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Full-Text Articles in Mechanical Engineering
Direction Of Slip Detection For A Biomimetic Tactile Sensor, Erik Engeberg, Morteza Vatani, Jae-Won Choi
Direction Of Slip Detection For A Biomimetic Tactile Sensor, Erik Engeberg, Morteza Vatani, Jae-Won Choi
Dr. Jae-Won Choi
A biomimetic tactile sensor (BTS) is developed from strips of electrically conductive carbon nanotubes (CNTs) mixed in a polymer matrix that is embedded within a flexible polyurethane shell. The mechanical compliance of the BTS is similar to the human fingertip. Experiments are performed which show that the BTS can be used to detect slip and the direction that slip occurs by examining the relative timing among force signals from adjacent strips of CNTs and the frequency content of the force signals. The BTS can also detect forces applied at distinct points on the surface of the BTS.
Optimizing The Robot Arm Movement Time Using Virtual Reality Robotic Teaching System
Optimizing The Robot Arm Movement Time Using Virtual Reality Robotic Teaching System
Faculty of Engineering University of Malaya
Robots play an important role in performing operations such as welding, drilling and screwing parts in manufacturing. Optimizing the robot arm movement time between different points is an important task which will minimize the make-span and maximize the production rate. But robot programming is a complex task whereby the user needs to teach and control the robot in order to perform a desired action. In order to address the above problem, an integrated 3-dimensional (3D) simulation software and virtual reality (VR) system is developed to simplify and speed up tasks and therefore enhance the quality of manufacturing processes. This system …
Extracting Depth Information From Stereo Vision System, Using A Correlation And A Feature Based Methods, Mahmoud Abdelhamid
Extracting Depth Information From Stereo Vision System, Using A Correlation And A Feature Based Methods, Mahmoud Abdelhamid
Mahmoud M Abdelhamid
This thesis presents a new method to extract depth information from stereo-vision acquisitions using a feature and a correlation based approaches. The main implementation of the proposed method is in the area of Autonomous Pick & Place, using a robotic manipulator. Current vision-guided robotics are still based on a priori training and teaching steps, and still suffer from long response time. The study uses a stereo triangulation setup where two Charged Coupled Devices CCDs are arranged to acquire the scene from two different perspectives. The study discusses the details of two methods to calculate the depth; firstly a correlation matching …
A Genetic Algorithm Approach To End-Of-Life Disassembly Sequencing For Robotic Disassembly, Ahmed Elsayed, Elif Kongar, Surendra M. Gupta
A Genetic Algorithm Approach To End-Of-Life Disassembly Sequencing For Robotic Disassembly, Ahmed Elsayed, Elif Kongar, Surendra M. Gupta
Surendra M. Gupta
End-of-life (EOL) processing options include reuse, remanufacturing, recycling and proper disposal. In almost all cases, a certain level of disassembly may be required due to possible changes in the original product structure. Thus, finding an optimal or near optimal disassembly sequence is crucial to increasing the efficiency of the process. Disassembly operations are labor intensive, can be costly, have unique characteristics and cannot be considered as reverse of assembly operations. Since the complexity of determining the best disassembly sequence increases as the number of parts of the product grow, an efficient methodology is reuired for disassembly sequencing. In this paper, …
A Perception-Driven Autonomous Urban Vehicle, John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Mahelona, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, Jonathan Williams
A Perception-Driven Autonomous Urban Vehicle, John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Mahelona, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, Jonathan Williams
David Barrett
This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data. The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with segments defined by sparse waypoints. The vehicle implementation includes many heterogeneous sensors with significant communications and computation bandwidth to capture and process high-resolution, high-rate sensor data. The output of the comprehensive environmental sensing subsystem is fed into a kinodynamic motion planning algorithm to generate all vehicle motion. The requirements of driving …