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University of KwaZulu-Natal, South Africa

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13 Papers

Mid-air Imaging for a Collaborative Spatial Augmented Reality System

Topics: Vision, Recognition and Reconstruction; Virtual Environment, Virtual and Augmented Reality

Authors: Dashlen Naidoo , Glen Bright and James Edward Thomas Collins

Affiliation: Mechatronics and Robotics Research Groups (MR2G), University of KwaZulu-Natal, Durban, South Africa

Digital Object Identifier: 10.5220/0009779103850393

Proceedings of ICINCO 2020, ISBN: 978-989-758-442-8

Quick Abstract

Aerial imaging can be used to deliver mid-air imagining in a collaborative Spatial Augmented Reality system. This research aimed to overcome the current disadvantages of Augmented Reality headsets, which include physical discomfort, visual discomfort, high cost and its single user operation. The concept design presented delivered multiple user interaction simultaneously while delivering an increased field of view. This was done through the ASKA3D aerial imaging plate used to deliver mid-air projection, in conjunction with a camera used for view dependant rendering of mid-air images. This design delivered an Augmented Reality experience without the need for robust technology and solely focused on the method of mid-air image projection. The system was successful in delivering a high-quality mid-air image. A Quality of Experience model was found to be the most suited method for user-assessment of this multimedia device. The overall average percentage rating for the system was 69.4% which was considered successful given that what was evaluated was only one part of a whole system to be built.

A Review of Safety Methods for Human-robot Collaboration and a Proposed Novel Approach

Topics: Human-Robots Interfaces; Computer-Based Manufacturing Technologies; Mechatronics Systems; Perception and Awareness; Guidance, Navigation and Control; Industrial Internet of Things; Engineering Applications on Intelligent Control Systems and Optimization

Authors: Ansuri Reddy , Glen Bright and Jared Padayachee

Affiliation: Discipline of Mechanical Engineering, University of KwaZulu Natal, King George V Ave, Durban and South Africa

Digital Object Identifier: 10.5220/0007840502430248

Proceedings of ICINCO 2019, ISBN: 978-989-758-380-3

Quick Abstract

Industrial robots offer the advantage of flexible manufacturing and increased efficiency when paired with human workers. However, this means breaking well-established safety procedures such as safety fences and workspace separation. Robots present a danger to humans as they work at high speeds with sudden motions. It is therefore necessary to ensure safe interaction during collaboration. This paper presents a collection of sources that explain the trends and advances in the field of industrial robotics specifically to safety in human-robot interaction. Major trends and popular methods lean towards obstacle avoidance using a sensory planning method of polynomials and a sensory system that is able to map the robot workspace. The goal of these methods is to ensure that the human is kept safe. These methods were used to develop a novel approach to safe interactions. This approach uses a LIDAR sensor for obstacle detection and tracking.

Related Ontology Subjects/Areas/Topics (7)

Computer-Based Manufacturing Technologies	Informatics in Control, Automation and Robotics	Perception and Awareness
Human-Robots Interfaces	Mechatronics Systems	Robotics and Automation
Industrial Engineering

Quasi-serial Manipulator for Advanced Manufacturing Systems

Topics: Robot Design, Development and Control; Modeling, Simulation and Architecture; Mechatronics Systems

Authors: Bryan Kelly , J. Padayachee and G. Bright

Affiliation: Discipline of Mechanical Engineering, University of KwaZulu-Natal, King George V Avenue, Durban and South Africa

Digital Object Identifier: 10.5220/0007839003000305

Proceedings of ICINCO 2019, ISBN: 978-989-758-380-3

Quick Abstract

Industrial automation has revolutionised manufacturing and the manufacturing environment. Advanced manufacturing requires a variety of different robotic manipulators for industrial applications, each with their defining characteristics. This research paper describes the differences between current industrial manipulators; it then proposes an open chain hybrid kinematic platform, consisting of closed loop parallelograms. The application of such a hybrid mechanism is apparent with material handling operations such as providing solutions for palletizing. A quasi-serial architecture was selected and its corresponding components were 3D printed. The forward kinematic equations were derived via a geometric approach. The outputs of these kinematic equations are then validated against empirical results obtained through an equivalent SolidWorks model of the robot.

Related Ontology Subjects/Areas/Topics (5)

Informatics in Control, Automation and Robotics		Modeling, Simulation and Architectures		Robotics and Automation
Mechatronics Systems		Robot Design, Development and Control

Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems - Testing Active Haptic Control through Force Feedback

Topics: Mechatronics Systems; Force and Tactile Sensors; Engineering Applications on Robotics and Automation

Authors: Christian Ivan Basson and Glen Bright

Affiliation: Discipline of Mechanical Engineering, University of KwaZulu-Natal, King George V Ave, Durban and South Africa

Digital Object Identifier: 10.5220/0006840800810090

Proceedings of ICINCO 2018, ISBN: 978-989-758-321-6

Quick Abstract

Haptic feedback for flexible grippers enhances control over human-machine interaction and object manipulation. Force feedback control through a haptic sensory system enables gripping sensitivity for the grasping of fragile components. The development of intelligent gripping systems has the potential to be implemented in Reconfigurable Assembly Systems, (RAS), for on-demand production lines. Advancements in object control and successful object handling for assembling systems were investigated. An active haptic control system was developed to assess the adaptability of gripper appendage grip force through a dynamic pick and place movement. The aim was to determine the force output from a self-adjusting grasping procedure using a haptic feedback control sensory system. The force output data was empirically collected and plotted on a signal verse time graph. The voltage signal representing the actual grasp force throughout a gripping procedure. The testing was performed on a previously manufactured gripper based on a biologically inspired phenomenon called the Fin Ray Effect®. Conclusions and recommendations were made in relation to effective grip force control.

