N.S. Tlale, J. Potgieter and G. Bright
The skill of the camera operator in controlling the orientation of camera platforms in the film industry is one of the crucial factors in producing movies with good…
Abstract
The skill of the camera operator in controlling the orientation of camera platforms in the film industry is one of the crucial factors in producing movies with good cinematography. Some film footage requires landscapes that make it difficult for the camera operator to efficiently operate the camera platform. Tether connections limit the manner in which the camera platform can be mounted in order to achieve the best scene shooting. This paper reports on the project undertaken by the Mechatronics and Robotics Research Group at Massey University, in conjunction with the New Zealand film industry, on the development of wireless control camera platforms.
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Chuntao Leng, Qixin Cao and Charles Lo
The purpose of this paper is to propose a suitable motion control method for omni‐directional mobile robots (OMRs) based on anisotropy.
Abstract
Purpose
The purpose of this paper is to propose a suitable motion control method for omni‐directional mobile robots (OMRs) based on anisotropy.
Design/methodology/approach
A dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the driving torque acting on each axis while the robot moves in different directions, the dynamic anisotropy of OMRs is analyzed. The characteristics of dynamic anisotropies and kinematic anisotropies are introduced into the fuzzy sliding mode control (FSMC) system to coordinate the driving torque as a factor of influence.
Findings
A combination of the anisotropy and FSMC method produces coordinated motion for the multi‐axis system of OMRs, especially in the initial process of motion. The proposed control system is insensitive to parametric vibrations and external disturbances, and the chattering is apparently decreased. Simulations and experiments have proven that an effective motion tracking can be achieved by using the proposed motion control method.
Research limitations/implications
In order to obtain a clearer analysis of the anisotropy influence during the acceleration process, only the case of translation motion is discussed here. Future work could be done on cases where there are both translation and rotation motions.
Practical implications
The proposed motion control method is applied successfully to achieve effective motion control for OMRs, which is suitable for any kind of OMR.
Originality/value
The novel concept of dynamic anisotropy of OMRs is proposed. By introducing the anisotropy as an influential factor into the FSMC system, a new motion control method suitable for OMRs is proposed.
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The purpose of this paper is to propose a suitable motion planning for omni‐directional mobile robots (OMRs) by taking into account the motion characteristics.
Abstract
Purpose
The purpose of this paper is to propose a suitable motion planning for omni‐directional mobile robots (OMRs) by taking into account the motion characteristics.
Design/methodology/approach
Based on the kinematic and dynamic constraints, the maximum velocity, motion stability and energy consumption of the OMR moving in different directions are analysed, and the anisotropy of the OMR is presented. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. According to the new concept of anisotropic function, the motion direction derived from traditional artificial potential field (tAPF) is regulated.
Findings
A combination of the anisotropic function and tAPF method produces high‐speed, highly stable and efficient motion when compared to the tAPF. Simulations and experiments have proven the validity and effectiveness of this method.
Research limitations/implications
The practical factors, such as the effect of wear on the omni‐directional wheels, are not considered. Typical problems of APF, e.g. local minima, are not addressed here. In our future research, we will deal with these issues.
Practical implications
The proposed motion planning is applicable for any kind of OMRs, both three‐ and four‐wheeled OMRs, which can fully exhibit the advantages of OMRs.
Originality/value
The new concept of an anisotropic function is proposed to indicate the quality of motion in different directions. Different motion effects can be obtained in the same direction with different weights denoted by the anisotropic function, i.e. different trade‐offs can be achieved by varying the weights.
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Xueshan Gao, Yan Wang, Dawei Zhou and Koki Kikuchi
The purpose of this paper is to present an omni‐directional floor‐cleaning robot equipped with four omni‐directional wheels. The research purposes are to design a robot for…
Abstract
Purpose
The purpose of this paper is to present an omni‐directional floor‐cleaning robot equipped with four omni‐directional wheels. The research purposes are to design a robot for cleaning jobs in domestic, narrow and crowded places and to provide a robotics‐study platform in a laboratory.
