Hasil Pencarian  ::  Simpan CSV :: Kembali

Abstrak :
[Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots. , Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots. ]

Abstrak :
This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The second level smoothes this set so that the generated paths are feasible given the vehicle's velocity and accelerations limits. The third level generates flyable, timed trajectories and the last one is the tracking controller that attempts to minimize the error between the robot measured trajectory and the reference trajectory. This hierarchy is reflected in the structure and content of the book. Topics treated are : modelling, flight planning, trajectory design and control. Finally, some actual projects are described in the appendix.

Abstrak :
This book constitutes the refereed proceedings of the Third International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012, held in Tsukuba, Japan, in November 2012. The 33 revised full papers and presented together with 3 invited talks were carefully reviewed and selected from 46 submissions. Ten papers describe design of complex behaviors of autonomous robots, 9 address software layers, 8 papers refer to related modeling and learning. The papers are organized in topical sections on mobile robots, software modeling and architecture and humanoid and biped robots.

Abstrak :
This book covers the start-of-the-art research and development for the emerging area of autonomous and intelligent systems. In particular, the authors emphasize design and validation methodologies to address the grand challenges related to safety. This book offers a holistic view of a broad range of technical aspects (including perception, localization and navigation, motion control, etc.) and application domains (including automobile, aerospace, etc.), presents major challenges and discusses possible solutions. - Provides a single-source guide to the practical challenges in designing autonomous and intelligent systems; - Discusses the major challenges related to safety of next-generation autonomous and intelligent systems, given growing complexity and new applications; - Describes new design and validation methodologies to address safety issues; - Includes technical background to facilitate further research and development.

Abstrak :
Inspeksi dan Non-Destructive Evaluation (NDE) untuk pipa minyak dan gas adalah operasi yang signifikan untuk mendeteksi dan memprediksi kejadian kegagalan di sepanjang pipa. Pipa transmisi - pipa jarak jauh yang sebagian besar datar dan mempunyai diameter konstan - menjadi objek penelitian ini. Kompleksitas operasi dan pemeliharaan Pipeline Inspection Gauges (PIG) menyebabkan peningkatan biaya inspeksi pipa. Hal ini mendorong pertumbuhan di sektor robotik. Namun demikian, banyak dari platform robotik yang dikembangkan ini terbatas dalam segi otonomi dan akurasi pengukuran. Oleh karena itu, untuk mengatasi masalah tersebut, pengembangan In-Pipe Inspection Robot (IPIR) bernama ORION dibentuk. Sistem ini mengajukan teknik inspeksi baru yaitu dengan menggunakan depth sensory camera, yang dapat mengambil pengukuran 3D dari kerusakan pipa untuk memprediksi tingkat keparahannya. Kemampuan pengukuran ini belum dapat dicapai dari platform robotik prekursor. Oleh karena itu, ORION merangkum kedua keunggulan dari akurasi PIG dan memiliki kesederhanaan serta kemampuan beradaptasi dari IPIR. Dari segi sistem, ORION adalah robot yang sepenuhnya otonom dengan menerapkan algoritme Machine Learning, yaitu Convolutional Neural Network (CNN) untuk mendeteksi cacat pipa. Makalah ini bertujuan untuk membahas pertimbangan desain, strategi Additive-Manufacturing (AM), dan solusi sistem kontrol untuk ORION. ......Inspection and Non-Destructive Evaluation (NDE) for oil and gas pipelines is a significant operation to detect and predict the failure instances along the pipe. Main transmission pipelines – a long-distance pipe that is mostly leveled and has a constant diameter – becomes the object of this research. The operation and maintenance complexity of Pipeline Inspection Gauges (PIGs) leads to an increase in cost. This has prompted a large growth in the sector of robotic devices. Nevertheless, many of these robotic platform developed fall short of autonomy and measurement accuracy. Therefore, to address these circumstances, the development of an In-Pipe Inspection Robot (IPIR) named ORION was established. The system utilizes a novel inspection technique using a depth sensory camera, which can extract precise 3D measurements of pipe defects to predict their severity. This measurement capability cannot be achieved from the precursory robotic platforms. Consequentially, ORION encapsulates both merits from the accuracy of PIGs and possesses the simplicity also the adaptability of IPIR. System-wise, ORION is a fully autonomous robot that implements a Machine Learning algorithm, namely Convolutional Neural Network (CNN) for defect detection. This paper aims to cover the design considerations, Additive-Manufacturing (AM) strategy, and control system solution for ORION.

Abstrak :
Total Productive Maintenance (TPM) mengkondisikan mesin untuk menghasilkan produk berkualitas dengan cara mengubah cara pandang operator untuk bekerja. Hal ini terwujud dalam salah satu pillar TPM yaitu Autonomous Maintenance (AM). Tujuan penelitian ini adalah penerapan AM pada proses pengemasan susu bantal fleksibel yang dilakukan dengan perangkat bantu Pareto, Matrik QA, Analisa Kondisi Input Produksi, Kartu Perbaikan, Diagram SIPOC dan analisa 5 why. Data masa lampau menunjukkan jumlah produk cacat yang melebihi target yang ditetapkan. Tiga tahapan langkah AM dilaksanakan yang meliputi pembersihan awal mesin ,pengembalian mesin ke keadaan semula dan pembuatan standar hasil dari dua tahap sebelumnya. Hasil implementasi selama 8 bulan menunjukkan penurunan persentase produk cacat dari 3.8% menjadi 0.07%. ......Total Productive Maintenance (TPM) make machine produce product with good quality by change the way operator works. That realized in one of TPM Pillar which is Autonomous Maintenance (AM). Purpose of this research in the packaging process of pillow flex milk is done with help of Pareto, QA Matrix, Input Production Condition Analysis, Tags, SIPOC, and 5 Why Analysis. Historical data shows that the amount of defects is larger than the target. Three steps of AM were done include initial cleaning, return to basic condition, and making of standard. The results of implementation in 8th months shows decrease from 3.8% become 0.07%.