Rm Parkin

Telerobotics experiments via Internet

Many enterprises experience difficulty in training people to work with expensive equipment, which is needed for carrying out profitable work tasks (e.g., production line robots). Similar problems are found when work is of a complex and safety-critical nature (e.g., nuclear environments, explosive placement, surgery). This paper describes a method of education and training involving offline usage of virtual environments for task planning. When tasks are developed to the satisfaction of the trainee, they are exported to remote physical hardware, via the Internet, for real-world execution. Development of the system and the training experiments is discussed, along with some of the issues raised for telerobotics and solutions to the problem of detecting collisions in the virtual world. The approach has been shown to be viable and increases the education and training possibilities for key workers while maintaining a low cost of ownership. The downtime of mission-critical equipment is minimized while the gaining of valuable experience is maximized.

Control of robot arm with virtual environment via the Internet

Many enterprises experience difficulty in training people to work with expensive equipment, which is needed for carrying out profitable work tasks (e.g., production line robots). Similar problems are found when work is of a complex and safety-critical nature (e.g., nuclear environments, explosive placement, surgery). A common problem faced by educational institutions concerns the limited availability of expensive robotics equipment, with which students in the didactic program can work, in order to acquire valuable hands on experience. This paper describes a method of education and training involving off-line usage of virtual reality environments for task planning. When tasks are developed to the satisfaction of the trainee, they are exported to remote physical hardware, via the Internet, for real-world execution. Development of the system and the training experiments is discussed, along with some of the issues raised for telerobotics and solutions to the problem of detecting collisions in the virtual world. The approach has been shown to be viable, and increases the education and training possibilities for key workers while maintaining a low cost of ownership. The downtime of mission critical equipment is minimized while the gaining of valuable experience is maximized.

A Survey on Condition Monitoring Systems in Industry

Advances in networking technologies are opening integration opportunities for Condition Based Monitoring (CBM) systems, presenting further possibilities for increasing CBM system functionality. This paper presents the results of a CBM Survey designed to determine present applications of CBM system within industry. Understanding how industry applies practices such as CBM in the work place offers valuable research results for CBM system providers, consultants and business users alike. The survey acts as a CBM application indicator for 2004. It targets 6 key areas: 1) Respondents’ company information, 2) The type of CBM technique/s applied by the respondents’ company, 3) Incentives that led the respondents’ company to implement their CBM system, 4) Technological and integration issues associated with respondents’ application of CBM, 5) Implementation issues associated with the respondents’ CBM system, and 6) Reliability and consequential maintenance awareness issues following implementation. An international response shows CBM to be a globally accepted maintenance practice. In addition to the survey results, the paper discusses developments in remote CBM systems using the Internet, with particular regard for developing suitable user interface designs.Copyright

Telerobot control via Internet

This paper describes design issues involved in providing remote users with Internet access to a laboratory robotic system and presents a real experiment which enables students to control a six degree teleoperated robotic manipulator. Simulation tools for the robotic hardware are developed using Java and VRML 97 to create a desktop virtual reality environment which improves the visualisation of the manipulator hardware and associated workspace. The V-Collide library of C++ collision detection functions has also been integrated within the simulator to provide realistic detection between the virtual robot and its associated workspace. Communication between the remote user and project server via the Internet, interface electronics and control software is also discussed.

A PID servo control system experiment conducted remotely via Internet

Abstract The principles of robotics and control are widely taught in engineering subjects, however a common problem concerns the limited availability of expensive equipment with which students can work with, in order to acquire valuable practical `hands on experience. The MuMaTE virtual robotics and control project on the World Wide Web (www) was launched to evaluate the suitability of virtual learning environments, the Internet, and multimedia technologies within an engineering-based flexible learning program. Students using networked computers can access this facility to study a wide variety of on-line course material and perform a series of interactive experiments with real world laboratory hardware. This paper presents an on-line experiment, which enabled users to successfully control and observe the response of a commercial position servo system. The development of the project web server, interface electronics and control software is also discussed. MuMaTE: http://mumate.lboro.ac.uk

Dimensional deviations of machine parts produced in laser sintering technology

This study concerns assessment of dimensional deviations of machine parts produced in laser sintering technology. For the assessment of dimensional deviations a gauge containing basic shapes characteristic of machine parts was designed and produced. The gauge measurements were carried out. Linear dimensions, plane angles of inclinations and diameters were measured. The results from the measures showed that some dimensional deviations considerably exceed permissible deviations given in technical documentation of the laser sintering technology. The research is limited to specific equipment and material. This data is very useful in designing process of functional prototypes. The laser sintering technology could be used for fabrication of functional prototypes. In this case, dimensional deviations of parts are important. This research was conducted to provide much needed accuracy information.