Design/methodology/approach
The robot system using Swedish wheels, one dust collector (brush) switching device and a sort of air‐bag sensing device is designed. The kinematics and the motion control conditions of the robot are analyzed. Specifically, a design method of wheels is described.
Findings
The configuration of the robot, parameters of the wheel and controlling methods are studied and demonstrated. The smooth locomotion capability and high‐working efficiency are verified by experiments.
Practical implications
The robot can perform its work in semi‐autonomous and tele‐operated mode. Moreover, the robot can pivot around, avoid obstacles and is provided with automatic power management system.
Originality/value
The research target is to provide a kind of robotic cleaner especially for crowded public or narrow places and educational robotics‐study platform in a laboratory.
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Vennan Sibanda, Khumbulani Mpofu and John Trimble
In manufacturing, dedicated machine tools and flexible machine tools are failing to satisfy the ever-changing manufacturing demands of short life cycles and dynamic nature of…
Abstract
Purpose
In manufacturing, dedicated machine tools and flexible machine tools are failing to satisfy the ever-changing manufacturing demands of short life cycles and dynamic nature of products. These machines are limited when new product designs are introduced. The solution lies in developing responsive machines that can be adjusted or be changed functionally when these change requirements arise. These machines are reconfigurable machines which are becoming the new focus, as they rapidly respond to product variety and volume changes. A sheet metal working machine known as a reconfigurable guillotine shear and bending press machine (RGS&BPM) has been developed. The purpose of this paper is to present a methodology, function-oriented design approach (FODA), which was developed for the design of the RGS&BPM.
Design/methodology/approach
The design of the machine is based on the six principles of reconfigurable manufacturing systems (RMSs), namely, modularity, scalability integrability, convertibility, diagnosability and customisability. The methodology seeks to optimise the design process of the RGS&BPM through a design of modules that make up the machine, enable its conversion and reconfiguration. The FODA is focussed on function identification to select the operational function required. Two main functions are recognised for the machine, these being cutting and bending; hence, the design revolves around these two and reconfigurability.
Findings
The developed design methodology was tested in the design of a prototype for the reconfigurable guillotine shear and bending press machine. The prototype is currently being manufactured and will be subjected to functional tests once completed. This paper is being presented not only to present the methodology by to show and highlight its practical applicability, as the prototype manufacturers have been enthusiastic about this new approach.
Research limitations/implications
The research was limited to the design methodology for the RGS&BPM, the machine which has been designed to completion using this methodology, with prototype being manufactured.
Practical implications
This study presents critical steps and considerations in the development of reconfigurable machines. The main thrust being to explore the best possibility of developing the machines with dual functionality that will assist in availing the technology to manufacturer. As the machine has been development, the success of the design can be directly attributed to the FODA methodology, among other contributing factors. It also highlights the significance of the principles of RMS in reconfigurable machine design.
Social implications
The RGS&BM machine is an answer for the small-to-medium enterprises (SMEs), as the machine replaces two machines with one, and the methodology ensures its affordable design. It contributes immensely to the machine availability by eliminating trial and error approaches.
Originality/value
This study presents a new approach to the design of reconfigurable dual machines using principles of RMS. As the targeted market is the SME, it is not limited to that as any entrepreneur may use the machine to their advantage. The design methodology presented contributes to the body of knowledge in dual reconfigurable machine tool design.
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Niu Zijie, Zhang Peng, Yongjie Cui and Zhang Jun
Omnidirectional mobile platforms are still plagued by the problem of heading deviation. In four-Mecanum-wheel systems, this problem arises from the phenomena of dynamic imbalance…
Abstract
Purpose
Omnidirectional mobile platforms are still plagued by the problem of heading deviation. In four-Mecanum-wheel systems, this problem arises from the phenomena of dynamic imbalance and slip of the Mecanum wheels while driving. The purpose of this paper is to analyze the mechanism of omnidirectional motion using Mecanum wheels, with the aim of enhancing the heading precision. A proportional-integral-derivative (PID) setting control algorithm based on a radial basis function (RBF) neural network model is introduced.