Related Ontology Subjects/Areas/Topics (5)

Force and Tactile Sensors		Mechatronics Systems		Signal Processing, Sensors, Systems Modeling and Control
Informatics in Control, Automation and Robotics		Robotics and Automation

Fuzzy Logic Control for Varied Inspection for Manufacturing Lead Time Reduction - A Fuzzy Control Implementation of a Dynamic Inspection Technique to Reduce Manufacturing Lead Time

Topics: Fuzzy Control; Quality Control and Management

Authors: Trishen Naidoo ¹ , Anthony Walker ¹ , Glen Bright ¹ and Shaniel Davrajh ²

Affiliations: ¹ University of KwaZulu-Natal, South Africa , ² University of Johannesburg, South Africa

Digital Object Identifier: 10.5220/0006395902070214

Proceedings of ICINCO 2017, ISBN: 978-989-758-263-9

Quick Abstract

Varied inspection is an online dynamic inspection method where the amount of parts inspected can be changed based on the quality of the part stream and characteristics of the production system. The research outlines the development of a supervisory and distributed Fuzzy Logic Controller (FLC) to perform varied inspection. The supervisory fuzzy controller was used to tune the weights of the rules used in the distributed fuzzy controller that initiates the varied inspection in quality control systems. Simulation of a single-station manufacturing cell showed that varied inspection had significantly reduced Manufacturing Lead Time (MLT) through reduced inspection, which could help manufacturers handle fluctuating demands. The contribution of the study was to illustrate the benefit of varied inspection through MLT reduction and to add flexibility to control architectures for quality control systems to aid manufacturers meet demands.

Related Ontology Subjects/Areas/Topics (9)

Artificial Intelligence	Fuzzy Systems	Intelligent Control Systems and Optimization
Computational Intelligence	Industrial Engineering	Quality Control and Management
Fuzzy Control	Informatics in Control, Automation and Robotics	Soft Computing

Optimal Scheduling of an on-Demand Fixture Manufacturing Cell for Mass Customisation Production Systems - Model Formulation, Presentation and Validation

Topics: Optimization Algorithms; Planning and Scheduling; Production Planning, Scheduling and Control; Systems Modeling and Simulation; Systems Modeling and Simulation

Authors: Enrico Naidoo , Jared Padayachee and Glen Bright

Affiliation: University of KwaZulu-Natal, South Africa

Digital Object Identifier: 10.5220/0006396900170024

Proceedings of ICINCO 2017, ISBN: 978-989-758-263-9

Quick Abstract

A focal point of mass customisation production systems (a significant aspect of the fourth industrial revolution) is the implementation of reconfigurable jigs and fixtures. Traditional methods for the treatment of conventional fixtures are inadequate for those of the reconfigurable type. This paper describes the implementation of an on-demand fixture manufacturing cell that would reside in a mass customisation production system. The focus, in particular, is on the behaviour and optimisation of this cell in relation to the production system. To achieve this, a multi-stage optimisation procedure was developed that involves cluster analysis and a mixed inter linear programming (MILP) model to minimise total idle time (and thus makespan) in the system.

Related Ontology Subjects/Areas/Topics (11)

Artificial Intelligence	Intelligent Control Systems and Optimization	Simulation and Modeling
Formal Methods	Optimization Algorithms	Symbolic Systems
Industrial Engineering	Planning and Scheduling	Systems Modeling and Simulation
Informatics in Control, Automation and Robotics	Production Planning, Scheduling and Control

Middleware Communication System for Fixture based Flexible Manufacturing Systems

Topics: Knowledge-Based Systems Applications; Intelligent Design and Manufacturing

Authors: N. Chiraga ¹ , A. Walker ² and G. Bright ¹

Affiliations: ¹ University of KwaZulu-Natal, South Africa , ² University of Kwazulu-Natal, South Africa

Digital Object Identifier: 10.5220/0005972201460152

Proceedings of ICINCO 2016, ISBN: 978-989-758-198-4

Quick Abstract

Today’s factory floors are a distributed system of heterogeneous components. They exist a high degree of production customization to cater for this most factory floor systems are being adapted for customization. Most current manufacturing communication systems do not have a flexible architecture to serve the changeable and dynamic market needs thus presenting a research gap in flexible communication. This paper discusses a middleware communication system that allows for flexible optimal control of information flow in a fixture based production system. The architecture of the system aims to integrate seamlessly a heterogeneous factory environment, for autonomous monitoring and control of information on the factory floor.

