Search results for: Robotics and automation

Authors: Allan Tubaileh, Ibrahim Hammad, Loay Al Kafafi

Abstract:

A new approach to determine the machine layout in flexible manufacturing cell, and to find the feasible robot configuration of the robot to achieve minimum cycle time is presented in this paper. The location of the input/output location and the optimal robot configuration is obtained for all sequences of work tasks of the robot within a specified period of time. A more realistic approach has been presented to model the problem using the robot joint space. The problem is formulated as a nonlinear optimization problem and solved using Sequential Quadratic Programming algorithm.

Keywords: Robotics, Layout.

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Authors: L. Parisi

Abstract:

A method which allows a diabetic quadriplegic patient that has had four limb amputations (above the knee and elbow) to self-administer injections of insulin has been designed. The aim of this research project is to improve a quadriplegic patient’s selfmanagement, affected by diabetes, by designing a suitable device for self-administering insulin. The quadriplegic patient affected by diabetes has to be able to selfadminister insulin safely and independently to guarantee stable healthy conditions. The device also should be designed to adapt to a number of different varying personal characteristics such as height and body weight.

Keywords: Robotics, diabetes, quadriplegia, self-management.

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Authors: Raghad Alhusari, Farag Omar, Moustafa Fadel

Abstract:

A traditional greenhouse is a metal frame agricultural building used for cultivation plants in a controlled environment isolated from external climatic changes. Using greenhouses in agriculture is an efficient way to reduce the water consumption, where agriculture field is considered the biggest water consumer world widely. Controlling greenhouse environment yields better productivity of plants but demands an increase of electric power. Although various control approaches have been used towards greenhouse automation, most of them are applied to traditional greenhouses with ventilation fans and/or evaporation cooling system. Such approaches are still demanding high energy and water consumption. The aim of this research is to develop a fuzzy control system that minimizes water and energy consumption by utilizing outside weather conditions and underground heat exchanger to maintain the optimum climate of the greenhouse. The proposed control system is implemented on an experimental model of thermally isolated greenhouse structure with dimensions of 6x5x2.8 meters. It uses fans for extracting heat from the ground heat exchanger system, motors for automatic open/close of the greenhouse windows and LED as lighting system. The controller is integrated also with environmental condition sensors. It was found that using the air-to-air horizontal ground heat exchanger with 90 mm diameter and 2 mm thickness placed 2.5 m below the ground surface results in decreasing the greenhouse temperature of 3.28 ˚C which saves around 3 kW of consumed energy. It also eliminated the water consumption needed in evaporation cooling systems which are traditionally used for cooling the greenhouse environment.

Keywords: Automation, earth-to-air heat exchangers, fuzzy control, greenhouse, sustainable buildings.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

Abstract:

This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: Vinicius Binotte, Guilherme Baldo, Christiane Goulart, Carlos Valadão, Eliete Caldeira, Teodiano Bastos

Abstract:

Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.

Keywords: Socially assistive robotics, mobile robot, autonomous control, autism.

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Authors: Prisa Damrongsiri, Kittinan Pongpianskul, Mario Kubek, Herwig Unger

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Apps are today the most important possibility to adapt mobile phones and computers to fulfill the special needs of their users. Location- and context-sensitive programs are hereby the key to support the interaction of the user with his/her environment and also to avoid an overload with a plenty of dispensable information. The contribution shows, how a trusted, secure and really bi-directional communication and interaction among users and their environment can be established and used, e.g. in the field of home automation.

Keywords: Apps, context-sensitive, location-sensitive, selfconfiguration, mobile computing, smart home.

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Authors: Omar Salah, Ahmed A. Ramadan, Salvatore Sessa, Ahmed A. Abo-Ismail

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Walking and sit to stand are activities carried out by all the people many times during the day, but physical disabilities due to age and diseases create needs of assistive devices to help elderly people during their daily life. This study aims to study the different types and mechanisms of the assistive devices. We will analyze the limitations and the challenges faced by the researchers in this field. We will introduce the Assistive Device developed at the Egypt-Japan University of Science and Technology, named E-JUST Assistive Device (EJAD). EJAD will be a low cost intelligent assistive device to help elders in walking and sit-to-stand activities.

