Search results

1 – 10 of 406
Per page
102050
Citations:
Loading...
Access Restricted. View access options
Article
Publication date: 1 December 2002

P. Alotto, F. Delfino, G. Molinari, M. Rossi, V. Siciliano and P.O. Ventura

STREAM is the acronym of a new concept of mass transit system designed and developed by Ansaldo Trasporti S.p.A. to provide an efficient solution to rubber‐tyred transportation…

224

Abstract

STREAM is the acronym of a new concept of mass transit system designed and developed by Ansaldo Trasporti S.p.A. to provide an efficient solution to rubber‐tyred transportation problems in urban areas. One of STREAM's most distinctive feature is the power supply system, which uses a magnetic lift contact line embedded in the road surface to deliver traction power and to provide operating and control information. In this paper the field and the current flow analyses of this buried feeding track are presented and discussed. Analyses are aimed at determining the highest values of accessible voltages on the ground under different environmental and operating conditions. Results provided by a numerical simulation of the 3D model representing the feeding track allow us to identify the most critical conditions and to verify the safety and reliability of the system.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, vol. 21 no. 4
Type: Research Article
ISSN: 0332-1649

Keywords

Available. Open Access. Open Access
Article
Publication date: 18 April 2023

Wenzhen Yang, Johan K. Crone, Claus R. Lønkjær, Macarena Mendez Ribo, Shuo Shan, Flavia Dalia Frumosu, Dimitrios Papageorgiou, Yu Liu, Lazaros Nalpantidis and Yang Zhang

This study aims to present a vision-guided robotic system design for application in vat photopolymerization additive manufacturing (AM), enabling vat photopolymerization AM hybrid…

763

Abstract

Purpose

This study aims to present a vision-guided robotic system design for application in vat photopolymerization additive manufacturing (AM), enabling vat photopolymerization AM hybrid with injection molding process.

Design/methodology/approach

In the system, a robot equipped with a camera and a custom-made gripper as well as driven by a visual servoing (VS) controller is expected to perceive objective, handle variation, connect multi-process steps in soft tooling process and realize automation of vat photopolymerization AM. Meanwhile, the vat photopolymerization AM printer is customized in both hardware and software to interact with the robotic system.

Findings

By ArUco marker-based vision-guided robotic system, the printing platform can be manipulated in arbitrary initial position quickly and robustly, which constitutes the first step in exploring automation of vat photopolymerization AM hybrid with soft tooling process.

Originality/value

The vision-guided robotic system monitors and controls vat photopolymerization AM process, which has potential for vat photopolymerization AM hybrid with other mass production methods, for instance, injection molding.

Details

Journal of Intelligent Manufacturing and Special Equipment, vol. 4 no. 2
Type: Research Article
ISSN: 2633-6596

Keywords

Access Restricted. View access options
Article
Publication date: 20 March 2017

Payam Zarafshan, Reza Larimi, S. Ali A. Moosavian and Bruno Siciliano

The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control…

271

Abstract

Purpose

The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented.

Design/methodology/approach

Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multiple impedance control (MIC) which are found based on the IC, where the former is designed based on the object movement, and the latter is designed based on the whole robot movement. Thus, the basis of these two algorithms are fully studied.

Findings

The results are fully analyzed, and it is practically verified that the MIC algorithm has the better performance. In fact, the results reveal that the MIC system could successfully perform the object manipulation task, as opposed to the AOM controller: for the same controller gains, the MIC strategy showed better performance than the AOM strategy. This means that because there is no control on the robot base with the AOM algorithm, the object manipulation task cannot be satisfactorily performed whenever the desired path is not within the robot work space. On the other hand, with the MIC algorithm, satisfactory object manipulation is achieved for a mobile robotic system in which the robot base, the manipulator endpoints and the manipulated object shall be moved.

Practical implications

A simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs.

Originality/value

The basis of these two aspects or these two algorithms is fully studied and compared which is the foundation of this paper. For this purpose, a case study is considered, in which a space free-flying robotic system, which contains two 2-degrees of freedom planar cooperative manipulators, is simulated to manipulate an object using the above control strategies. The system also includes a rotating antenna and camera as its third and fourth arm. Finally, a simple conceptual model for cooperative object manipulation is considered, and a suitable setup is designed for practical implementation of the two ICs.

Details

Industrial Robot: An International Journal, vol. 44 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 16 January 2007

Vincenzo Lippiello, Luigi Villani and Bruno Siciliano

To present an open architecture for real‐time sensory feedback control of a dual‐arm industrial robotic cell. The setup is composed of two industrial robot manipulators equipped…

1021

Abstract

Purpose

To present an open architecture for real‐time sensory feedback control of a dual‐arm industrial robotic cell. The setup is composed of two industrial robot manipulators equipped with force/torque sensors and pneumatic grippers, a vision system and a belt conveyor.

