Robotic Systems and Applications
Not a member yet
20223 research outputs found
Sort by
A review on path planning ai techniques for mobile robots
Get PDFAn Industrial Robot is used in industries for transporting, assembly, manufacturing and many more applications. Industrial robots include manufacturing robots, material handling robots, robotic arm and manipulator, mobile robots, assembly robots, etc. In this paper, Mobile Robots are further being discussed. One of the tools that a Mobile Robot uses to function is all with the help of Artificial Intelligence (AI) for performing several tasks autonomously. AI works as the intelligence of the human body for robots. AI is the technology that made it possible for robots to be capable of being totally autonomous. AI marks its presence in the Manufacturing Industry with the 4th Industrial Revolution. AI has several algorithms that help in collecting and analyzing data in order to help robots to function in specific ways. These techniques include Fuzzy Logic, Genetic Algorithm, Neural Network, etc. In this paper, the role of these algorithms in Mobile Robots is discussed. Based on the review of 74 papers and articles, it is observed that there are no review papers discussing the role of nature-based and conventional algorithms used for navigation in Mobile Robots. The use of different AI techniques for specific applications has been discussed in tabular form in this paper
Analysis of methods for improving the efficiency of “Iceberg” gas air coolers
Get PDFRussia has the largest volume of natural gas reserves in the world. Recoverable natural gas reserves amount to about 67 trillion cubic meters, according to the Ministry of Natural Resources and Environment of the Russian Federation for 2023. In recent years, the development of the Unified Gas Supply System has been growing rapidly. Since 2021 the Government of the Russian Federation has been actively introducing draft laws and regulations related to the scaling of the country’s gasification. In June 2021 came out the Federal Law No. 184-FZ, which instructed the Government of the Russian Federation to adopt regulations aimed at implementation of provisions of free gasification of the country [1]. In September 2021 there was issued Decree No. 1547, [2] approving the new Rules for connecting gas-using equipment and capital construction facilities to gas distribution networks, which introduces the concept of pre-gasification. It is worth noting that new gas mains, compressor stations (CS) are put into operation, active reconstruction of the existing shops with exhausted gas compressor units (GCU) is carried out. One of the most urgent issues of the gas industry today is the efficient use of energy resources. Besides using the energy of flue gases from gas turbine drive of GPA, energy at gas throttling at gas distribution stations and other methods of energy saving, the significant role is played by the effective operation of air coolers of gas (ACG), the operation of which affects the reliable transportation of gas in the main gas pipeline (MG). The paper analyzes the methods of technical condition of gas air cooling devices of “Iceberg” type operated at the production site of the booster compressor station of “Gazprom Dobycha Nadym” LLC. The thermal efficiency of air coolers with all fans turned on and off was determined for the coldest and hottest months of the year. The electric energy savings of the frequency controlled drive (VFD) were calculated
Vibrator with two impacting pairs, one of them in the position of equilibrium
Get PDFIn the dynamic processes taking place in manipulators and robots, impact interactions play an important role. Among them two sided impacts are important. In this paper investigation of dynamic regimes of a system with two impacting surfaces, one of which is in the position of equilibrium is performed. Dynamics in steady state regime for typical parameters of the investigated system having one degree of freedom is investigated. Displacements as functions of time as well as velocities as functions of time for various positions of the impacting surface are presented. Non symmetric impacts enable to reduce the dimensions of the vibrator and to achieve increase of effectiveness of useful impacts of a manipulator. Investigations of the conservative system as well as of the system with forced harmonic excitation are performed
Capillary force method to improve the green density of binder jet additive manufacturing
Get PDFThis study investigates the impact of capillary adhesion force on the green part density in metal powder binder jetting 3D printing. Gas atomized Co-Cr-Mo, SS316L, and pure Cu powders were used to print various samples. The printed samples were then treated with water, 1-Hexanol, and n-Amyl alcohol vapor for 24 hours to nucleate capillary bridges between particles and shrink samples uniformly. The volume change was calculated for each sample, and up to –3.1 % volume change was observed. The proposed method can be used to improve green part densities directly on printed parts before sintering
Influence of wheel web structure on the tight-curve short-pitch corrugation of metro
Get PDFShort-pitch corrugation is a common phenomenon that occurs on tight-curve rails in metro systems. However, the contributing factors of this problem are still not fully understood, and effective control measures have yet to be developed. In this study, we investigated the contributing factors of short-pitch corrugation on tight-curve rails in metro systems using the complex eigenvalue analysis method according to the theory of friction-induced vibration. We also explored control measures for short-pitch corrugation from the perspective of optimizing the wheel web structure. Our results indicate that friction-induced vibration is the primary contributing factor to short-pitch corrugation in the wheel-rail system. The shape of the web structure significantly affects rail corrugation, and compared to the straight web structure, unstable vibrations are more pronounced in the S-shape web structure. In contrast, the bow web structure can significantly improve the system stability of the wheel-rail interaction, and the greater the web curvature, the better the inhibitory effect. The wheel deformation under contact force varies with the web curvature, and when the axial deformation of the wheel extends toward the inner rail, the wheel-rail system no longer exhibits unstable vibrations. Conversely, when the axial deformation of the wheel extends toward the outer rail, the greater the deformation, the greater the instability of the wheel-rail system
