Industrial and Robotic Systems

LASIRS 2019
 
 
Springer (Verlag)
  • erschienen am 13. Mai 2020
  • |
  • XII, 328 Seiten
 
E-Book | PDF mit Adobe-DRM | Systemvoraussetzungen
E-Book | PDF mit Wasserzeichen-DRM | Systemvoraussetzungen
978-3-030-45402-9 (ISBN)
 
This volume gathers the latest advances, innovations, and applications in the field of robotics engineering, as presented by leading international researchers and engineers at the Latin American Symposium on Industrial and Robotic Systems (LASIRS), held in Tampico, Mexico on October-November 30-01 2019. The contributions cover all major areas of R&D and innovation in simulation, optimization, and control of robotics, such as design and optimization of robots using numerical and metaheuristic methods, autonomous and control systems, industrial compliance solutions, numerical simulations for manipulators and robots, metaheuristics applied to robotics problems, Industry 4.0, control and automation in petrochemical processes, simulation and control in aerospace and aeronautics, and education in robotics. The conference represented a unique platform to share the latest research and developments in simulation, control and optimization of robotic systems, and to promote cooperation among specialists in machine and mechanism area.
1st ed. 2020
  • Englisch
  • Cham
  • |
  • Schweiz
Springer International Publishing
  • 196
  • |
  • 42 s/w Abbildungen, 196 farbige Abbildungen
  • |
  • 42 schwarz-weiße und 196 farbige Abbildungen, Bibliographie
  • 51,77 MB
978-3-030-45402-9 (9783030454029)
10.1007/978-3-030-45402-9
weitere Ausgaben werden ermittelt
  • Intro
  • Preface
  • Organization
  • LASIRS 2019 Organizing Committee
  • LASIRS 2019 Scientific Committee
  • Contents
  • Nanotechnology Applications in Industry and Heat Transfer
  • 1 Introduction
  • 2 Nanofluids Preparation and Characterization
  • 2.1 Particle Size Distribution
  • 2.2 Kind of Nanomaterial
  • 2.3 Volume Concentration of Nanofluid
  • 2.4 Nano Fluid
  • 2.5 Nanofluids Viscosity Characterization
  • 2.6 Nanofluid Particular Heat Rate Measurements
  • 3 Applications of Nanotechnology in Industry
  • 3.1 Biomedical Applications
  • 3.2 Nanotechnology in Agricultural and Food Production
  • 3.3 Nanotechnology in the Food Industry
  • 4 Conclusion
  • References
  • Applications of Fuzzy Logic, Artificial Neural Network and Neuro-Fuzzy in Industrial Engineering
  • 1 Introduction
  • 2 Applications of Fuzzy Logic in Industrial Engineering
  • 3 Applications of Artificial Neural Network in Industrial Engineering
  • 4 Applications of Neuro-Fuzzy in Industrial Engineering
  • 5 Conclusion
  • References
  • Foundation of Z-Numbers and Engineering Applications
  • 1 Introduction
  • 2 Mathematical Preliminaries
  • 3 Applications of Z-Number in Engineering
  • 4 Conclusion
  • References
  • Force Balancing of the 2RRR Planar Parallel Manipulator via Center of Mass Acceleration Control Using Fully Cartesian Coordinates
  • 1 Introduction
  • 2 Modeling of a 2RRR-PPM Using Fully Cartesian Coordinates
  • 2.1 Calculation of the Mass Matrix
  • 2.2 Calculation of the Global Center of Mass
  • 2.3 Calculation of the Shaking Force
  • 3 Illustrative Example
  • 3.1 Given Motion to the End-Effector
  • 3.2 Center of Mass Acceleration Control
  • 3.3 Shaking Force Comparison
  • 4 Conclusions
  • References
  • Approximation of the Workspace of a Cable-Driven Parallel Robot with a Movable Gripper
  • 1 Introduction
  • 2 Problem Statement
  • 3 Algorithm Synthesis
  • 4 Simulation Results
  • 5 Conclusion
  • References
  • Design of a New Game for Teaching Assembly Process
  • 1 Introduction
  • 2 Related Work
  • 3 Theoretical Background
  • 3.1 Gamification
  • 3.2 Serious Games
  • 3.3 Advantages of Serious Games in Engineering Education
  • 4 Open Source MOVEO Robot
  • 5 Proposed Game
  • 5.1 Preparation
  • 5.2 Design
  • 5.3 Implementation
