Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680851
J. Ma
Analyses the composition and working principle of automatic emergency braking system, according to the characteristics of unmanned all-terrain vehicle, PID control system model of the throttle opening and the brake pedal opening is built, the PID control system is set to conduct unmanned ATV forecast control, vehicle dynamics simulation model is established using Carsim software and the vehicle parameters are set. Then, the vehicle dynamics model was co-simulated with Matlab/ Simulink. The simulation result shows that the emergency braking control system designed can ensure the safety of people and vehicles, and has a certain practical value for the development of vehicle control technology of unmanned all-terrain vehicle.
{"title":"Modeling and Simulation of Automatic Emergency Braking Control System for Unmanned All-Terrain Vehicle","authors":"J. Ma","doi":"10.1109/ICMERR54363.2021.9680851","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680851","url":null,"abstract":"Analyses the composition and working principle of automatic emergency braking system, according to the characteristics of unmanned all-terrain vehicle, PID control system model of the throttle opening and the brake pedal opening is built, the PID control system is set to conduct unmanned ATV forecast control, vehicle dynamics simulation model is established using Carsim software and the vehicle parameters are set. Then, the vehicle dynamics model was co-simulated with Matlab/ Simulink. The simulation result shows that the emergency braking control system designed can ensure the safety of people and vehicles, and has a certain practical value for the development of vehicle control technology of unmanned all-terrain vehicle.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114723424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680816
W. Caesarendra, M. Sułowicz, A. Suprihanto, D. B. Wibowo, P. E. Abas, S. H. Suryo, Aan Wibiantoro
Keris or kris is a traditional Indonesian stabbing weapon with distinctive and unique geometries which differentiate it from other weapons. Due to the different varieties of keris manufactured in various regions, it is necessary to develop a method of measuring the geometry of the keris, to assist in its identification process as well as to preserve its original shape. This research presents a method of creating a model representative of the keris using 3D scanning technique. The scanning method was illustrated for the measurement of three geometrically simple to complex keris, namely Lurus luk 1, Naga Kikik luk 3, and Sugguh Tamu luk 7. Consequently, geometric accuracy was measured by comparing the results of manual measurements to the coordinates of the 3D model, and results have shown a relatively small error in the range of 0.47% to 3.92 %. The results are significant as it shows that the 3D scanning method may be used to assist in the identification of the different varieties of keris.
{"title":"Keris Geometry Accuracy Using 3D Scanning Technique","authors":"W. Caesarendra, M. Sułowicz, A. Suprihanto, D. B. Wibowo, P. E. Abas, S. H. Suryo, Aan Wibiantoro","doi":"10.1109/ICMERR54363.2021.9680816","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680816","url":null,"abstract":"Keris or kris is a traditional Indonesian stabbing weapon with distinctive and unique geometries which differentiate it from other weapons. Due to the different varieties of keris manufactured in various regions, it is necessary to develop a method of measuring the geometry of the keris, to assist in its identification process as well as to preserve its original shape. This research presents a method of creating a model representative of the keris using 3D scanning technique. The scanning method was illustrated for the measurement of three geometrically simple to complex keris, namely Lurus luk 1, Naga Kikik luk 3, and Sugguh Tamu luk 7. Consequently, geometric accuracy was measured by comparing the results of manual measurements to the coordinates of the 3D model, and results have shown a relatively small error in the range of 0.47% to 3.92 %. The results are significant as it shows that the 3D scanning method may be used to assist in the identification of the different varieties of keris.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123640251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680839
Jianwei Ma
In order to the solving interference between the danger alarm light and the turn light, intelligent control circuit of dangerous alarm light and turn light is designed, and the composition and principle of the circuit are analyzed. The characteristics of Multisim software are introduced. The resistance value and flashing frequency are calculated. The simulation of control circuit is conduced using Multisim software. The simulation results show that the circuit can realize the normal run of dangerous alarm light and the turn light separately, at the same time, when the danger alarm light is turned on, the turn light switch is also turned on, and the steering information can be normally indicated, thereby the interference problem of the two is solved when they are opened at the same time. The circuit has simple structure, strong practicability and strong application value.