Related Ontology Subjects/Areas/Topics (7)

Artificial Intelligence and Decision Support Systems	Informatics in Control, Automation and Robotics	Intelligent Design and Manufacturing
Enterprise Information Systems	Intelligent Control Systems and Optimization	Knowledge-Based Systems Applications
Industrial Engineering

Modelling Radar Signal Error Performance under Atmospheric Refraction and Clutter Attenuation

Topics: Optimization Problems in Signal Processing; System Modeling; Engineering Applications

Authors: Chiemela Onunka and Glen Bright

Affiliation: University of KwaZulu-Natal, South Africa

Digital Object Identifier: 10.5220/0005957004040412

Proceedings of ICINCO 2016, ISBN: 978-989-758-198-4

Quick Abstract

Radar signal error performance was modelled in the presence of atmospheric refraction and clutter attenuation. The models presented in the paper exploited prior information on atmospheric refraction properties and conditions such as partial pressure, water vapour, atmospheric temperature and the associated clutter. The atmospheric properties and characteristics were used to model random and bias errors experienced in radar systems. Errors which were associated with azimuth, elevation and target velocity were considered in the performance analysis. Range resolution and Doppler resolution were key mechanisms which were implemented in the analysis of the radar signal error performance. The radar error performance was analysed using residual error, signal-to-clutter + noise ratio and thermal noise error. Errors from azimuth, elevation and target velocity were combined in investigating the total effect of errors in determining the desired signal-to-clutter + noise ratio. The results discussed in the paper enhances target detection and tracking towards optimising the navigation system of autonomous and semi-autonomous robotic systems using radars.

Related Ontology Subjects/Areas/Topics (7)

Engineering Applications	Optimization Problems in Signal Processing	Signal Processing, Sensors, Systems Modeling and Control
Informatics in Control, Automation and Robotics	Robotics and Automation	System Modeling
Intelligent Control Systems and Optimization

Combining Development and Evolution - Case Study: One Dimensional Bin-packing

Topics: Genetic Algorithms; Hybrid Systems

Authors: Christopher Rajah and Nelishia Pillay

Affiliation: University of KwaZulu-Natal, South Africa

Digital Object Identifier: 10.5220/0005592901880195

Proceedings of ECTA 2015/IJCCI, ISBN: 978-989-758-157-1

Quick Abstract

The literature highlights the effectiveness of emulating processes from nature to solve complex optimization problems. Two processes in particular that have been investigated are evolution and development. Evolution is achieved by genetic algorithms and the developmental approach was introduced to achieve development. The developmental approach differs from other metaheuristics in that it does not explore the search space applying intensification and diversification to a complete candidate solution. Instead intensification and diversification are performed incrementally, at each step in the process of creating a solution. This is based on an analogy from nature in which a multicellular organism is created incrementally rather than firstly being completely developed and then improved to be fitter. Evolution on the other hand is used to explore the space by applying intensification and diversification to randomly created candidate solutions with the aim of improving the fitness of these candidate solutions and ultimately producing a solution to the problem. Given that in nature once an organism is initially developed its development or growth does not stop at that point but certain cells may continue to grow until a certain point in an organism’s life span, it was felt that the developmental approach terminated prematurely. It was hypothesized that a combination of both these processes, instantiated with development and followed by evolution, would better emulate the processes in nature and would be more effective at exploring the search space. The objective of the research presented in the paper is to test this hypothesis. In terms of search this would mean combining a metaheuristic that applies intensification and diversification incrementally at each step on partial solutions to create initial candidate solutions which are then further explored by a metaheuristic that explores the space of complete candidate solutions. The one-dimensional bin-packing problem was used as a case study to evaluate these ideas. The hybridization of the developmental approach and genetic algorithm was found to perform better than each of these approaches applied separately to solve the problem instances. This study was an initial attempt to test the above hypothesis and has highlighted the potential of this hybridization. Given this future work will apply this approach to other combinatorial optimization problems.

Related Ontology Subjects/Areas/Topics (8)

Artificial Intelligence	Genetic Algorithms	Intelligent Control Systems and Optimization
Computational Intelligence	Hybrid Systems	Soft Computing
Evolutionary Computing	Informatics in Control, Automation and Robotics

Development of an Online Research Ethics Training Resource Specific to South African Health Law and Guidance - A Ukzn-Mepi Funded Project

Topics: e-Learning Platforms, Portals; e-Learning in Developing Countries

Authors: Nivedhna Singh and Douglas Wassenaar

Affiliation: University of KwaZulu-Natal, South Africa

Digital Object Identifier: 10.5220/0004955405030507

Proceedings of CSEDU 2014, ISBN: 978-989-758-020-8

Quick Abstract

This paper describes the development of an online learning course aimed at building capacity in the field of research ethics. E-Learning is a popular tool to train large numbers of students and professionals across the world. This learning tool has been adapted to different fields and disciplines. In developing countries, there is a need to improve research ethics capacity. Generic and specific research ethics modules are being used to build capacity in Africa through various online websites. This paper describes the development of a South African online module for the Training and Resources in Research Ethics Evaluation (TRREE) website.

Related Ontology Subjects/Areas/Topics (6)