The Experts below are selected from a list of 34566 Experts worldwide ranked by ideXlab platform
Marcelo V. Garcia - One of the best experts on this subject based on the ideXlab platform.
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WorldCIST (2) - Design of a Gravity Compensation for Robot Control Based on Low-Cost Automation.
Trends and Innovations in Information Systems and Technologies, 2020Co-Authors: Dalia Alvarez-montenegro, Juan Escobar-naranjo, Carlos A. Garcia, Geovanni Brito, Marcelo V. GarciaAbstract:In recent years, robotics applications based on open source have been developed, where the precision in movements is considered as the main goal when following a trajectory, however, due to different circumstances, small errors can interfere with the individual control of the manipulator joints, to improve the accuracy of the end-effector in cartesian space there are different kind of methods as the gravity compensation which is included in the dynamic model. In addition to the development of a system that integrates concepts of Industry 4.0, a low-Cost controller is used for this system, where high communication and processing capabilities allow rapid exchange of information between components. In this article is developed an application over Raspberry Pi 3B for control the arm of KUKA youBot through a graphical interface where positions can be saved and reproduces.
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Low-Cost Automation for Gravity Compensation of Robotic Arm
Applied Sciences, 2020Co-Authors: William Montalvo, Juan Escobar-naranjo, Carlos A. Garcia, Marcelo V. GarciaAbstract:During the Industry 4.0 era, the open source-based robotic arms control applications have been developed, in which the control algorithms apply for movement precision in the trajectory tracking paths based on direct or reverse kinematics. Therefore, small errors in the joint positions can summarize in large position errors of the end-effector in the industrial activities. Besides the change of the end-effector position for a given variation of the set-point in manipulator joint positions depends on the manipulator configuration. This research proposes a control based on Proportional Derivative (PD) Control with gravity compensation to show the robustness of this control scheme in the robotic arm’s industrial applications. The control algorithm is developed using a low-Cost board like Raspberry Pi (RPI) where the Robot Operating System (ROS) is installed. The novelty of this approach is the development of new functions in ROS to make the PD control with gravity compensation in low-Cost systems. This platform brings a fast exchange of information between the Kuka™ youBot robotic arm and a graphical user’s interface that allows a transparent interaction between them.
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Gravity Compensation Using Low-Cost Automation for Robot Control
Smart Innovation Systems and Technologies, 2020Co-Authors: Gustavo Caiza, Dalia Alvarez-montenegro, Juan Escobar-naranjo, Carlos A. Garcia, Marcelo V. GarciaAbstract:Recently, open source-based robotics applications have been developed, where precision in movement control is considered the main objective when following a trajectory based on direct or reverse kinematics; however, due to different disturbances, small errors can interfere with the execution of orders sent for the individual control of the manipulator’s joints. To improve the precision in the movement of the final effector within the Cartesian space, this research proposes a method based on gravitational compensation, canceling the dynamic analysis of the robotic arm. The control algorithm is a ROS-based system that integrates concepts of low-Cost Automation; this algorithm resides inside a low-Cost controller as Raspberry Pi that is used for rapid exchange of information between the Kuka youBot robotic arm and a graphical interface that allows an interaction between the user and the system components.
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Performance Evaluation of AMQP and CoAP for Low-Cost Automation
Communications in Computer and Information Science, 2020Co-Authors: Gustavo Caiza, Carlos A. Garcia, Carlos León, Luis Campaña, Marcelo V. GarciaAbstract:A lot of communication protocols have been developed to support the efficient communication of the Industrial Internet of Things (IIoT) devices. These kinds of applications are intended to run with constrained resources. However, the selection of a standard and effective industrial messaging protocol is a challenging task for any shop floor integration because it depends on the nature of the IoT system and its messaging requirements. In this paper, two IoT protocols like Advanced Message Queuing Protocol (AMQP) and Constrained Application Protocol (CoAP) are compared using a low-Cost hardware device for factory integration. The results show that the CoAP protocol is designed to be so small that it fits inside a microcontroller, but it can be fully applied in cyber-physical environments, in another aspect the AMQP protocol is more complex, there is no official support and you need bigger installation packages; but it provides a higher communication speed.
