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基于视觉检测的机器人柔性调节抓取系统设计
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作者 吕世霞 王学雷 韩健睿 《科技创新与应用》 2023年第13期31-34,38,共5页
该文提出一种基于视觉检测工件形状、位置特征进行柔性调节的多功能机器人抓取系统,以提升不同长度、位置的小型细长薄片工件的抓取效率和通用性。采用带视觉系统的六轴机器人作为抓取装置载体,可自动调节吸盘位置间距的柔性抓取装置作... 该文提出一种基于视觉检测工件形状、位置特征进行柔性调节的多功能机器人抓取系统,以提升不同长度、位置的小型细长薄片工件的抓取效率和通用性。采用带视觉系统的六轴机器人作为抓取装置载体,可自动调节吸盘位置间距的柔性抓取装置作为机器人抓取工具。采用PC Interface通信实现机器人与视觉系统的交互,视觉系统随机器人运动自动识别待抓取工件的形状、位置及个数信息。通过分析抓取工件的形状、位置和数量等特征信息,实现机器人对工件的自动分类、精准定位和准确抓取的功能。实践证明,该方法使得机器人抓取工件的可靠性得到提升,降低工件运送过程的丢失率,生产成本得到节省。 展开更多
关键词 视觉检测 pc interface通信 小型细长薄片工件 柔性抓取装置 自动识别
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Container Based Nomadic Vehicular Cloud Using Cell Transmission Model
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作者 Devakirubai Navulkumar Menakadevi Thangavelu 《Computer Systems Science & Engineering》 SCIE EI 2023年第1期423-440,共18页
Nomadic Vehicular Cloud(NVC)is envisaged in this work.The predo-minant aspects of NVC is,it moves along with the vehicle that initiates it and functions only with the resources of moving vehicles on the heavy traffic ... Nomadic Vehicular Cloud(NVC)is envisaged in this work.The predo-minant aspects of NVC is,it moves along with the vehicle that initiates it and functions only with the resources of moving vehicles on the heavy traffic road without relying on any of the static infrastructure and NVC decides the initiation time of container migration using cell transmission model(CTM).Containers are used in the place of Virtual Machines(VM),as containers’features are very apt to NVC’s dynamic environment.The specifications of 5G NR V2X PC5 interface are applied to NVC,for the feature of not relying on the network coverage.Nowa-days,the peak traffic on the road and the bottlenecks due to it are inevitable,which are seen here as the benefits for VC in terms of resource availability and residual in-network time.The speed range of high-end vehicles poses the issue of dis-connectivity among VC participants,that results the container migration failure.As the entire VC participants are on the move,to maintain proximity of the containers hosted by them,estimating their movements plays a vital role.To infer the vehicle movements on the road stretch and initiate the container migration prior enough to avoid the migration failure due to vehicles dynamicity,this paper proposes to apply the CTM to the container based and 5G NR V2X enabled NVC.The simulation results show that there is a significant increase in the success rate of vehicular cloud in terms of successful container migrations. 展开更多
关键词 Vehicular cloud container migration cell transmission model 5G NR V2X pc5 interface
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