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2016 Moratuwa Engineering Research Conference (MERCon)最新文献

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Biomimetic flexible robot arm design and kinematic analysis of a novel flexible robot arm 仿生柔性机械臂设计及一种新型柔性机械臂的运动学分析
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480172
K. P. Deashapriya, P. Sampath, W. Wijekoon, N. Jayaweera, A. Kulasekera
Conventional robot manipulators have singularities in their workspaces and constrained spatial movements. Flexible and soft robots provide a unique solution to overcome this limitation. Flexible robot arms have biologically inspired characteristics as flexible limbs and redundant degrees of freedom. From these special characteristics, flexible manipulators are able to develop abilities such as bend, stretch and adjusting stiffness to traverse a complex maze. Many researchers are working to improve capabilities of flexible arms by improving the number of degrees of freedoms and their methodologies. The proposed flexible robot arm is composed of multiple sections and each section contains three similar segments and a base segment. These segments act as the backbone of the basic structure and each section can be controlled by changing the length of three control wires. These control wires pass through each segment and are held in place by springs. This design provides each segment with 2 DOF. The proposed system single section can be bent 90° with respective to its centre axis. Kinematics of the flexible robot is derived with respect to the base segment.
传统的机械臂在其工作空间中存在奇异性和受限的空间运动。柔性和软机器人为克服这一限制提供了独特的解决方案。柔性机械臂具有柔性肢体和冗余自由度等生物学特性。基于这些特殊的特性,柔性机械臂能够发展出弯曲、伸展和调整刚度等能力来穿越复杂的迷宫。许多研究人员正在努力通过改进自由度的数量和方法来提高柔性臂的能力。所提出的柔性机械臂由多个部分组成,每个部分包含三个相似的部分和一个基段。这些部分作为基本结构的骨干,每个部分都可以通过改变三根控制线的长度来控制。这些控制导线穿过每个节段,并由弹簧固定在适当的位置。该设计为每个部分提供2自由度。所提出的系统单段可相对于其中心轴弯曲90°。推导了柔性机器人相对于基段的运动学方程。
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引用次数: 6
Capacitance and tan δ measuring equipment for high voltage insulation modelling and simulation 高压绝缘建模和仿真用电容和tan δ测量设备
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480148
C. Gamage, J. M. Nupehewa, K. K. J. Kodikara, S. Chathuranga, R. Samarasinghe, J. R. Lucas
Capacitance and tan δ measurements are usually carried out to check the healthiness of an insulation. Measuring equipment based on different methodologies to test insulation in cables, transformer bushings etc. are available. This paper presents the development of such a measuring equipment for a high voltage (HV) laboratory of a University. The design is divided into three parts as filter unit, test unit, and the measuring unit. These units are separately modeled and simulated using software (MATLAB and PSpice). Filter unit and the test unit are combined to analyze the results through simulation. Simulation results are used to improve the design.
电容和tan δ测量通常用于检查绝缘的健康状况。基于不同方法的测量设备可用于测试电缆,变压器套管等的绝缘。本文介绍了某高校高压实验室高压测量设备的研制。本设计分为滤波单元、测试单元和测量单元三部分。这些单元分别使用软件(MATLAB和PSpice)进行建模和仿真。将滤波单元和测试单元相结合,通过仿真对结果进行分析。仿真结果用于改进设计。
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引用次数: 0
A numerical investigation and experimental validation on chip morphology of Aluminum Alloy 6061 during orthogonal machining 正交加工6061铝合金切屑形貌的数值研究与实验验证
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480163
Sohail Akram, Husain Imran, Mushtaq Khan, A. Mubashar, S. Warsi, U. Riaz
In this research work, Aluminum alloy Al6061-T6 was machined in order to investigate the chip morphology at different cutting parameters. Chip morphology with different shapes and sizes affects various aspects such as cutting force, chatter stability and cutting temperature which in turn influences workpiece surface quality, tool life, and machining efficiency. Orthogonal cutting experiments were carried out with the CCMW 09 T3 04-H13A uncoated carbide tool in the cutting speed range of 250-1,000 m/min and feed rate of 0.1-0.4 mm/r to obtain the chip thicknesses and the shear angles. Commercially available software Abaqus/Explicit was used to simulate a 2D orthogonal model. The simulation results were found to be in close agreement with the experimental results and showed that chip thickness decreased with increasing cutting speed whereas shear angle increased with the increase of cutting speed.
