|
Phase-shifted and interleaved angle control for doubly Salient Electro-magnetic Machine |
|
Weili Dai, Hao Tian, Jun Ding(Hohai University, China) |
| A novel phase-shifted and interleaved angel control strategy was proposed in this paper, which can improve output power and reduce torque ripple by adjusting phase-shifted angle and interleaved angle. In this paper, the mathematical model of the machine and working principle were described in detail. Moreover, phase-shifted and interleaved angle optimum method based on low torque ripple and large output power was also given. Finally, a “field-circuit” co-simulation model of motor driving system based on novel control method was built and simulation results verify theory analysis. |
|
|
Development of Redundant Bus Library for Arduino to Apply in SCADA System |
|
Vittaya Tipsuwanporn, Sanya Samaimak(King Mongkut's Institute of Technology Ladkrabang, Thailand) |
| In this paper, we developed the library for the microcontroller platform Arduino to apply in Modbus SCADA systems. This library allows Arduino board to communicate with RS-485 and use Modbus protocol which transmits data via a redundant bus. Experiments are conducted to compare the stability of data communication between a regular bus and a redundant bus which is the developed library. The results show the developed library Arduino board is able to communicate with redundant buses and more resistant to faults than conventional buses.
The developed library can be send and receive data on pri |
|
|
Gouging Depth Control in an Automatic Gouging Machine |
|
Moo Seok Kim(Samsung Heavy Industries, Republic of Korea) |
| This paper presents the automatic gouging machine and the method to cotnrol a depth of gouged groove on steel plate.
The automatic gouging machine can drive automatically at set speed and feed a carbon gouging-rod consecutively.
To control a gouging depth, we use a length of electric arc which is generated during a gouging work.
The gouging depth is controlled by changing the feeding speed of a carbon rod.
We verified the good performance of the proposed method through actual test. |
|
|
Trajectory Following Control of an Articulated Robot VE026A Incorporated with ORiN2 SDK |
|
Fusaomi Nagata, Akimasa Otsuka(Tokyo University of Science, Yamaguchi, Japan), Keigo Watanabe(Okayama University, Japan) |
| In this paper, trajectory following control based on cutter location data (CL data) is developed on ORiN interface for an educational small robot VE026A with six-DOFs. The ORiN middleware is available on the robot. Trajectory following control of an end-effector attached to the flange of the robot is a basic but important strategy for robotic application without using any robot languages. The design with ORiN interface and its experiment are shown. |
|
|
Detection of Workpieces on a CNC Machining Table for Measurement and Automatic Tool Positioning |
|
Mamadou Ngom, Fusaomi Nagata(Tokyo University of Science, Yamaguchi, Japan) |
| This article deals with the localization and measurement of workpieces on top of a CNC machine tool's table. This paper builds upon one of our previous work and covers the same idea, however, the algorithms that had been used were not robust to misalignment. In this paper, a Random Sample Consensus (RANSAC) based plane fitting method is applied for the segmentation of workpieces and for determining their sizes and locations for automatic tool positioning. |
|
|
Towards On-Site Autonomous Robotic Floor Tiling of Mosaics |
|
Mathew Schwartz(Advanced Institutes of Convergence Technology, Republic of Korea), Jaeheung Park(Seoul national university, Republic of Korea), Dehong Jung(University of Brasil, Brazil) |
| Towards On-Site Autonomous Robotic Floor Tiling of Mosaics
De Hong Jung (University of Brasilia)
Jaeheung Park (Seoul National University)
Mathew Schwartz (Advanced Institutes of Convergence Technology)
Floor tiling, a still manual procedure on-site, requires significant time in both awkward positions and bent over. These two movements are main causes of back injury, the leading cause of early retirement and overall injuries in the construction industrtry. This paper explores the efficacy of using current commercial robots for on-site autonomous floor tiling and mosaics. |
|