  • 6 Conclusions
  • References
  • An Improved Robot Path Planning Algorithm for a Novel Self-adapting Intelligent Machine Tending Robotic System
  • 1 Introduction
  • 2 Self-adapting Intelligent Machine Tending Robotic System
  • 3 Outline of the Proposed Algorithm
  • 3.1 Principle of the RRT Algorithm
  • 3.2 Path Generation Using Quintic B-spline Curves
  • 4 Results and Discussion
  • 5 Conclusions
  • References
  • Stability Analysis of a Rotor Systems with Flow Forces
  • 1 Introduction
  • 2 Spring-Mass Model
  • 3 Fluid Forces
  • 4 Stability Criterion
  • 5 Sample Calculations
  • 6 Conclusions
  • References
  • Flutter Analysis of Rotor Based on a Fluid-Structure Method
  • 1 Introduction
  • 2 Governing Equations
  • 3 Numerical Modeling
  • 4 Conclusions
  • References
  • Amphibious Propeller Optimization for Aerial and Underwater Operation
  • 1 Introducción
  • 2 Theoretical Background
  • 3 Implementation and Results
  • 4 Conclusions
  • References
  • Trajectory Tracking of Multiple Quadrotors While Maintaining Time-Varying Spatial Formations via Synchronization
  • 1 Introduction
  • 2 Dynamic Model of Quadrotor
  • 3 Control Strategy
  • 3.1 Dynamic Model Linearization
  • 3.2 Attitude PD Controller
  • 4 Synchronous Controller Design
  • 5 Simulation
  • 5.1 Build the Formation, Trajectory Tracking and Switch of Shapes
  • 6 Conclusions and Future Work
  • References
  • Modeling, Simulation and Analysis of the Characteristics of the Non-conventional Vertical Axis Wind Turbine with Variable Pitch Angle that Allows to Establish Different Control Strategies
  • 1 Introduction
  • 2 Mathematical Model
  • 2.1 Two Actuator Disk Model
  • 2.2 Multiple Stream Tube Model
  • 2.3 Double Multiple Stream Tube Model
  • 3 Model Software Implementation
  • 4 Simulation Results
  • 5 Conclusions
  • References
  • Numerical Simulation of the Formation, Evolution and Control of a Methanol Spray Generated by a Pressure Swirl Atomizer During the Combustion Process
  • 1 Introduction
  • 2 Methodology
  • 2.1 Experimental Setup
  • 2.2 Computer Simulation RANS 2D
  • 2.3 Turbulence Model
  • 2.4 Spray Model
  • 2.5 Combustion Model
  • 3 Presentation and Discussion of Results
  • 3.1 Comparison with Experimental Results
  • 4 Conclusions
  • References
  • Control of a Stewart-Gough Platform for Earthquake Ground Motion Simulation
  • 1 Introduction
  • 2 Stewart-Gough Platform Model
  • 3 Control Scheme Proposal
  • 4 Dynamic Model
  • 5 Simulation
  • 6 Experimental Results
  • 7 Conclusions
  • References
  • Flow Control on a Wing Section Through the Implementation of the SDBD Plasma Actuator
  • 1 Introduction
  • 2 Flow Equations
  • 3 Modeling of the Actuator
  • 4 Geometry and Meshing
  • 5 OpenFoam Setting up
  • 6 Results
  • 6.1 Actuator Position Analysis
  • 6.2 Actuator Frequency Analysis
  • 7 Validation
  • 8 Conclusions
  • References
  • Experimental Platform for Modeling and Control of Articulated Bodies
  • 1 Introduction
  • 2 Mathematical Model
  • 2.1 Simplified Double Pendulum Model in Space Satellite
  • 2.2 Equations of Motion
  • 2.3 Experimental Setup, Simplified Double Pendulum Model on Earth
  • 3 Results of Numerical Simulations
  • 4 Conclusion
  • References
  • Design and Control of a Passive Solar Tracking System Using a Sky Imager
  • 1 Introduction
  • 2 Methodology
  • 2.1 Passive Sun Tracking System
  • 2.2 Sun Position Detection Process
  • 2.3 Solar Tracker
  • 3 Results and Discussion
  • 4 Conclusions
  • References
  • Attenuation of the Amplitude Vibration Level by Using Nonlinear Active Control Techniques Applied to a Hybrid Short Journal Bearing Using a Particular Rotor-Bearing System Configuration
  • 1 Introduction
  • 2 Mathematical Modeling of the Rotor-Bearing System
  • 2.1 Reynolds Equation and Boundary Conditions
  • 3 PID Control Techniques
  • 3.1 Simulation
  • 4 Experimental Test