{"title":"Design and Analysis of Control Circuit for Danger Alarm Light and Turn Light of Vehicle Based on Multisim","authors":"Jianwei Ma","doi":"10.1109/ICMERR54363.2021.9680839","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680839","url":null,"abstract":"In order to the solving interference between the danger alarm light and the turn light, intelligent control circuit of dangerous alarm light and turn light is designed, and the composition and principle of the circuit are analyzed. The characteristics of Multisim software are introduced. The resistance value and flashing frequency are calculated. The simulation of control circuit is conduced using Multisim software. The simulation results show that the circuit can realize the normal run of dangerous alarm light and the turn light separately, at the same time, when the danger alarm light is turned on, the turn light switch is also turned on, and the steering information can be normally indicated, thereby the interference problem of the two is solved when they are opened at the same time. The circuit has simple structure, strong practicability and strong application value.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131730055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680817
Peter Aerts, P. Slaets, E. Demeester
In recent years, Simultaneous Localisation and Map-ping (SLAM) in dynamic environments received more and more attention. Most approaches focus on efficiently removing dynamic objects present within the scene to perform SLAM with the assumption of a static environment. Some approaches incorporate dynamic objects within the optimization problem to perform SLAM and dynamic object tracking concurrently. In this paper, we propose to incorporate information from dynamic objects into a 2D graph-based SLAM approach. We experimentally show that, by adding a measurement function of the dynamic objects to the front-end graph structure, and adopting a motion model of the object, the trajectory of the dynamic object as well as the robot's trajectory can be substantially improved in the absence of static features within the graph. Experimental results based on simulated data and data from a differential drive robot with a LiDAR sensor validate this approach.
{"title":"Incorporating Moving Landmarks within 2D Graph-Based SLAM for Dynamic Environments","authors":"Peter Aerts, P. Slaets, E. Demeester","doi":"10.1109/ICMERR54363.2021.9680817","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680817","url":null,"abstract":"In recent years, Simultaneous Localisation and Map-ping (SLAM) in dynamic environments received more and more attention. Most approaches focus on efficiently removing dynamic objects present within the scene to perform SLAM with the assumption of a static environment. Some approaches incorporate dynamic objects within the optimization problem to perform SLAM and dynamic object tracking concurrently. In this paper, we propose to incorporate information from dynamic objects into a 2D graph-based SLAM approach. We experimentally show that, by adding a measurement function of the dynamic objects to the front-end graph structure, and adopting a motion model of the object, the trajectory of the dynamic object as well as the robot's trajectory can be substantially improved in the absence of static features within the graph. Experimental results based on simulated data and data from a differential drive robot with a LiDAR sensor validate this approach.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"85 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120896861","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/icmerr54363.2021.9680838
Aeroelastic Model
{"title":"2021 6th International Conference on Mechanical Engineering and Robotics Research","authors":"","doi":"10.1109/icmerr54363.2021.9680838","DOIUrl":"https://doi.org/10.1109/icmerr54363.2021.9680838","url":null,"abstract":"Aeroelastic Model","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124949661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680824
A. Emam, E. Wahba, I. Adam
Tubercles, that are bioinspired from the pectoral flippers of the acrobatic humpback whale, are among the highly superior flow control techniques. Many studies showed the highly promising aerodynamic gain that can be obtained from using these leading-edge perturbations. The attained efficiency depends mainly on the design aspects for blade/wing and its tubercles which have to be optimally set according to the selected airfoil and the specific operational flow regime. The spanwise length of perturbations, one of their geometrical aspects, is postulated to be of a great effect; however, it is little considered in research works. The objective of the present work is to investigate the effects of changing the tubercled length of the leading edge on the aerodynamic performance for highly cambered models at a low-Re transient flow regime which is considered to be the optimum design range for these highly applicable airfoils. An experimental approach was employed to test three models of the high lift S1223 airfoil with different waviness ratios (the waved length/total one) (20.83%, 50%, and 100% of the total span), and compare them with their smooth-leading edge counterpart. The tests were conducted in a subsonic wind tunnel at $text{Re}=100,000$ under an infinite-span (quasi-2D) basis over an attack-angle range from the zero-lift angle up to 30 degrees. The results revealed the great influence of the tubercled length on the aerodynamic performance as the fully modified model attained earlier stall but with highly soft characteristics while the least-tubercled one delayed the abrupt stall behavior of the baseline model by 22% without a penalty on the maximum lift coefficient.