以Al6061-T6铝合金为研究对象,研究了不同切削参数下的切屑形貌。不同形状和尺寸的切屑形态影响着切削力、颤振稳定性和切削温度等各个方面,进而影响工件表面质量、刀具寿命和加工效率。采用CCMW 09 T3 04-H13A型无涂层硬质合金刀具,在切削速度为250 ~ 1000 m/min,进给速度为0.1 ~ 0.4 mm/r的条件下,进行正交切削实验,得到切屑厚度和切屑剪切角。利用市售软件Abaqus/Explicit模拟二维正交模型。仿真结果与实验结果吻合较好,切屑厚度随切削速度的增加而减小,剪切角随切削速度的增加而增大。
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引用次数: 7
Design and construction of an automated test bench for MCB testing MCB测试自动化试验台的设计与构建
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480150
N. Wickramarachchi, W. Amaradasa, H. K. J. Amarasinghe, H. K. T. R. Karunarathna, W. Wijekoon
Testing of MCBs involve sending a preset current through the MCB under test until it trips or if not for a pre-defined period of time. The operational state of the MCB should be recorded for variable currents. Automation of the testing process for household MCBs is presented in this paper. This paper includes design of the testing process and simulation of the controllable current source. Maximum current which can be injected by the current source is 390 A for a short time duration.
MCB的测试包括通过被测MCB发送预设电流,直到它跳闸,或者如果没有在预定义的时间内跳闸。对于可变电流,应记录MCB的运行状态。本文介绍了家用微型断路器测试过程的自动化。本文包括可控电流源的测试流程设计和仿真。电流源在短时间内可注入的最大电流为390a。
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引用次数: 0
Design of a human-like robot head with emotions 具有情感的人形机器人头部设计
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480178
E. Edirisinghe, R. Lakmal, T. Lakshitha, S. Sirimanna, A. G. Buddhika P. Jayasekara
Service robots are used in a vast range of service applications. Domestic service robots have the requirement of a human-like appearance and inevitably a human-like interactive behaviors. In this paper, a human-like robot head mechanism is proposed while including the features of eye mechanism, neck mechanism in addition to its human-like appearance. This design is done identifying the average human eye and neck in each movement for more human-like interaction. In addition, the implementation of human emotions using a combination of eye and neck movements is also discussed in this paper. Basic human emotions as a response to an input given to the robot head are also analyzed.
服务机器人广泛应用于各种服务领域。家政机器人具有类人的外形要求,必然具有类人的交互行为。本文提出了一种仿人机器人头部机构,该机构在具有仿人外形的同时,具有眼机构、颈机构的特征。这种设计是在每个动作中识别普通人的眼睛和脖子,以便更像人类的互动。此外,本文还讨论了使用眼睛和颈部运动的组合来实现人类情绪。作为对机器人头部输入的反应,基本的人类情绪也进行了分析。
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引用次数: 1
Factors influencing procurement adoption in construction: Building vs infrastructure projects 影响建筑采购采用的因素:建筑与基础设施项目
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480153
Vithyashini Sethuraman, B. Perera, D. Sumanarathna
Procurement is considered as a standard procedure accepted as an approach for delivering construction projects. Construction projects can be categorised in to two major classifications as building construction projects and infrastructure construction projects. This study is intended to focus on as to whether there is any significant difference between procurement selection criteria adopted in building and infrastructure construction projects. To analyse this issue, efforts were made to identify and analyse an assortment of parameters which can influence the selection of the procurement method. Three rounds of extensive Delphi survey were conducted through the quantitative approach with the assistance of thirty four industry experts towards identifying a set of parameters and their degree of influence on infrastructure and building construction procurement adoption. Analysis revealed the most important parameters which influence the choice of the procurement method in both infrastructure and building construction and the relationship between the selection criteria of the procurement method in the two categories of construction was identified through the application of Pearson's Correlation Coefficient. Having concerned on the level of significance of all the identified parameters it is guided in selecting a proper procurement path to derive a successful project outcome.