Design/methodology/approach

The original industrial robot controllers have been replaced by a single PC with software running under a real‐time variant of the Linux operative system.

Findings

The new control architecture allows advanced control schemes to be developed and tested for the single robots and for the dual‐arm robotic cell, including force control and visual servoing tasks.

Originality/value

An advanced user interface and a simulation environment have been developed, which permit fast, safe and reliable prototyping of planning and control algorithms.

Details

Industrial Robot: An International Journal, vol. 34 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 26 February 2021

Juncheng Zou

The purpose of this paper is to propose a new video prediction-based methodology to solve the manufactural occlusion problem, which causes the loss of input images and uncertain…

188

Abstract

Purpose

The purpose of this paper is to propose a new video prediction-based methodology to solve the manufactural occlusion problem, which causes the loss of input images and uncertain controller parameters for the robot visual servo control.

Design/methodology/approach

This paper has put forward a method that can simultaneously generate images and controller parameter increments. Then, this paper also introduced target segmentation and designed a new comprehensive loss. Finally, this paper combines offline training to generate images and online training to generate controller parameter increments.

Findings

The data set experiments to prove that this method is better than the other four methods, and it can better restore the occluded situation of the human body in six manufactural scenarios. The simulation experiment proves that it can simultaneously generate image and controller parameter variations to improve the position accuracy of tracking under occlusions in manufacture.

Originality/value

The proposed method can effectively solve the occlusion problem in visual servo control.

Details

Assembly Automation, vol. 41 no. 2
Type: Research Article
ISSN: 0144-5154

Keywords

Access Restricted. View access options
Article
Publication date: 8 June 2020

Zhe Wang, Xisheng Li, Xiaojuan Zhang, Yanru Bai and Chengcai Zheng

The purpose of this study is to use visual and inertial sensors to achieve real-time location. How to provide an accurate location has become a popular research topic in the field…

159

Abstract

Purpose

The purpose of this study is to use visual and inertial sensors to achieve real-time location. How to provide an accurate location has become a popular research topic in the field of indoor navigation. Although the complementarity of vision and inertia has been widely applied in indoor navigation, many problems remain, such as inertial sensor deviation calibration, unsynchronized visual and inertial data acquisition and large amount of stored data.

Design/methodology/approach

First, this study demonstrates that the vanishing point (VP) evaluation function improves the precision of extraction, and the nearest ground corner point (NGCP) of the adjacent frame is estimated by pre-integrating the inertial sensor. The Sequential Similarity Detection Algorithm (SSDA) and Random Sample Consensus (RANSAC) algorithms are adopted to accurately match the adjacent NGCP in the estimated region of interest. Second, the model of visual pose is established by using the parameters of the camera itself, VP and NGCP. The model of inertial pose is established by pre-integrating. Third, location is calculated by fusing the model of vision and inertia.

Findings

In this paper, a novel method is proposed to fuse visual and inertial sensor to locate indoor environment. The authors describe the building of an embedded hardware platform to the best of their knowledge and compare the result with a mature method and POSAV310.

Originality/value

This paper proposes a VP evaluation function that is used to extract the most advantages in the intersection of a plurality of parallel lines. To improve the extraction speed of adjacent frame, the authors first proposed fusing the NGCP of the current frame and the calibrated pre-integration to estimate the NGCP of the next frame. The visual pose model was established using extinction VP and NGCP, calibration of inertial sensor. This theory offers the linear processing equation of gyroscope and accelerometer by the model of visual and inertial pose.

Access Restricted. View access options
Article
Publication date: 16 May 2016

Changhong Gao, Dacheng Cong, Xiaochu Liu, Zhidong Yang and Han Tao

The purpose of this paper is to propose a hybrid position/force control scheme using force and vision for docking task of a six degrees of freedom (6-dof) hydraulic parallel…

697

Abstract

Purpose

The purpose of this paper is to propose a hybrid position/force control scheme using force and vision for docking task of a six degrees of freedom (6-dof) hydraulic parallel manipulator (HPM).

Design/methodology/approach

The vision system consisted of a charge-coupled device (CCD) camera, and a laser distance sensor is used to provide globe relative position information. Also, a force plate is used to measure local contact forces. The proposed controller has an inner/outer loop structure. The inner loop takes charge of tracking command pose signals from outer loop as accurate as possible, while the outer loop generates the desired tracking trajectory according to force and vision feedback information to guarantee compliant docking. Several experiments have been performed to validate the performance of the proposed control scheme.

Findings

Experiment results show that the system has good performance of relative position tracking and compliant contact. In whole docking dynamic experiment, the amplitudes of contact forces are well controlled within 300 N, which can meet perfectly the requirement of the amplitude being not more than 1,000 N.