{"title":"Experimental Investigation for The Influences of Bio-Inspired Tubercles Length on Aerodynamic Performance of Highly Cambered Airfoils in Low-Re Transient-Flow Regime","authors":"A. Emam, E. Wahba, I. Adam","doi":"10.1109/ICMERR54363.2021.9680824","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680824","url":null,"abstract":"Tubercles, that are bioinspired from the pectoral flippers of the acrobatic humpback whale, are among the highly superior flow control techniques. Many studies showed the highly promising aerodynamic gain that can be obtained from using these leading-edge perturbations. The attained efficiency depends mainly on the design aspects for blade/wing and its tubercles which have to be optimally set according to the selected airfoil and the specific operational flow regime. The spanwise length of perturbations, one of their geometrical aspects, is postulated to be of a great effect; however, it is little considered in research works. The objective of the present work is to investigate the effects of changing the tubercled length of the leading edge on the aerodynamic performance for highly cambered models at a low-Re transient flow regime which is considered to be the optimum design range for these highly applicable airfoils. An experimental approach was employed to test three models of the high lift S1223 airfoil with different waviness ratios (the waved length/total one) (20.83%, 50%, and 100% of the total span), and compare them with their smooth-leading edge counterpart. The tests were conducted in a subsonic wind tunnel at $text{Re}=100,000$ under an infinite-span (quasi-2D) basis over an attack-angle range from the zero-lift angle up to 30 degrees. The results revealed the great influence of the tubercled length on the aerodynamic performance as the fully modified model attained earlier stall but with highly soft characteristics while the least-tubercled one delayed the abrupt stall behavior of the baseline model by 22% without a penalty on the maximum lift coefficient.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131523085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680826
Murat Can Tuzel, K. Sanliturk
In machinery industry, especially in turbo machinery and automotive, accurate predictions of vibration and noise levels of mechanical systems are very valuable before a prototype is produced. However, in general, the contact properties of multibody structures are not known with acceptable accuracy at the design stage, which makes the theoretical predictions of multibody structures quite unreliable. In theoretical or numerical studies, especially in automotive industry, contact surfaces are usually not modeled and some empirical values are frequently used to represent the dry friction properties. However, in most cases, the use of approximate, linear damping and stiffness values instead of the actual dry friction damping and contact stiffness of structures cannot yield results with acceptable accuracy in terms of vibration amplitude and natural frequency. Thus, accurate predictions of vibration properties of multibody structures require detailed theoretical models including not only the realistic representation of the elastic and inertia properties, but also accurate representation of the damping in the system. In this study, it is aimed to identify the contact properties of a specific bolted joint experimentally. For this purpose, a practical test procedure is selected among those available in the literature and an appropriate test rig is developed in order to identify the contact stiffness and dry friction damping properties of a bolted joint. U sing the measured data, the nonlinear elastic and damping properties of the contact are modelled as amplitude-dependent complex stiffness using the describing function method. The results show that, using the test rig developed, elastic properties of the nonlinear contact can be identified with acceptable accuracy. However, the accuracy of the identification of the damping properties of the contact is found to be somewhat low, hence the test rig and the associated data analyses used in this study can be improved further.