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ETFA - Augmented Reality for Robot Control in Low-Cost Automation Context and IoT
2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020Co-Authors: Gustavo Caiza, Carlos A. Garcia, Pablo Bonilla-vasconez, Marcelo V. GarciaAbstract:Augmented Reality (AR) is one of the key technology in the Industry 4.0 development. The robotic manufacturing is very useful because of their versatility and repeatability in industrial tasks. However, as technologies advance, complex and high-Cost control systems are required, hence the need to create low-Cost and efficient control systems, with low complexity when operating them. A virtual control proposed in Unity 3D allowing the application to be much more interactive and very easy for the user. The authors describe the working scenario, the overall architecture, communication protocol in the context of the Internet of Things (IoT) and give design and implementation details on the AR application.
Jordan Heap - One of the best experts on this subject based on the ideXlab platform.
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harnessing open source technology for low Cost Automation in synthesis flow chemical deprotection of silyl ethers using a homemade autosampling system
Tetrahedron Letters, 2017Co-Authors: Matthew Obrien, Lisette Konings, Matthew Martin, Jordan HeapAbstract:An inexpensive homemade 3-axis autosampler was used to facilitate the Automation of an acid catalysed flow chemical desilylation reaction. Harnessing open-source software technologies (Python, OpenCV), an automated computer-vision controlled liquid-liquid extraction step was used to provide effective inline purification. A Raspberry Pi single-board computer was employed to interface with the motors used in the autosampler and actuated fluidic valves.
Katt Regina Lapa - One of the best experts on this subject based on the ideXlab platform.
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Low-Cost Automation for Hydrological Monitoring in Water Resources Management
Proceedings, 2019Co-Authors: Luis Hamilton Pospissil Garbossa, André Luis Tortato Novaes, Katt Regina LapaAbstract:To properly manage water resources, data acquisition through environmental monitoring is required. However, the Cost of professional sophisticated hydrological monitoring equipment may be prohibitive for many locations around the world. This work aims to develop a low-Cost data collection platform (L-DCP) to be used to densify the hydrological monitoring network for rainfall, small rivers level and water temperature. Low Cost sensors were compared to professional ones and presented an excellent correlation, with the coefficient of determination higher than 0.99 for temperature. The L-DCP was kept activated and collecting data for over 150 days without major problems. The low-Cost solution has approximately 9% of the Cost of a professional solution.
Matthew Obrien - One of the best experts on this subject based on the ideXlab platform.
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harnessing open source technology for low Cost Automation in synthesis flow chemical deprotection of silyl ethers using a homemade autosampling system
Tetrahedron Letters, 2017Co-Authors: Matthew Obrien, Lisette Konings, Matthew Martin, Jordan HeapAbstract:An inexpensive homemade 3-axis autosampler was used to facilitate the Automation of an acid catalysed flow chemical desilylation reaction. Harnessing open-source software technologies (Python, OpenCV), an automated computer-vision controlled liquid-liquid extraction step was used to provide effective inline purification. A Raspberry Pi single-board computer was employed to interface with the motors used in the autosampler and actuated fluidic valves.
Zhen Sheng Guo - One of the best experts on this subject based on the ideXlab platform.
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Low Cost Automation and local CIMS the Automation development direction for medial and small enterprise
1999 European Control Conference (ECC), 1999Co-Authors: Wei Ji Che, Zhen Sheng GuoAbstract:In order to stay competitive in the world market, reforming manufacturing industry is essential. Indeed, it's very important to adopt overall CIMS, Low Cost Automation (LCA) and Local CIMS (LCIMS) Automation technology for reforming manufacturing industry and related industries as well. Overall CIMS model is only suitable for Automation development in larger enterprises. LCIMS and LCA models are suitable for Automation development at medial and small enterprises. A survey of overall CIMS, LCA and LCIMS and a case study of LCIMS for the garment industry are presented in this paper.