Originality/value

A hybrid position/force control scheme using force and vision is proposed to make a 6-dof HPM dock with a moving target object compliantly.

Details

Industrial Robot: An International Journal, vol. 43 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 6 April 2021

Zhicheng Tao, Shineng Sheng, Zhipei Chen and Guanjun Bao

This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand…

258

Abstract

Purpose

This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand manipulation abilities, which simplifies the complex and redundant humanoid five-finger hand system.

Design/methodology/approach

First, the authors developed the fingers and the joint configuration with a series of gesture primitives configurations and the modular virtual finger scheme, refined from the daily work gesture library by principal component analysis. Then, the authors optimized the joint degree-of-freedom configuration with the bionic design analysis of the anatomy, and the authors optimized the dexterity workspace. Furthermore, the adaptive fingertip and routing structure were designed based on the dexterous manipulation theory. Finally, the effectiveness of the design method was experimentally validated.

Findings

A novel lightweight three-finger and nine-degree-of-freedom dexterous hand with force/position perception was designed. The proposed routing structure was shown to have the capability of mapping the relationship between the joint space and actuator space. The adaptive fingertip with an embedded force sensor can effectively increase the robustness of the grasping operation. Moreover, the dexterous hand can grasp various objects in different configurations and perform in-hand manipulation dexterously.

Originality/value

The dexterous hand design developed in this study is less complex and performs better in dexterous manipulation than previous designs.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 4 January 2016

Donata Tania Vergura

The purpose of this paper is to investigate whether gambler’s cognitive errors affect gambling involvement and addiction. As the popularity of gambling has grown, questions are…

511

Abstract

Purpose

The purpose of this paper is to investigate whether gambler’s cognitive errors affect gambling involvement and addiction. As the popularity of gambling has grown, questions are being raised about its excessive use and factors related to addictive behaviours.

Design/methodology/approach

An online survey on 508 gamblers was conducted. Structural equation modelling was used to investigate the relationships among gambling beliefs, gambling involvement and problem gambling.

Findings

Among the three sets of erroneous beliefs investigated, luck and superstition were significant predictors of both gambling involvement and the severity of gambling problems (according to the Problem Gambling Severity Index (PGSI)), while the illusion of control showed a negative relationship with the PGSI. Moreover, gambling involvement positively affected the potential risk of disease and mediates the relationship between luck and superstition and PGSI.

Research limitations/implications

Because not all cognitive dimensions apparently influence gambling behaviour, future research should extend the analysis to include other variables that may moderate or mediate the causal relationship.

Practical implications

The results are useful to marketers in developing social marketing campaigns wishing to discourage gambling. Moreover, factors that influence gambling involvement and addiction may be used as diagnostic tools to correct gamblers behaviour.

Originality/value

The paper proposes a deeper exploration of the relationships among beliefs, gambling involvement and dysfunctional gambling and an appropriate scale to capture the entire spectrum of gambler’s beliefs in relation to every form of gambling activity.

Details

Journal of Social Marketing, vol. 6 no. 1
Type: Research Article
ISSN: 2042-6763

Keywords

Access Restricted. View access options
Article
Publication date: 2 August 2011

Ruhizan Liza Ahmad Shauri and Kenzo Nonami

The purpose of this paper is to propose an assembly robot that exhibits specific human‐like skills, with minimal structural cost and a number of external sensors.

1214

Abstract

Purpose

The purpose of this paper is to propose an assembly robot that exhibits specific human‐like skills, with minimal structural cost and a number of external sensors.

Design/methodology/approach

The authors have employed vision processing using multiple cameras to determine targets and postures and propose strategies to determine the pose of a target and to prevent collisions between the fingers and obstacles in an environment with mixed objects. Furthermore, a dynamic trajectory planner integrates the vision and force sensors of the robot hand for the assigned task.

Findings

The authors obtained satisfactory experimental results for autonomous real‐time grasping and screwing. The results verified the capability of the robot for handling small objects.

Research limitations/implications

More effective robotic manipulation requires a higher degree of target orientation data, which will be a future study of this research.

Practical implications

Practicality has been established through results, indicating the capability of the robot to implement human‐like skilled manipulation of small objects. This can potentially reduce the high labor cost associated with the small‐scale manufacture of custom‐made products.

Originality/value

Screwing of nuts of minimum M2 size (diameter, 4.6 mm) and M8‐M10 bolts (head diameter, 15‐19.6 mm; length, 50‐80 mm) by cooperating two seven‐link arm manipulators and three‐fingered hands shows the robot's capability to manipulate small objects.

Details

Assembly Automation, vol. 31 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

1 – 10 of 406
Per page
102050