  • 5 Conclusions
  • References
  • Transient Vibrations Suppression in Parametrically Excited Resonators
  • 1 Introduction
  • 2 Problem Statement
  • 3 Transformation and Averaging
  • 4 Parametric Anti-resonance Frequency
  • 5 Simulations and Results
  • 6 Conclusions
  • References
  • Robust State Estimation for Underactuated Systems Using Sliding Modes and Attractive Ellipsoid Method
  • 1 Introduction
  • 2 Preliminaries and Problem Statement
  • 3 Robust Observation
  • 4 Experimental Results
  • 5 Concluding Remarks
  • References
  • Modelling and Control of 5 DOF Serial Robot for Object Capturing and Manipulation Using a Semi-analytical Approach
  • 1 Introduction
  • 2 Problem Formulation
  • 2.1 Denavit-Hartenberg Convention
  • 2.2 Orientation and Position of End-Effector
  • 3 Main Results
  • 3.1 Inverse Kinematics
  • 3.2 Trajectories
  • 4 Numerical Validation
  • 5 Conclusions
  • 6 Further Projects
  • Appendix
  • References
  • Development of a Vision System for a Mobile Manipulator to Solid Residue Collection in the Food Sector
  • 1 Introduction
  • 2 Design of the Vision System Concept
  • 2.1 Design Goals
  • 2.2 Concept Generation
  • 2.3 Hardware Architecture Design
  • 2.4 Mathematical Model
  • 3 Vision Algorithm
  • 4 Results of the Application of the Vision and Control Algorithm
  • 5 Conclusions
  • References
  • Robust Control of a Master-Slave Manipulator Under Restricted Task-Space
  • 1 Introduction
  • 1.1 Plant Description
  • 2 Problem Statement
  • 3 Controller Design
  • 3.1 Master Device
  • 3.2 Slave Device
  • 3.3 Stable Equilibrium Point for Tracking Trajectories
  • 4 Numerical Results
  • 5 Conclusions
  • References
  • On the Dynamics and Control of a Single-Wheel Robot with Inertial Locomotion
  • 1 Introduction
  • 2 Robot Description
  • 3 System Dynamics
  • 3.1 Elements Depending on
  • 3.2 Elements Depending on and
  • 3.3 Dynamic Model
  • 3.4 Model Validation
  • 4 Linearization, Transfer Function and Velocity Control
  • 5 Conclusions
  • References
  • Analysis and Simulation of the Oscillations in a Pulley-Ribbed Belt System
  • 1 Introduction
  • 2 Mathematical Model Deduction
  • 3 Computational Method
  • 4 Analysis of Results
  • 5 Conclusions
  • References
  • Attitude Control of Torpedo Anchor with Vectorial Thrust for Use in a Pseudo-Submersible Platform
  • 1 Introduction
  • 1.1 Mathematical Model
  • 1.2 Thrust Force
  • 1.3 Hydrodynamics Perturbations
  • 2 CAD-CFD
  • 3 Control Design
  • 4 Conclusions
  • References
  • Geometric Parameters and Workspace Optimization of Sitting-Type Lower Limb Rehabilitation Robot
  • 1 Introduction
  • 2 Formulation of the Problem
  • 3 Kinematics Analysis
  • 4 Workspace Definition
  • 5 Optimization of Geometric Parameters of the 2PRP-2PPR Mechanism
  • 6 Algorithm Synthesis
  • 7 Simulation Results
  • 8 Conclusion
  • References
  • Comparison of Parallel Versions of SA and GA for Optimizing the Performance of a Robotic Manipulator
  • 1 Introduction
  • 1.1 4-Bar Manipulator
  • 2 Simulated Annealing (SA)
  • 2.1 Stop Criterion
  • 3 Genetic Algorithm (GA)
  • 4 Results
  • 5 Conclusions
  • References
  • Dynamic Modeling and Control of a Pivoting Nozzle
  • 1 Introduction
  • 2 Governing Equations
  • 3 Control
  • 4 Results
  • 5 Conclusions
  • References
  • A Closed Loop Controller Design Which Can Minimize the Wind Effects on a Parabolic Solar Tracker
  • 1 Introduction
  • 2 Parabolic Solar Tracker Modeling
  • 2.1 Mathematical Model
  • 2.2 Numerical Model
  • 2.3 Parameter Identification
  • 3 CFD Wind Flow Analysis
  • 3.1 CFD Results
  • 3.2 Experimental Test
  • 4 Control Algorithms Design
  • 4.1 Parabolic Dish Controllers
  • 4.2 Base Controllers
  • 5 Simulation Results
  • 5.1 Nominal Conditions
  • 5.2 Perturbed Conditions
  • 6 Conclusions
  • References
  • Author Index

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