Keywords: Active walker, Assistive robotics, Standing Assistance, Walking Assistance

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Authors: Dimitrie Marinceu

Abstract:

The newest Canadian Used Fuel Container (UFC)- (called also “Mark II”) modifies the design approach for its Assembly Robotic Cell (ARC) in the Canadian Used (Nuclear) Fuel Packing Plant (UFPP). Some of the robotic design solutions are presented in this paper. The design indicates that robots and manipulators are expected to be used in the Canadian UFPP. As normally, the UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, this paper suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity, and reliability.

Keywords: Used fuel packing plant, robotic assembly cell, used fuel container, deep geological repository.

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Authors: Anis Fatmi, Amur Al Yahmadi, Lazhar Khriji, Nouri Masmoudi

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One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.

Keywords: Behavior based navigation, context based coordination, fuzzy logic, mobile robots.

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Authors: Edwaldo R. B. Monteiro, Patricia D. M. Plentz, Edson R. De Pieri

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Mobile robotics is gaining an increasingly important role in modern society. Several potentially dangerous or laborious tasks for human are assigned to mobile robots, which are increasingly capable. Many of these tasks need to be performed within a specified period, i.e, meet a deadline. Missing the deadline can result in financial and/or material losses. Mechanisms for predicting the missing of deadlines are fundamental because corrective actions can be taken to avoid or minimize the losses resulting from missing the deadline. In this work we propose a simple but reliable deadline missing prediction mechanism for mobile robots through the use of historical data and we use the Pioneer 3-DX robot for experiments and simulations, one of the most popular robots in academia.

Keywords: Deadline missing, historical data, mobile robots, prediction mechanism.

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Authors: J. Sagouis, A. Chamel, E. Carre, C. Casasreales, G. Rudnik, M. Cerdan

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Robotics provides answers to amputees. The most expensive solutions surgically connect the prosthesis to nerve endings. There are also several types of non-invasive technologies that recover nerve messages passing through the muscles. After analyzing these messages, myoelectric prostheses perform the desired movement. The main goal is to avoid all surgeries, which can be heavy and offer cheaper alternatives. For an amputee, we use valid muscles to recover the electrical signal involved in a muscle movement. EMG sensors placed on the muscle allows us to measure a potential difference, which our program transforms into control for a robotic arm with two degrees of freedom. We have shown the feasibility of non-invasive prostheses with two degrees of freedom. Signal analysis and an increase in degrees of freedom is still being improved.

Keywords: Prosthesis, electromyography (EMG), robotic arm, nerve message.

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Authors: ML. Benmessaoud, A. Lamrani, K. Nemra, AK. Souici

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This paper presents an Extended Kaman Filter implementation of a single-camera Visual Simultaneous Localization and Mapping algorithm, a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based, The odometry data is incremental, and therefore it will accumulate error over time, since the robot may slip or may be lifted, consequently if the odometry is used alone we can not accurately estimate the robot position, in this paper we show that a combination of odometry and visual landmark via the extended Kalman filter can improve the robot position estimate. We use a Pioneer II robot and motorized pan tilt camera models to implement the algorithm.

Keywords: Mobile Robot, Navigation, vSLAM, EKF, monocular.

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Authors: Ernst D. Schmitter

Abstract:

Monitoring lightning electromagnetic pulses (sferics) and other terrestrial as well as extraterrestrial transient radiation signals is of considerable interest for practical and theoretical purposes in astro- and geophysics as well as meteorology. Managing a continuous flow of data, automation of the analysis and classification process is important. Features based on a combination of wavelet and statistical methods proved efficient for this task and serve as input into a radial basis function network that is trained to discriminate transient shapes from pulse like to wave like. We concentrate on signals in the Very Low Frequency (VLF, 3 -30 kHz) range in this paper, but the developed methods are independent of this specific choice.

Keywords: Transient signals, statistics, wavelets, neural networks

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Authors: G. Khamooshian

Abstract:

One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.

Keywords: 3-RRS, 6 linkage, parallel robot, control.

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

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Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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Authors: Blesson Varghese, Gerard McKee

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The work reported in this paper proposes Swarm-Array computing, a novel technique inspired by swarm robotics, and built on the foundations of autonomic and parallel computing. The approach aims to apply autonomic computing constructs to parallel computing systems and in effect achieve the self-ware objectives that describe self-managing systems. The constitution of swarm-array computing comprising four constituents, namely the computing system, the problem/task, the swarm and the landscape is considered. Approaches that bind these constituents together are proposed. Space applications employing FPGAs are identified as a potential area for applying swarm-array computing for building reliable systems. The feasibility of a proposed approach is validated on the SeSAm multi-agent simulator and landscapes are generated using the MATLAB toolkit.