{"title":"Assessment of a Test Rig for the Measurement of Contact Properties of Bolted Joints","authors":"Murat Can Tuzel, K. Sanliturk","doi":"10.1109/ICMERR54363.2021.9680826","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680826","url":null,"abstract":"In machinery industry, especially in turbo machinery and automotive, accurate predictions of vibration and noise levels of mechanical systems are very valuable before a prototype is produced. However, in general, the contact properties of multibody structures are not known with acceptable accuracy at the design stage, which makes the theoretical predictions of multibody structures quite unreliable. In theoretical or numerical studies, especially in automotive industry, contact surfaces are usually not modeled and some empirical values are frequently used to represent the dry friction properties. However, in most cases, the use of approximate, linear damping and stiffness values instead of the actual dry friction damping and contact stiffness of structures cannot yield results with acceptable accuracy in terms of vibration amplitude and natural frequency. Thus, accurate predictions of vibration properties of multibody structures require detailed theoretical models including not only the realistic representation of the elastic and inertia properties, but also accurate representation of the damping in the system. In this study, it is aimed to identify the contact properties of a specific bolted joint experimentally. For this purpose, a practical test procedure is selected among those available in the literature and an appropriate test rig is developed in order to identify the contact stiffness and dry friction damping properties of a bolted joint. U sing the measured data, the nonlinear elastic and damping properties of the contact are modelled as amplitude-dependent complex stiffness using the describing function method. The results show that, using the test rig developed, elastic properties of the nonlinear contact can be identified with acceptable accuracy. However, the accuracy of the identification of the damping properties of the contact is found to be somewhat low, hence the test rig and the associated data analyses used in this study can be improved further.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132842727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680856
Kohei Inaba, K. Iizuka
The surface of the moon and planets have been covered with loose soil, and there is a risk that the wheels may stack, so it is necessary for the rover to recognize the traveling state. However, in such environments as nighttime and dark spaces, the visibility of the rover is degraded by the camera based method, and a new system for recognizing the traveling state is required. As a new method for recognizing the driving state, we focused on the intrinsic sensation of the human body and aimed to develop a system that recognizes the travelling state from the shape deformation of legs. In this study, we experimentally verified the relationship between the change in strain, which is the amount of deformation acting on the, and the traveling state when the wheel travels. From the experimental results, we confirmed that the strain in the leg was displaced and that the strain changed oscillatory when the wheel was traveling. In addition, based on the function of muscle spindles as mechanoreceptors, we discussed two methods of analyzing the strain change: nuclear chain fiber analysis and nuclear bag fiber analysis. From these analysis methods, we detected changes in the force applied to the wheels and the movement of the ground during traveling from the strain. Therefore, the change of the traveling state could be detected by the strain, and it was confirmed that the traveling state could be detected.
{"title":"Study on Relationship between Traveling State and Chassis Strain at Traveling Loose Soil for Rovers","authors":"Kohei Inaba, K. Iizuka","doi":"10.1109/ICMERR54363.2021.9680856","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680856","url":null,"abstract":"The surface of the moon and planets have been covered with loose soil, and there is a risk that the wheels may stack, so it is necessary for the rover to recognize the traveling state. However, in such environments as nighttime and dark spaces, the visibility of the rover is degraded by the camera based method, and a new system for recognizing the traveling state is required. As a new method for recognizing the driving state, we focused on the intrinsic sensation of the human body and aimed to develop a system that recognizes the travelling state from the shape deformation of legs. In this study, we experimentally verified the relationship between the change in strain, which is the amount of deformation acting on the, and the traveling state when the wheel travels. From the experimental results, we confirmed that the strain in the leg was displaced and that the strain changed oscillatory when the wheel was traveling. In addition, based on the function of muscle spindles as mechanoreceptors, we discussed two methods of analyzing the strain change: nuclear chain fiber analysis and nuclear bag fiber analysis. From these analysis methods, we detected changes in the force applied to the wheels and the movement of the ground during traveling from the strain. Therefore, the change of the traveling state could be detected by the strain, and it was confirmed that the traveling state could be detected.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132355255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680847
