance which is inevitable for modern motion systems. The implementation of Ethernet‐based protocol, rapid data exchange and synchronised transmission are proper for the novelties of slave controller. An integration of the decentralised network into the motion control system is introduced firstly. To demonstrate the conceptual design, some descriptions of motivations and related definitions are explained. Then, the structure of hardware components and internal connections are mentioned. Later, the software architecture including the data exchange and flowchart of motion program, is described in detail. To verify the feasibility and effectiveness of the proposed approach, some technical analysis of timing synchronisation and tracking deviation between our method and the others are carried out. In addition, several practical validations are conducted in the same conditions. The contributions of the authors are (i) to firstly present the concept of controller design using the real‐time technology, (ii) to illuminate both hardware design and software design of the proposed approach and (iii) to analyse the superior performance in delay time between our method and the others as well as validate the real‐world results to prove the effectiveness and feasibility. From the authors’ achievement, it is observed that these results can be broadly purposeful to the sustainable development of Industry 4.0

Enhanced performance of the mechanical respiratory system by FPGA-digital based on PID Controller

AbstractIn mechanical ventilators, ensuring reliable performance and rapid response has become one of the most critical considerations when evaluating non-invasive ventilators. The current design, which utilizes a microprocessor in the embedded system, faces challenges such as low speed, accumulated errors, and jitter phenomena. As a solution, we introduce a Field Programmable Gate Array (FPGA)-based approach to significantly enhance respiratory performance. This paper introduces a pulse generator, quadrature decoder, and digital control scheme to be integrated into a compact controller for the inner loop of the system. Upon receiving user commands, the pulse generator produces signals with varying duty cycles to drive the motor. The feedback signal is monitored using a quadrature decoder, ensuring precise motor operation. To validate the practical effectiveness of our approach, we have implemented a real-world testing system to evaluate the controller’s performance. Our approach achieves a cycle time of approximately 20ns, ensuring real-time performance that cannot be attained with an embedded system. Furthermore, the concurrent framework we employ facilitates faster processing while optimizing resource utilization

Developing an Assisting Device to Reduce the Vibration on the Hands of Elders

In our society, elderly people are one of the most vulnerable classes. At present, aging in the population is becoming a more and more serious issue. This might lead to several diseases related to aging such as Parkinson’s disease. From the viewpoint of assistive techniques, a device for disadvantaged groups should be created to lessen some of the inconveniences in their lives. Therefore, in this paper, a wearable mechanism to suppress axial vibration is proposed for people who suffer from unexpected tremors in their daily lives. Some investigations on Parkinson’s patients were carried out to infer their characteristics. A dynamic model of the gyroscopic system was then analyzed to formulate interactive torques in the working space. The control input was quantified concerning balancing the system state from the kinetic energy and using the feedback linearization technique. The framework of the proposed device was then described via mechanical analysis and prototype design. To validate the effectiveness of our approach, the system’s mathematical dynamics were simulated in a MATLAB environment. In a frequency range of 2–6 Hz, the system response adapted well to axial tremors. Our hardware in the proposed design was tested in different test scenarios such as in non-gyro- and gyro-based tremor suppression for real-world applications. Hand tremors were measured using wearable equipment with various levels of amplitude. From these results, it is clear that our method could have an effectiveness of up to 92.6%, which is considerably better than that in the non-gyro case. Hence, this innovative mechanism is expected to be employed in the fields of medical assistance, health care services, and robotics

Research on a Low-Cost, Open-Source, and Remote Monitoring Data Collector to Predict Livestock’s Habits Based on Location and Auditory Information: A Case Study from Vietnam

The supervision and feeding of grazing livestock are always difficult missions. Since animals act based on habits, the real-time monitoring data logger has become an indispensable instrument to assist farmers in recognizing the status of livestock. Position-tracked and acoustic monitoring have become commonplace as two of the best methods to characterize feeding performance in ruminants. Previously, the existing methods were limited to desktop computers and lacked a sound-collecting function. These restrictions impacted the late interventions from feeders and required a large-sized data memory. In this work, an open-source framework for a data collector that autonomously captures the health information of farm animals is introduced. In this portable hardware, a Wireless Location Acoustic Sensing System (WiLASS) is integrated to infer the health status through the activities and abnormal phenomena of farming livestock via chew–bite sound identification. WiLASS involves the open modules of ESP32-WROOM, GPS NEO-6M, ADXL335 accelerometer, GY-MAX4466 amplifier, temperature sensors, and other signal processing circuits. By means of wireless communication, the ESP32-WROOM Thing micro-processor offers high speed transmission, standard protocol, and low power consumption. Data are transferred in a real-time manner from the attached sensing modules to a digital server for further analysis. The module of GPS NEO-6M Thing brings about fast tracking, high precision, and a strong signal, which is suitable for highland applications. Some computations are incorporated into the accelerometer to estimate directional movement and vibration. The GY-MAX4466 Thing plays the role of microphone, which is used to store environmental sound. To ensure the quality of auditory data, they are recorded at a minimum sampling frequency of 10 KHz and at a 12-bit resolution. Moreover, a mobile software in pocket devices is implemented to provide extended mobility and social convenience. Converging with a cloud-based server, the multi-Thing portable platform can provide access to simultaneously supervise. Message Queuing Telemetry Transport (MQTT) protocol with low bandwidth, high reliability, and bi-direction, and which is appropriate for most operating systemsOS, is embedded into the system to prevent data loss. From the experimental results, the feasibility, effectiveness, and correctness of our approach are verified. Under the changes of climate, the proposed framework not only supports the improvement of farming techniques, but also provides a high-quality alternative for poor rural areas because of its low cost and its ability to carry out a proper policy for each species

Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations

In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results