Keywords: Swarm-Array computing, Autonomic computing, landscapes.

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Authors: S. Kreitlein, N. Eder, A. Syed-Khaja, J. Franke

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The importance of energy efficiency within the production processes increases steadily. For a comprehensive assessment of energy efficiency within the production process, unfortunately no tools exist or have been developed yet. Therefore the Institute for Factory Automation and Production Systems at the Friedrich-Alexander-University Erlangen-Nuremberg has developed two methods with the goal of achieving transparency and a quantitative assessment of energy efficiency namely EEV (Energy Efficiency Value) and EPE (Energetic Process Efficiency). This paper describes the basics and state-of-the-art as well as the developed approaches.

Keywords: Energy efficiency, energy efficiency value, energetic process efficiency, production.

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Authors: Abolfazl Mohammadijoo

Abstract:

In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory.

Keywords: Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics.

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Authors: Nishant Singh, Christian Huyck, Vaibhav Gandhi, Alexander Jones

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A robotic arm and hand controlled by simulated neurons is presented. The robot makes use of a biological neuron simulator using a point neural model. The neurons and synapses are organised to create a finite state automaton including neural inputs from sensors, and outputs to effectors. The robot performs a simple pick-and-place task. This work is a proof of concept study for a longer term approach. It is hoped that further work will lead to more effective and flexible robots. As another benefit, it is hoped that further work will also lead to a better understanding of human and other animal neural processing, particularly for physical motion. This is a multidisciplinary approach combining cognitive neuroscience, robotics, and psychology.

Keywords: Robot, neuron, cell assembly, spiking neuron, force sensitive resistor.

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Authors: S. Parasuraman, Ler Shiaw Pei

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In this paper, the bio-mechanical analysis of human joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human arm which include the movement of each joint in shoulder, wrist, elbow and finger complexes. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human arm. In the simulation of Direct Kinematics, the human joint angles can be inserted, while the position and orientation of each finger tips (end-effector) are shown. Inverse Kinematics does the reverse of the Direct Kinematics. Based on previous materials obtained from kinematics analysis, the human manipulator joints can be designed to follow prescribed position trajectories.

Keywords: Kinematics, Human Joints, Robotics, Robot Dynamics, Manipulators.

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Authors: Naveen Virmani, Rajeev Saha, Rajeshwar Sahai

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In today’s market, striving hard has become necessary for the industries to survive due to the intense competition and globalization. In earlier days, there were few sellers and limited numbers of buyers, so customers were having fewer options to buy the product. But today, the market is highly competitive and volatile. Industries are focusing on robotics, advance manufacturing methods like AJM (Abrasive Jet Machining), EDM (Electric Discharge Machining), ECM (Electrochemical Machining) etc., CAD/CAM, CAE to make quality products and market them in shortest possible time. Leagile manufacturing system is ensuring best available solution at minimum cost to meet the market demand. This paper tries to assimilate the concept of Leagile manufacturing system in today’s scenario and evaluating key factors affecting Leagile manufacturing using digraph technique.

Keywords: Agile manufacturing, digraph, lean manufacturing, leagile manufacturing.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

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This paper presents a solution for a robotic manipulation problem. We formulate the problem as combining target identification, tracking and interception. The task in our solution is sensing a target on a conveyor belt and then intercepting robot-s end-effector at a convenient rendezvous point. We used an object recognition method which identifies the target and finds its position from visualized scene picture, then the robot system generates a solution for rendezvous problem using the target-s initial position and belt velocity . The interception of the target and the end-effector is executed at a convenient rendezvous point along the target-s calculated trajectory. Experimental results are obtained using a real platform with an industrial robot and a vision system over it.

Keywords: Object recognition, rendezvous planning, robotics.

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Authors: C. Clements, M. Hasenohr, A. Anvar

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A glider is in essence an unpowered vehicle and in this project we designed and built an oceanic glider, designed to operate underwater. This Glider was designed to collect ocean data such as temperature, pressure and (in future measures physical dimensions of the operating environment) and output this data to an external source. Development of the Oceanic Glider required research into various actuation systems that control buoyancy, pitch and yaw and the dynamics of these systems. It also involved the design and manufacture of the Glider and the design and implementation of a controller that enabled the Glider to navigate and move in an appropriate manner.