采购被认为是一种被接受的标准程序,是交付建筑项目的一种方法。建筑工程可分为两大类:建筑工程和基础设施工程。本研究旨在探讨建筑与基础设施建设项目所采用的采购选择标准是否存在显著差异。为了分析这一问题,已努力查明和分析可能影响采购方法选择的各种参数。在34位行业专家的协助下,通过定量方法进行了三轮广泛的德尔菲调查,以确定一组参数及其对基础设施和建筑施工采购采用的影响程度。分析揭示了影响基础设施和建筑施工中采购方法选择的最重要参数,并通过应用Pearson相关系数确定了两类建筑中采购方法选择标准之间的关系。在考虑到所有已确定参数的重要程度后,指导它选择适当的采购途径,以取得成功的项目成果。
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引用次数: 0
Modelling website user behaviors by combining the EM and DBSCAN algorithms 结合EM和DBSCAN算法对网站用户行为进行建模
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480134
M. Udantha, Surangika Ranathunga, G. Dias
Web logs can provide a wealth of information on user access patterns of a corresponding website, when they are properly analyzed. However, finding interesting patterns hidden in the low-level log data is non-trivial due to large log volumes, and the distribution of the log files in cluster environments. This paper presents a novel technique, the application of Density-Based Spatial Clustering of Applications with Noise (DBSCAN) and Expectation Maximization (EM) algorithms in an iterative manner for clustering web user sessions. Each cluster corresponds to one or more web user activities. The unique user access pattern of each cluster is identified by frequent pattern mining and sequential pattern mining techniques. When compared with the clustering output of EM, DBSCAN, and k-means algorithms, this technique shows better accuracy in web session mining, and it is more effective in identifying cluster changes with time. We demonstrate that the implemented system is capable of not only identifying common user behaviors, but also of identifying cyber-attacks.
如果对Web日志进行适当的分析,可以提供有关相应网站的用户访问模式的大量信息。然而,由于日志量大,以及日志文件在集群环境中的分布,查找隐藏在低级日志数据中的有趣模式并非易事。本文提出了一种新颖的技术,以迭代的方式应用基于密度的空间聚类(DBSCAN)和期望最大化(EM)算法对web用户会话进行聚类。每个集群对应一个或多个web用户活动。通过频繁模式挖掘和顺序模式挖掘技术,识别出每个集群的唯一用户访问模式。与EM、DBSCAN和k-means算法的聚类输出相比,该技术在web会话挖掘中显示出更高的准确性,并且在识别聚类随时间变化的情况下更有效。我们证明了所实现的系统不仅能够识别常见的用户行为,而且能够识别网络攻击。
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引用次数: 3
New MEMS based micro gripper using SMA for micro level object manipulation and assembling 基于MEMS的新型微夹持器,采用SMA进行微级物体操纵和装配
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480112
K. Munasinghe, B. G. C. T. Bowatta, H. Y. R. Abayarathne, N. Kumararathna, L. K. A. H. Maduwantha, N. M. Arachchige, Y. Amarasinghe
Micro electro mechanical systems (MEMS) based micro gripper for micro-assembling processes is designed. Gripper arms are actuated using a combination of Ni-Ti shape memory alloys and Si springs allowing a gripping range of 1-120μm. Heat which is needed to actuate shape memory alloy (SMA) is obtained by electro thermal properties of Ni-Ti by passing a current which is controlled by specially designed microprocessor controlled circuit design. Stability of the gripper design is validated using a commercially available finite element analysis (FEA) tool COMSOL Multiphysics simulations for stresses in gripper arms and for Eigen frequencies. Proposed fabrication process uses minimum number of masks and it makes the design much suits for batch production.
