In this paper we have reported results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate so that we have verified the numerical simulations with practical experiments. Reproducing accelerometer diagrams of really happened earthquakes has proved the practical feasibility. Experimental results have been reported in this paper to show the interest for this application of CaPaMan. 12:50―13:10 | Visual Servoing to Fish and Catching Using Global/Local GA Search
Mamoru Minami, Hidekazu Suzuki, Julien Agbanhan, Toshiyuki Asakura, Fukui University, Japan
This paper presents a vision related technique for a manipulator real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA) and a local search technique of the GA and also the unprocessed gray-scale image called here as raw-image in order to perform recognition of a known target object being imaged. Also in GA process the computation of the fitness function is based on the configuration of an object model designated as surface-strips model. The raw-image is used since it is more tolerant of contrast variations from an input image to the next one and moreover does not require any filtering processing time. The global GA is utilized together with the local GA in order to recognize the target shape and detect the position and orientation simultaneously and to increase …
| M2C | Fixture and Grasping Design | Railway Vehicle Technology | M2D | SALA BIANCA | 11:30―13:10 | SALA TURCA | | | CHAIR | Antonio Piccolo, Italy | Maria Chiara Carrozza, Italy | CO-CHAIR | Torsten Bertram, Germany | Effect of Fixture Design Variables on Fixture-Workpiece Conformability and Static Stability
Jose F. Hurtado, Shreyes N. Melkote, Georgia Inst. of Technology, USA
A parametric study of the effect of fixture design variables on fixture-workpiece conformability and static stability is presented. Conformability is defined as the geometric similarity between the workpiece surface and the smallest polyhedron fit over all contacts. Two conformability metrics are introduced to account for global and local conformability. The design variables of interest are: the number and position of fixture elements, fixture element length, clamping intensity, fixture element orientation, static coefficient of friction, fixture element tip radius and the direction of the fixture principal stiffnesses. Both force-controlled and displacement-controlled fixtures are considered. The static stability was found to increase with the static coefficient of friction and with the fixture element tip radius. Clamping … | 11:30―11:50 | Train Speed and Position Evaluation using Wheel Velocity Measurements
Monica Malvezzi, Paolo Toni, Università di Firenze, Benedetto Allotta, Valentina Colla, Scuola Superiore Sant’Anna, Italy
A novel security system named SCMT, to be installed on trains circulating in Italian railways is currently being developed. One of the components of SCMT is a module for estimating train speed and positions between two subsequent viapoints equipped with balises which communicate to the train the distance to next target(s) and velocity requirement(s) at target(s). The module uses two wheels equipped with incremental encoder-type sensors. In this paper we describe an algorithm for position and velocity estimation capable of compensating for poor wheel-rail adhesion conditions due to rain, fog, ice, leaves, and so on, where conventional odometry algorithms fail. The system was designed and trained using a wide set …
| The Development of an Internet-Enabled Semi-Automated Fixture Design System
A. Senthil Kumar, S.H. Bok, R. Kiran Kumar, A.Y.C. Nee, National University of Singapore, Singapore
Design of a fixture is a complex and an intuitive process. An efficient fixture design system is essential to cut costs and to reduce lead-time. This paper addresses the development of a simple Internet-enabled semi-automated Fixture Design system (SFD), to demonstrate that true 3D fixture design can be carried out over the Internet. The whole system has been developed in Java and Java3D to ensure that the benefits of Java technology are obtained for Internet viability considerations such as portability and good client-server computing performance. The system is currently implemented based on a simple 3-tier thin client-fat server architecture using Java’s Remote Method Invocation (RMI). Design communications are … | 11:50―12:10 | Mechatronic Strategies for Controlling Railway Wheelsets with Independently Rotating Wheels
Roger Goodall, Loughborough Univ., T.X. Mei, Univ. of Leeds, UK
This paper presents the development of an active control strategy for the independently rotating wheelset of railway vehicles. The proposed control scheme is intuitively formulated with a simple control structure and adaptive to vehicle speed. It does not require basic guidance measurements (e.g. wheel-rail deflection and angle of attack) that are expensive and impractical to implement. Speed sensors are used to measure the relative rotational speed of the two wheels on a same axle and optional sensors may be used to measure the wheelset yaw velocity relative to the vehicle body. A two-axle vehicle is used in the study. Both curving performance and passenger ride comfort of the actively controlled vehicle are compared with that of a typical passive vehicle and an optimal control scheme. | | |
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