W. Caesarendra, Kirana Astari Pranoto, J. Gołdasz, Pg Mohd Iskandar Hj Petra, M. Sułowicz, J. Zaini, S. H. Suryo, G. D. Haryadi
In the current era of development, infrastructure is the driving wheel of economic growth. Company manufacturer of construction, headquartered in Góteborg, Sweden, named V Construction Equipment, is a large manufacturer of construction equipment in more than 140 countries. Excavators are heavy equipment and are usually used for excavation. This paper discusses the analysis of stress on the excavator's boom to determine the factor of safety. The boom of the excavator is V EC650BE. This study presents a step-by-step process of stress analysis calculation at the boom of the excavator. The method includes the determination of the type of material S690 QL Steel Plate. Analysis was then presented in linear statics using the finite element method to see the maximum stress that occurred on the excavator's boom. It is obtained that the value of the vonMises stress of 261.46 MPa. They have proven maximum breakout force at the position of 30°. The safety factor value analyzes the Boom stress at each configuration position numbered 3.07, 2.64, 2.94, 3.10 and 3.12. While the safety factor value analyzes the Boom stress at each variation of meshing size numbered 2.64, 2.61, 2.66, 2.67 and 2.67.
{"title":"Analysis of Stress on Boom Excavator V EC650BE Using Finite Element Method","authors":"W. Caesarendra, Kirana Astari Pranoto, J. Gołdasz, Pg Mohd Iskandar Hj Petra, M. Sułowicz, J. Zaini, S. H. Suryo, G. D. Haryadi","doi":"10.1109/ICMERR54363.2021.9680847","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680847","url":null,"abstract":"In the current era of development, infrastructure is the driving wheel of economic growth. Company manufacturer of construction, headquartered in Góteborg, Sweden, named V Construction Equipment, is a large manufacturer of construction equipment in more than 140 countries. Excavators are heavy equipment and are usually used for excavation. This paper discusses the analysis of stress on the excavator's boom to determine the factor of safety. The boom of the excavator is V EC650BE. This study presents a step-by-step process of stress analysis calculation at the boom of the excavator. The method includes the determination of the type of material S690 QL Steel Plate. Analysis was then presented in linear statics using the finite element method to see the maximum stress that occurred on the excavator's boom. It is obtained that the value of the vonMises stress of 261.46 MPa. They have proven maximum breakout force at the position of 30°. The safety factor value analyzes the Boom stress at each configuration position numbered 3.07, 2.64, 2.94, 3.10 and 3.12. While the safety factor value analyzes the Boom stress at each variation of meshing size numbered 2.64, 2.61, 2.66, 2.67 and 2.67.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116220355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680861
Pawel Zakieta, Maciej Zieja, Bartosz Bok
RoboCup competition is a football tournament played by robots. In one of the categories, matches are played between teams of humanoid robots. Accurate position tracking for each team member is essential for building more advanced strategies. However, rules of the game forbid using any sensors that allow global positioning. This article describes an implementation of a positioning system based on a particle system, which is a standard approach for localization problems in known environments. Proposed algorithm uses a monocular camera to obtain feedback from the environment and calculates the similarity between real observation and each particle. Developed system searches for the region with highest local density of particles for best state approximation.
{"title":"Particle filter as the localization of the robot on the football pitch","authors":"Pawel Zakieta, Maciej Zieja, Bartosz Bok","doi":"10.1109/ICMERR54363.2021.9680861","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680861","url":null,"abstract":"RoboCup competition is a football tournament played by robots. In one of the categories, matches are played between teams of humanoid robots. Accurate position tracking for each team member is essential for building more advanced strategies. However, rules of the game forbid using any sensors that allow global positioning. This article describes an implementation of a positioning system based on a particle system, which is a standard approach for localization problems in known environments. Proposed algorithm uses a monocular camera to obtain feedback from the environment and calculates the similarity between real observation and each particle. Developed system searches for the region with highest local density of particles for best state approximation.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122782082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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