Keywords: Ocean Glider, Robot, Automation, Command, Control, Navigation.

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Authors: Tudor Deaconescu, Andrea Deaconescu

Abstract:

Deployment of pneumatic muscles in various industrial applications is still in its early days, considering the relative newness of these components. The field of robotics holds particular future potential for pneumatic muscles, especially in view of their specific behaviour known as compliance. The paper presents and discusses an innovative constructive solution for a gripper system mountable on an industrial robot, based on actuation by a linear pneumatic muscle and transmission of motion by gear and rack mechanism. The structural, operational and constructive models of the new gripper are presented, along with some of the experimental results obtained subsequently to the testing of a prototype. Further presented are two control variants of the gripper system, one by means of a 3/2-way fast-switching solenoid valve, the other by means of a proportional pressure regulator. Advantages and disadvantages are discussed for both variants.

Keywords: Gripper system, pneumatic muscle, structural modeling.

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Authors: A. Naga Rajesh, S. Chandralingam, T. Anjaneyulu, K. Satyanarayana

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Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.

Keywords: Electrooculography, Microcontroller, Motors, Wheelchair.

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Authors: Uday Hameed Farhan, Majid Tolouei-Rad, Simona O'Brien

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Modular fixtures (MFs) are very important tools in manufacturing processes in terms of reduction the cost and the production time. This paper introduces an automated approach for assembling MFs elements by employing SolidWorks as a powerful 3D CAD software. Visual Basic (VB) programming language was applied integrating with SolidWorks API (Application programming interface) functions. This integration allowed creating plug-in file and generating new menus in the SolidWorks environment. The menus allow the user to select, insert, and assemble MFs elements.

Keywords: Assembly automation, modular fixtures, SolidWorks, Visual Basic.

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Authors: Irene K. Amponsah, Bennony K. Gordor, Francis Dogbey

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This paper introduces a technique for simulating a single-server exponential queuing system. The technique called the Q-Simulator is a computer program which can simulate the effect of traffic intensity on all system average quantities given the arrival and/or service rates. The Q-Simulator has three phases namely: the formula based method, the uncontrolled simulation, and the controlled simulation. The Q-Simulator generates graphs (crystal solutions) for all results of the simulation or calculation and can be used to estimate desirable average quantities such as waiting times, queue lengths, etc.

Keywords: Automation system-Simulator, Simulation, Singleserver exponential system

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Authors: Omid Mirmotahari, Yngvar Berg, Mats Hovin

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The problem discussed in this paper involves packing fresh fish fileet of the northern Cod into a standard square container. The fish is first cleaned and split and then collected on a belt ready to be stacked in a container. The aim of our work is to pack the fish into the container with constraints on the amount of overlap allowed for the fileets. The current focus is to design a packing cell that can be real-time and of practical use, while finding the optimal solution to the degree of overlap and minimise the unused space of the container.

Keywords: Facilities Planning and Management, Intelligent Systems, Manufacturing Systems, Operations Research, Production Planning and Control.

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Authors: Tadatsugu Kitamoto

Abstract:

Recently, a quality of motors is inspected by human ears. In this paper, I propose two systems using a method of speech recognition for automation of the inspection. The first system is based on a method of linear processing which uses K-means and Nearest Neighbor method, and the second is based on a method of non-linear processing which uses neural networks. I used motor sounds in these systems, and I successfully recognize 86.67% of motor sounds in the linear processing system and 97.78% in the non-linear processing system.

Keywords: Acoustical diagnosis, Neural networks, K-means, Short-time Fourier transformation

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Authors: J. G. Batista, K. N. Sousa, J. L. Nunes, R. L. S. Sousa, G. A. P. Thé

Abstract:

This work deals with parameter identification of permanent magnet motors, a class of ac motor which is particularly important in industrial automation due to characteristics like applications high performance, are very attractive for applications with limited space and reducing the need to eliminate because they have reduced size and volume and can operate in a wide speed range, without independent ventilation. By using experimental data and genetic algorithm we have been able to extract values for both the motor inductance and the electromechanical coupling constant, which are then compared to measured and/or expected values.

Keywords: Modeling, AC servomotor, Permanent Magnet Synchronous Motor-PMSM, Genetic Algorithm, Vector Control, Robotic Manipulator, Control.

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