Design/methodology/approach
In this study, the mechanism of omnidirectional motion using Mecanum wheels is analyzed, with the aim of enhancing the heading precision. A PID setting control algorithm based on an RBF neural network model is introduced. The algorithm is based on a kinematics model for an omnidirectional mobile platform and corrects the driving heading in real time. In this algorithm, the neural network RBF NN2 is used for identifying the state of the system, calculating the Jacobian information of the system and transmitting information to the neural network RBF NN1.
Findings
The network RBF NN1 calculates the deviations ?Kp, ?Ki and ?Kd to regulate the three coefficients Kp, Ki and Kd of the heading angle PID controller. This corrects the driving heading in real time, resolving the problems of low heading precision and unstable driving. The experimental data indicate that, for a externally imposed deviation in the heading angle of between 34º and ∼38°, the correction time for an omnidirectional mobile platform applying the algorithm during longitudinal driving is reduced by 1.4 s compared with the traditional PID control algorithm, while the overshoot angle is reduced by 7.4°; for lateral driving, the correction time is reduced by 1.4 s and the overshoot angle is reduced by 4.2°.
Originality/value
In this study, the mechanism of omnidirectional motion using Mecanum wheels is analyzed, with the aim of enhancing the heading precision. A PID setting control algorithm based on an RBF neural network model is introduced. The algorithm is based on a kinematics model for an omnidirectional mobile platform and corrects the driving heading in real time. In this algorithm, the neural network RBF NN2 is used for identifying the state of the system, calculating the Jacobian information of the system and transmitting information to the neural network RBF NN1. The method is innovative.
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Bhumeshwar Kujilal Patle, Shyh-Leh Chen, Anil Singh and Sunil Kumar Kashyap
The paper aims to develop an efficient and compact hybrid S-curve-PSO (particle swarm optimization) controller for the optimal trajectory planning of industrial robots in the…
Abstract
Purpose
The paper aims to develop an efficient and compact hybrid S-curve-PSO (particle swarm optimization) controller for the optimal trajectory planning of industrial robots in the presence of obstacles, especially those used in pick-and-place operations.
Design/methodology/approach
The proposed methodology comprises a monotonic trajectory through bounded entropy of speed, velocity, acceleration and jerk. Thus, the robot’s trajectory planning corresponds with S-curve-PSO duality. This is achieved by dual navigation with minimal computational complexity. The matrix algebra-based computational complexity transforms the trajectory from random to compact. The linear programming problem represents the proposed robot in Euclidean space, and its optimal solution sets the corresponding optimal trajectory.
Findings
The proposed work ensures the efficient trajectory planning of the industrial robot in the presence of obstacles with optimized path length and time. The real-time and simulation analysis of the robot is presented for performance measurement, and their outcomes demonstrate a good correlation. Compared with the existing controller, it gives a noteworthy improvement in performance.
Originality/value
The novel S-curve-PSO hybrid approach is presented here, along with the LIDAR sensors, which generate the environment map and detect obstacles for autonomous trajectory planning. Based on the sensory information, the proposed approach generates the optimal trajectory by avoiding obstacles and minimizing the travel time, jerk, velocity and acceleration. The hybrid S-curve-PSO approach for optimal trajectory planning of the industrial robot in the presence of obstacles has not been presented by any researchers. This method considers the robot’s kinematics as well as its dynamics. The implementation of the PSO makes it computationally superior and faster. The selection of best-fit parameters by PSO assures the optimized trajectory in the presence of obstacles and uncertainty.
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To present an overview of the research and development carried out by an EC Framework 6 part funded consortium, known as MICROSCAN, for the implementation of an in‐line PCB…
Abstract
Purpose
To present an overview of the research and development carried out by an EC Framework 6 part funded consortium, known as MICROSCAN, for the implementation of an in‐line PCB inspection prototype system that is capable of offering comprehensive defect detection.