The analysis of the destabilizing motion of a hyperbolic cooling tower during demolition blasting
Get PDFThe destabilizing motion characteristics of the hyperbolic cooling tower in demolition blasting are thoroughly investigated through the establishment of a numerical simulation calculation model, leading to the following conclusions regarding its destabilizing motion. The tensile-compression elastic-plastic model, which possesses the characteristics of parameter modification function and independence from unit size, can more effectively capture the mechanical properties of concrete materials and find better application in the simulation and calculation research of reinforced concrete structures. The self-oscillation frequency check and collapse morphological analysis are employed to validate the accuracy of the simulation calculation model for hyperbolic cooling towers, as well as to assess the rationality of parameters in the tensile-compression elastic-plastic model. The collapse of a cooling tower induces flexural deformation in the lateral wall, tensile disturbance in the upper and middle sections of the cylinder, and compressive disturbance in the vertical cross-section. The cylinder body has incurred damage as a result of the tower wall’s front end striking the ground at the directional window position on the front side of the throat, leading to a significant extrusion deformation issue. The buckling deformation in the central and lower sections of the rear wall propagated towards the back side of the tower wall upon reaching the ground, ultimately resulting in an “inverted V-shaped” damage along the buckling deformation line. The research findings hold significant relevance for future endeavors
Analysis of hydrocarbon solvents for the removal of various types of asphalt, resin and paraffin deposits
Get PDFIn this work the physical-chemical properties of asphaltene-resin-paraffin deposits are studied. Their component composition was determined. The results obtained are the basis for the selection of effective solvents and the choice of the method of removing deposits from oil reservoirs. Two hydrocarbon solvents with the brands “TSK А” and “TSK B” were tested. The solvent ability of solvents was tested
Vibration influence of different types of heavy-duty trucks on road surface damage
Get PDFUnder the interaction of the wheels of heavy-duty trucks on the random road surface when the vehicles are travelling, their generated vibrations not only affect the driver's ride comfort but also impact the road surface damage. To assess the vibration influence of different types of vehicles on the road surface damage, three dynamic models of the two axle, three axle, and four axle of heavy trucks have been build and computed via the Matlab/Simulink software. The dynamic tire load, dynamic load coefficient, and dynamic load-stress factor are chosen to assess the friendly load of different heavy trucks under the different operating conditions of the vehicle. The obtained result indicates that the dynamics parameters including suspension system, tires, and axle load distributions of heavy trucks have a greater effect on the dynamic tire force than the total weight of the vehicle. In order to ensure the road’s safety, the traffic management should intervene quickly to give a velocity limit for vehicles under the condition of the vehicle moving with the empty loaded on the poor road surface
An overview of Baltic Carbon Forum conference 2022
Get PDFBaltic Carbon Forum (BCF) is an annual event sponsored by Nordic Council of Ministers through Nordic Energy Research through their network BASRECCS. BCF 2022 was held on 13th and 14th Oct. in Kaunas, Lithuania. The aim of the BCF 2022 was to enable interested and engaged stakeholders to meet, discuss, share knowledge and experiences, and develop projects. BCF also aims to increase awareness about Carbon Capture Utilization and Storage (CCUS) among younger generations with aim of securing a sustainable future for all. The BCF2022 invited a number of academic and industry experts from the Baltic Sea region countries, which included policymakers, financial institutes, industry representatives and academics for sharing their experiences, conduct discussions and brainstorming sessions to identify gaps with aim of expediting the deployment of a large-scale CC(U)S project in the Baltic Sea Region (BSR). BCF 2022 was attended by 74 participants. There were 38 participants who attended the conference onsite and 36 participants attended the conference online. Participants came form 15 countries, which included Finland, Lithuania, Hungary, Sweden, Poland, Norway, Estonia, Denmark, Latvia, Belgium, Germany, USA, UK, India and South Africa. This paper presents a short summary of all the talks presented at the BCF 2022 conference [1, 2]
Gabor wavelet transform combined with area CNN in appearance intelligent detection of stayed cables
Get PDFThe major structure for transmitting forces in a cable-stayed bridge is the stay cable. If the stay cable system fails, the whole bridge will collapse. At present, there is no very mature technical means for the detection of bridge cables. The most common method is for workers to perform regular manual inspection and replacement of cables. Although the defect condition of the cable can be detected to a certain extent, the real-time monitoring of its health cannot be realized. Therefore, the research used the median filter, mean standardization method and Retinex algorithm to preprocess the image data. And after extracting the stay cable picture’s macroscopic characteristics using the Gabor wavelet transform, it implemented image segmentation using the OTSU approach. The obtained feature images were applied to the Faster Regional Convolution Neural Network (RCNN) recognition model to detect microscopic defects. During the research, the training efficiency of traditional Convolution Neural Network (CNN) was not high. Therefore, Faster RCNN built a cable defect recognition model. Based on this, the research built an intelligent detection model for apparent defects of stay cables based on Gabor wavelet transform and improved RCNN. Through the experimental analysis, the model built for the study has a recognition accuracy rate of 94.14 %, which can achieve dynamic bridge health monitoring and instantly identify the condition of the stay cables, and maintain the safety of the bridge