设计了基于微机电系统(MEMS)的微夹持器。夹持臂采用Ni-Ti形状记忆合金和Si弹簧组合驱动,夹持范围为1-120μm。驱动形状记忆合金(SMA)所需的热量是通过Ni-Ti的电热特性获得的,该电流由专门设计的微处理器控制电路设计控制。利用商用有限元分析(FEA)工具COMSOL Multiphysics对夹持臂的应力和特征频率进行仿真,验证了夹持器设计的稳定性。所提出的制造工艺使用了最少的掩模数量,使设计更适合批量生产。
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引用次数: 15
Smart energy tracking system for domestic consumers 面向国内消费者的智能能源跟踪系统
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480149
N. Sameera, J. A. P. A. Ovinda, N. A. Palayangoda, A. D. Sanjeewa, S. Abeygunawardane
Demand side management provides benefits to both the utility and the consumers. The effective implementation of demand side management can be achieved by introducing a proper energy management system. To popularize such an energy management system among domestic consumers in developing countries, initial cost of the system should be affordable and it should be able to assist the consumers to significantly reduce their electricity bill. This paper proposes a smart energy tracking system that can monitor the energy usage at different time slots, compare the energy usage with past data and provide details about the daily energy usage and helpful instructions to manage the energy consumption. Hence, the proposed system assists the consumers to reduce their electricity bill and the utilities to implement demand side management in the domestic sector.
需求侧管理对电力公司和消费者都有好处。推行适当的能源管理制度,可有效推行需求侧管理。为了在发展中国家的国内消费者中推广这种能源管理系统,该系统的初始成本应该是可以负担得起的,并且应该能够帮助消费者大大减少电费。本文提出了一种智能能源跟踪系统,该系统可以监控不同时段的能源使用情况,并将能源使用情况与过去的数据进行比较,提供日常能源使用的详细信息和帮助管理能源消耗的指导。因此,拟议的系统有助于消费者减少电费,并有助于公用事业公司在国内部门实施需求侧管理。
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引用次数: 0
Impact of climate change on wind energy generation in Mannar-Sri Lanka 气候变化对马纳尔-斯里兰卡风力发电的影响
Pub Date : 2016-04-05 DOI: 10.1109/MERCON.2016.7480146
W. Wickramaarachchi, M. Narayana
North Western coastal area of Sri Lanka is identified as a region with substantial wind power potential. Favorable geographical location and the terrain conditions have effected for higher wind power generation. Presently, the Sri Lankan government is promoting wind power generation in the country. This study is intended to evaluate impact of climate change on wind power generation in Mannar area. Wind data collected in Mannar was used to develop generalized wind atlas for the region. To generate wind atlas for the region measured wind data, topography and elevation details are required. To evaluate cost of wind energy generation in Mannar, suitable commercial wind turbines were micro-sitted by superimposing generalized wind atlas on selected wind turbine locations with the effect of ground roughness. Wind power generation was evaluated by considering wind turbine characteristics and predicted wind potential of the locations. General Circulation Models (GCM) and Regional Climate Downscaling (RCD) model was predicted wind speed change trend in the region and positive trend was identified. In the micro-sitting wake effect in wind farms were also calculated. This study validated the potential of wind power development target in Mannar with viable cost of wind energy generation.
斯里兰卡西北沿海地区被认为是风力发电潜力巨大的地区。优越的地理位置和地形条件对较高的风力发电量产生了影响。目前,斯里兰卡政府正在全国推广风力发电。本研究旨在评估气候变化对马纳尔地区风力发电的影响。在马纳尔收集的风数据用于开发该地区的广义风地图集。要为该地区测量的风数据生成风图,需要地形和高程的详细信息。为了评估马纳尔风力发电的成本,在考虑地面粗糙度的影响下,通过在选定的风力发电机位置叠加广义风图,对合适的商用风力发电机进行了微定位。通过考虑风力机特性和预测地点风势来评估风力发电。利用一般环流模式(GCM)和区域气候降尺度模式(RCD)预测了该地区的风速变化趋势,并确定了正趋势。并对风电场的微静尾效应进行了计算。该研究以可行的风能发电成本验证了Mannar风电开发目标的潜力。
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引用次数: 0
期刊
2016 Moratuwa Engineering Research Conference (MERCon)
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