International Journal of Intelligent Systems Technologies and Applications, 2011
ABSTRACT Urban search and rescue robots are required for the searching of victims in disaster sce... more ABSTRACT Urban search and rescue robots are required for the searching of victims in disaster scenarios. Some of the problems experienced before were involved reliable communication with the robot and unsafe environmental conditions, which are harmful to the rescuers. The improvements conducted as used for the contractible arms elevating search and rescue robot are explained and discussed. These involve frequency selection, protocols, antenna design and models for gas danger decisions.
This chapter investigates the method of chaos control namely the Ott-Grebogi-Yorke method. In non... more This chapter investigates the method of chaos control namely the Ott-Grebogi-Yorke method. In non-chaotic systems, large system parameteri changes are required for performance changes. A sagittal plane biped model which is capable of exhibiting periodic and chaotic locomotion was researched and investigated. The locomotion was either periodic or chaotic depending on the design parameters. Nonlinear dynamic tools such as the Bifurcation Diagram, Lyapunov Exponent and Poincaré Map were used to differentiate parameters which generated periodic motion apart from chaotic ones. Numerical analytical tools such as the Closed Return and Linearization of the Poincaré Map were used to detect unstable periodic orbit in chaotic attractors. Chaos control of the model was achieved in simulations. The system dynamic is of the non-smooth continuous type. Differing from other investigated chaotic systems, the biped model has varying phase space dimensions which can range from 3 to 6 dimensions depending on the phase of walking.
The design and manufacture of a low cost, modular prosthetic hand is discussed in detail in this ... more The design and manufacture of a low cost, modular prosthetic hand is discussed in detail in this chapter. A fully actuated hand was developed with individually actuated fingers. A wrist was designed and manufactured to allow for a single degree of freedom, which allows for the rotation of 180 degrees. An experimental upper arm was developed using a pair of air muscles mimicking the bicep and triceps. The hand was tested in terms
Information Control Problems in Manufacturing 2006, 2006
Manufacturing companies are facing three challenges: low cost production of product, high quality... more Manufacturing companies are facing three challenges: low cost production of product, high quality standard and rapid responsiveness to customer requirements. These three goals are equally important for the manufacturing companies who want to be competitive in the global economy. Reconfigurable machining system facilitate the demand for Mass Customization Manufacturing, (MCM). The reconfigurable machining system is a subsystem of Reconfigurable Manufacturing System (RMS), which falls within the scope of Agile Manufacturing (AM). AM provides the ability to accomplish rapid changeover between manufacturing processes for different assemblies.
IEEE International Symposium on Industrial Electronics. Proceedings. ISIE'98 (Cat. No.98TH8357), 1998
Intelligent generic grippers using low-cost electronics can be used for part identification when ... more Intelligent generic grippers using low-cost electronics can be used for part identification when attached to a robot end effector. The versatility of a generic gripper makes it suitable for the automated population of printed circuit boards (PCBs). Electronic component assembly onto printed circuit boards was implemented by means of the reverse engineering concept commonly used in flexible manufacturing systems. The
ABSTRACT Positioning and navigation data for unmanned surface vehicles (USVs) are extracted using... more ABSTRACT Positioning and navigation data for unmanned surface vehicles (USVs) are extracted using the Global Positioning System (GPS) and the Inertial Navigation System (INS) integrated with an inertial measurement unit (IMU). The integration of quaternion with direction cosine matrix (DCM) with the aim of obtaining high accuracy with complete system independence has been effectively used to supply position and attitude information for autonomous navigation of marine crafts. A DCM integrated with a quaternion provided an advanced technique for precise USV attitude estimation and position determination using low-cost sensors. This paper presents the implementation of an INS developed by the integration of DCM and quaternion.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
In this paper, the problem of providing flexible process integration for Mass Customisation Manuf... more In this paper, the problem of providing flexible process integration for Mass Customisation Manufacturing is addressed. A subset of the total distributed process integration is assumed to be handled by flexible routing operations. Physical routing operations are considered to be facilitated by autonomous mobile Payload Routing Platforms (PRP's). Facility layout flexibility is extended through active material routing operations. A prototype mobile PRP is presented, which has been developed for preliminary testing and validation of the motion control associated with providing distributed process integration under customer-induced production dynamics.
Robotics and Computer-Integrated Manufacturing, 2000
A cordless linear synchronous motor (LSM) material handling system for CIM has been developed. Th... more A cordless linear synchronous motor (LSM) material handling system for CIM has been developed. The system incorporates a courier that moves without tether restrictions. This provides for an automated material handling system with improved travel and #exibility. The material handling system runs on an integrated reverse air bearing system which eliminates friction and backlash. The proposed system forms part of a manufacturing assembly, interacting with overhead manipulators and part feeders to form a comprehensive production system. The design and implementation of the cordless linear motor material handling system (MHS) is outlined and described in the paper.
Manufacturers faced with small production runs often require multiple machine changeovers per shi... more Manufacturers faced with small production runs often require multiple machine changeovers per shift. Vision control of machinery offers a cost-effective solution to this problem. Manufacturers are able to introduce diverse product, randomly, to a process line during the same production run, using reasonably priced industrial electronic equipment incorporating vision technology.
... The Bluetooth enabled watch, as shown in Figure 7, is loaded with the user's personal da... more ... The Bluetooth enabled watch, as shown in Figure 7, is loaded with the user's personal data, and has a range of 2.4 m. As the watch is generally between 500 and 2,000 mm from the floor, it is always within a range of at least one receiver module but never in a range of more ...