Investigations of flame front propagation between interconnected process vessels. Development of a new flame front propagation time prediction model

Abstract For the case where a dust or gas explosion can occur in a connected process vessel, it would be useful, for the purpose of designing protection measures and also for assessing the existing protection measures such as the correct placement, to have a tool to estimate the time for flame front propagation along the connecting pipe. Measurements of data from large-scale explosion tests in industrially relevant process vessels are reported. To determine the flame front propagation time, either a 1xa0m 3 or a 4.25xa0m 3 primary process vessel was connected via a pipe to a mechanically or pneumatically fed 9.4xa0m 3 secondary silo. The explosion propagation started after ignition of a maize starch/air mixture in the primary vessel. No additional dust was present along the connecting pipe. Systematic investigations of the explosion data have shown a relationship between the flame front propagating time and the reduced explosion over-pressure of the primary explosion vessel for both vessel volumes. Furthermore, it was possible to validate this theory by using explosion data from previous investigations. Using the data, a flame front propagation time prediction model was developed which is applicable for: • gas and dust explosions up to a K value of 100 and 200xa0barxa0mxa0s −1 , respectively, and a maximum reduced explosion over-pressure of up to 7xa0bar; • explosion vessel volumes of 0.5, 1, 4.25 and 9.4xa0m 3 , independent of whether they are closed or vented; • connecting pipes of pneumatic systems with diameters of 100–200xa0mm and an air velocity up to 30xa0mxa0s −1 ; • open ended pipes and pipes of interconnected vessels with a diameter equal to or greater than 100xa0mm; • lengths of connecting pipe of at least 2.5–7xa0m.

The design of a novel sensor fusion model for monitoring people's density in public places using infrared thermography

There is an increasing need in modern cities for automated Crowd Condition Monitoring (CCM) in order to provide continuous real-time on-line information regarding the density, number and movement behaviour of crowd within a specific area in order to allow the required level of services and facilities to be specified and directed. This paper describes the novel application of low-cost infrared system for estimating people’s density using infrared thermography. Sensor fusion system is developed to compensate for environmental noise. The results show that the suggested monitoring system could provide an efficient method to estimate crowd’s density.

Plant Classification Combining Colour and Spectral Cameras for Weed Control Purposes

Weed plant detection and classification is a difficult task for any computer vision system. Previous studies show promising results with either colour camera or spectral imaging solutions. However, typical colour camera solutions have found it hard to deal with overlapping leaves, and spectral solutions often lack in the spatial resolution required for accurate leaf level detection. In this paper a novel system for weed detection and classification is presented using both low-cost RGB (Red, Green, Blue) colour and spectral (400 - 1000 nm) cameras combining the strengths of these individual technologies. The system presented performs accurate leaf level classification and is capable of identification at 97.6% with non-overlapping full leaves in laboratory under controlled lighting conditions. Plant leaf samples from 6 different plant types were used. With dedicated hardware and optimized software the system should be capable of at least 5 km/h real-time operation in field conditions.

Spectral imaging system for non-contact colour measurement

Abstract This paper describes the development of a non-contact system for measuring colour of printed material at web speeds. The system proposed uses a non-contact spectrophotometer based on a holographic grating, in conjunction with a conventional monochrome area scan camera, from which colour spectral data is extracted, whilst a xenon flash is used to illuminate colour samples. Software and hardware details of the system are given, along with the underlying mathematics for colour space conversion and measurement. Conversion equations from X, Y, Z chromaticity co-ordinates to the RGB system are presented, and also equations to convert from the L ∗ a ∗ b ∗ colour space to X, Y, Z chromaticity co-ordinates. Experimental results are presented whereby the non-contact spectral system is shown to perform to a colour tolerance exceeding that of conventional colour video systems.