Survey, comparison and research challenges of IoT application protocols for smart farming

In industrial environments, over several decades, Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) have served to improve efficiencies of intralogistics and material handling tasks. However, for system integrators, the choice and effective deployment of improved, suitable and reliable communication and control technologies for these unmanned vehicles remains a very challenging task. Specifics of communication for AGVs and AMRs imposes stringent performance requirements on latency and reliability of communication links which many existing wireless technologies struggle to satisfy. In this paper, a review of latest AGVs and AMRs research results in the past decade is presented. The review encompasses results from different past and present research domains of AGVs. In addition, performance requirements of communication networks in terms of their latencies and reliabilities when they are deployed for AGVs and AMRs coordination, control and fleet management in smart manufacturing environments are discussed. Integration challenges and limitations of present state-of-the-art AGV and AMR technologies when those technologies are used for facilitating AGV-based smart manufacturing and factory of the future applications are also thoroughly discussed. The paper also present a thorough discussion of areas in need of further research regarding the application of 5G networks for AGVs and AMRs fleet management in smart manufacturing environments. In addition, novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.

/pdf/a-review-of-recent-advances-in-automated-guided-vehicle-qlzg8e9vod.pdf

A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

Nowadays, global engineers need to be equipped with professional skills and knowledge to solve 21st century problems. The educational program, created in digital learning rooms of the Higher Engineering Education Alliance Program (HEEAP) program supported by Arizona State University, became a pioneer in teaching learners to work within the community. First, the combination of a novel instructional strategy and an integrated education in which project-based approach is employed to apply the technical knowledge. During this, students in mechatronics, computer science, and mechanics must collaborate with peers from industrial systems engineering. Second, in this paper, the design of an open structure connecting multi-disciplinary major is illustrated with a new teaching approach. It is proved to be better by combining specialized understandings of various types in a wide range of applications. From this basis support, participants could implement additional components quickly while keeping the cost low, making the products feasible and user-friendly. Last but not least, students are facilitated with a free library that helps to control simply despite lacking experience in robotics or automation. Several examples show that students are capable of developing things by themselves on open design. In brief, this platform might be an excellent tool to teach and visualize the practical scenario in a multi-disciplinary field.

Design of an Open Platform for Multi-Disciplinary Approach in Project-Based Learning of an EPICS Class

In previous works, the perceived safety and comfort are currently not the principal objectives of all industries, especially robotics system. It might lead not to take psychological safety into con...

https://journals.sagepub.com/doi/pdf/10.1177/1687814020979430

Develop the socially human-aware navigation system using dynamic window approach and optimize cost function for autonomous medical robot:

In the actual industrial production process, the method of adaptively tuning proportional–integral–derivative (PID) parameters online by neural network can adapt to different characteristics of different controlled objects better than the controller with PID. However, the commonly used microcontroller unit (MCU) cannot meet the application scenarios of real time and high reliability. Therefore, in this paper, a closed-loop motion control system based on BP neural network (BPNN) PID controller by using a Xilinx field programmable gate array (FPGA) solution is proposed. In the design of the controller, it is divided into several sub-modules according to the modular design idea. The forward propagation module is used to complete the forward propagation operation from the input layer to the output layer. The PID module implements the mapping of PID arithmetic to register transfer level (RTL) and is responsible for completing the output of control amount. The main state machine module generates enable signals that control the sequential execution of each sub-module. The error backpropagation and weight update module completes the update of the weights of each layer of the network. The peripheral modules of the control system are divided into two main parts. The speed measurement module completes the acquisition of the output pulse signal of the encoder and the measurement of the motor speed. The pulse width modulation (PWM) signal generation module generates PWM waves with different duty cycles to control the rotation speed of the motor. A co-simulation of Modelsim and Simulink is used to simulate and verify the system, and a test analysis is also performed on the development platform. The results show that the proposed system can realize the self-tuning of PID control parameters, and also has the characteristics of reliable performance, high real-time performance, and strong anti-interference. Compared with MCU, the convergence speed is far more than three orders of magnitude, which proves its superiority.

/pdf/a-design-of-fpga-based-neural-network-pid-controller-for-39s1m3hw.pdf

A Design of FPGA-Based Neural Network PID Controller for Motion Control System

Abstract In the robotic applications, wheel-legged robot provides many advantages such as lightweight, superior performance, low energy consumption and wide development prospects. Especially, in some emergent cases, it has the ability to move flexibly, pass obstacles and work in both outdoor and indoor environment. In this paper, a novel design of wheel-legged platform for robotic investigation is presented. Firstly, the principle diagram of underactuated robot (UR) is outlined owing to the model of inverted pendulum. Then, several theoretical computations are suggested to ensure the ability to work as its desired control. Later, an overview of mechanical design in 3D is described as well as the design of electrical circuit is demonstrated based on these requirements. To validate the feasibility and effectiveness of our approach, several numerical simulations are carried out.

https://www.tandfonline.com/doi/pdf/10.1080/23311916.2022.2095882?needAccess=true

Design of reconfigurable mechanism for underactuated robot in the grounded applications

https://doi.org/10.1016/j.mex.2022.101659

Using an intelligent control scheme in the open-source design on non-invasive rehabilitation platform of physical therapy for patient

In this paper, the research of automated car is investigated to serve in industrial environment. Initially, the car frame is suggested to evaluate geographical coefficients and kinematic model. Based on this analysis, the motion controller is derived to drive car in reference trajectory. Later, the modeling of overall system is simulated on computer to fit with proposed design. The car must operate in global map including the interfusion of linear paths and circular corners. From simulation results, it can be seen that the proposed strategy is feasible, effective and capable in real world.

An Investigation of System Architecture for Autonomous Vehicle: Modeling and Simulation

Approaching to the stable transportation based on motion profile phases for material handling system

A R T I C L E I N F O A B S T R A C T Article history: Received: 23 October, 2019 Accepted: 10 December, 2019 Online: 15 January, 2020 In our era, human and machine must share the same workspace in various plants such as warehouse logistics, material transportation, manufacturing factory or assisted human. The collaboration is essential to maintain the safe operation and the complete mission. In this paper, a design of anti-vibration scheme using Spline generator for grounded vehicle platform in human-machine interaction is introduced. This hardware structure is able to play a role as carrier in loading application or human assistant in real life. In most of cases, vehicle must convey cargo from start point to destination instead of human while its reference trajectory conflicts with human’s movement. The proposed algorithm helps to carry out a decision of stopping strategy with the least vibration as possible to avoid accident. From the test results, the proposed design is feasible and capable to apply in numerous industries.

/pdf/constrained-path-planning-for-both-smooth-motion-profile-and-dcodqrl69v.pdf

Ha Quang Thinh Ngo

Papers

Design of reconfigurable mechanism for underactuated robot in the grounded applications

Using an intelligent control scheme in the open-source design on non-invasive rehabilitation platform of physical therapy for patient

An Investigation of System Architecture for Autonomous Vehicle: Modeling and Simulation

Approaching to the stable transportation based on motion profile phases for material handling system

Constrained Path Planning for Both Smooth Motion Profile and Stable Control