Design/methodology/approach
Four non‐destructive testing inspection modules based on digital radiography (X‐ray) inspection, thermal inspection, automated‐optical inspection and acoustic inspection have been integrated to form a combined inspection system.
Findings
A proof in principle in‐line PCB inspection system, utilising four different inspection techniques, has been developed and demonstrated. The system is based on a generic mechanical, electrical and software communications platform culminating in a flexible system that enables the inspection modules to be used separately, together or interchanged to give the best results in terms of inspection coverage and inspection throughput.
Research limitations/implications
In its current embodiment, the prototype is suited to inspection of high‐return PCBs, particularly those used in medical and aerospace products, rather than high‐throughput PCB production work. The X‐ray inspection module is the slowest inspection technique and combining four different inspection techniques reduces the inspection throughput of the whole system to that of the X‐ray inspection module. Further, trials and investigations need to be carried out to improve inspection throughput.
Originality/value
The novelty of the system is that it is the first time that four inspection techniques have been combined to give the capability of 100 per cent defect coverage.
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Robert L. Flood and Norma R.A. Romm
The purpose of this paper is to give practical insights into the systemic approach to organizational learning “triple loop learning” (TLL; introduced in Part I) by reflecting on a…
Abstract
Purpose
The purpose of this paper is to give practical insights into the systemic approach to organizational learning “triple loop learning” (TLL; introduced in Part I) by reflecting on a facilitated research-and-intervention undertaken in South Africa as part of the “500 Schools Project”.
Design/methodology/approach
The authors reflect on one of the many researcher-assisted interventions in the “500 Schools Project” by retrospectively reflecting on the case through the principles of TLL.
Findings
The authors show that researcher-assisted intervention can be genuinely transformative given two conditions: The principles of TLL are embraced, and researchers are committed to such principles and passionate about social transformation. In particular, the case study illustrates how we might address processes of power in processes of design and in processes of debate. The focus on power arguably helped to shift “power over” (power as domination) to “power to” enact empowering designs, “power to” co-develop responsible decision-making and “power to” transform relations with each other and with life on Earth.
Originality/value
The authors introduce an original approach to TLL that directly addresses issues relating to processes of power. The value of the TLL is that it encourages researchers, learning facilitators and practitioners of the learning organization to engage with processes of power without neglecting other important organizational and environmental issues.
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José Roberto Díaz-Reza, Jorge Luis García-Alcaraz, Alfonso Jesus Gil-López, Julio Blanco-Fernández and Emilio Jimenez-Macias
The purpose of this paper is to measure the relationships between advanced manufacturing technologies (AMTs) categories (stand-alone, intermediated and integrated systems…
Abstract
Purpose
The purpose of this paper is to measure the relationships between advanced manufacturing technologies (AMTs) categories (stand-alone, intermediated and integrated systems) implementation and design, process and commercial benefits obtained.
Design/methodology/approach
A survey is designed with benefits gained from AMT implementation as well as its categories, which is applied to the maquiladora industry. A structural equation model with data from 383 responses is used to measure the relationship between AMT categories and benefits gained using nine hypotheses that are tested statistically significant using partial least squares. Also, using conditional probabilities, a sensitivity analysis reports how low and high levels from AMT implementation influence on the obtained benefits.
Findings
Integrated systems are the most important AMT for maquiladoras and have the strongest impact on design, processes and commercial benefits.
Research limitations/implications
Data obtained support the model, but results may be different in another industrial sector and countries with different labor culture and technological level.
Practical implications
Managers in maquiladora industry must focus their attention on integrated manufacturing systems, because high implementation levels guarantee the biggest probability to gain benefits in design, production process and commercial.
Originality/value
The relationship between AMT and their benefits has not been measured in depth, and this paper contributes to understand that problem. In addition, this paper is the first to report a sensitivity analysis that enables managers to acknowledge the probability of obtaining certain benefits.