International Journal of Intelligent Systems Technologies and Applications, 2011
ABSTRACT Urban search and rescue robots are required for the searching of victims in disaster sce... more ABSTRACT Urban search and rescue robots are required for the searching of victims in disaster scenarios. Some of the problems experienced before were involved reliable communication with the robot and unsafe environmental conditions, which are harmful to the rescuers. The improvements conducted as used for the contractible arms elevating search and rescue robot are explained and discussed. These involve frequency selection, protocols, antenna design and models for gas danger decisions.
This chapter investigates the method of chaos control namely the Ott-Grebogi-Yorke method. In non... more This chapter investigates the method of chaos control namely the Ott-Grebogi-Yorke method. In non-chaotic systems, large system parameteri changes are required for performance changes. A sagittal plane biped model which is capable of exhibiting periodic and chaotic locomotion was researched and investigated. The locomotion was either periodic or chaotic depending on the design parameters. Nonlinear dynamic tools such as the Bifurcation Diagram, Lyapunov Exponent and Poincaré Map were used to differentiate parameters which generated periodic motion apart from chaotic ones. Numerical analytical tools such as the Closed Return and Linearization of the Poincaré Map were used to detect unstable periodic orbit in chaotic attractors. Chaos control of the model was achieved in simulations. The system dynamic is of the non-smooth continuous type. Differing from other investigated chaotic systems, the biped model has varying phase space dimensions which can range from 3 to 6 dimensions depending on the phase of walking.
The design and manufacture of a low cost, modular prosthetic hand is discussed in detail in this ... more The design and manufacture of a low cost, modular prosthetic hand is discussed in detail in this chapter. A fully actuated hand was developed with individually actuated fingers. A wrist was designed and manufactured to allow for a single degree of freedom, which allows for the rotation of 180 degrees. An experimental upper arm was developed using a pair of air muscles mimicking the bicep and triceps. The hand was tested in terms
Information Control Problems in Manufacturing 2006, 2006
Manufacturing companies are facing three challenges: low cost production of product, high quality... more Manufacturing companies are facing three challenges: low cost production of product, high quality standard and rapid responsiveness to customer requirements. These three goals are equally important for the manufacturing companies who want to be competitive in the global economy. Reconfigurable machining system facilitate the demand for Mass Customization Manufacturing, (MCM). The reconfigurable machining system is a subsystem of Reconfigurable Manufacturing System (RMS), which falls within the scope of Agile Manufacturing (AM). AM provides the ability to accomplish rapid changeover between manufacturing processes for different assemblies.
IEEE International Symposium on Industrial Electronics. Proceedings. ISIE'98 (Cat. No.98TH8357), 1998
Intelligent generic grippers using low-cost electronics can be used for part identification when ... more Intelligent generic grippers using low-cost electronics can be used for part identification when attached to a robot end effector. The versatility of a generic gripper makes it suitable for the automated population of printed circuit boards (PCBs). Electronic component assembly onto printed circuit boards was implemented by means of the reverse engineering concept commonly used in flexible manufacturing systems. The
ABSTRACT Positioning and navigation data for unmanned surface vehicles (USVs) are extracted using... more ABSTRACT Positioning and navigation data for unmanned surface vehicles (USVs) are extracted using the Global Positioning System (GPS) and the Inertial Navigation System (INS) integrated with an inertial measurement unit (IMU). The integration of quaternion with direction cosine matrix (DCM) with the aim of obtaining high accuracy with complete system independence has been effectively used to supply position and attitude information for autonomous navigation of marine crafts. A DCM integrated with a quaternion provided an advanced technique for precise USV attitude estimation and position determination using low-cost sensors. This paper presents the implementation of an INS developed by the integration of DCM and quaternion.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
In this paper, the problem of providing flexible process integration for Mass Customisation Manuf... more In this paper, the problem of providing flexible process integration for Mass Customisation Manufacturing is addressed. A subset of the total distributed process integration is assumed to be handled by flexible routing operations. Physical routing operations are considered to be facilitated by autonomous mobile Payload Routing Platforms (PRP's). Facility layout flexibility is extended through active material routing operations. A prototype mobile PRP is presented, which has been developed for preliminary testing and validation of the motion control associated with providing distributed process integration under customer-induced production dynamics.
Robotics and Computer-Integrated Manufacturing, 2000
A cordless linear synchronous motor (LSM) material handling system for CIM has been developed. Th... more A cordless linear synchronous motor (LSM) material handling system for CIM has been developed. The system incorporates a courier that moves without tether restrictions. This provides for an automated material handling system with improved travel and #exibility. The material handling system runs on an integrated reverse air bearing system which eliminates friction and backlash. The proposed system forms part of a manufacturing assembly, interacting with overhead manipulators and part feeders to form a comprehensive production system. The design and implementation of the cordless linear motor material handling system (MHS) is outlined and described in the paper.
Manufacturers faced with small production runs often require multiple machine changeovers per shi... more Manufacturers faced with small production runs often require multiple machine changeovers per shift. Vision control of machinery offers a cost-effective solution to this problem. Manufacturers are able to introduce diverse product, randomly, to a process line during the same production run, using reasonably priced industrial electronic equipment incorporating vision technology.
... The Bluetooth enabled watch, as shown in Figure 7, is loaded with the user's personal da... more ... The Bluetooth enabled watch, as shown in Figure 7, is loaded with the user's personal data, and has a range of 2.4 m. As the watch is generally between 500 and 2,000 mm from the floor, it is always within a range of at least one receiver module but never in a range of more ...
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Papers by Glen Bright