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ItemCutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution(Georgia Institute of Technology, 2006-05) Zhou, Debao ; Claffee, Mark R. ; Lee, Kok-Meng ; McMurray, Gary V. ; Georgia Tech Research Institute (GTRI) ; Institute for Robotics and Intelligent Machines ; Georgia Tech Research InstituteBio-material cutting, such as meat deboning, is one the most common operations in food processing. Automating this process using robotic devices with closed-loop force control has shown some promise. The control of the force trajectory directly relates to the internal stress in the material being cut, and must provide enough force to initiate the cut. The ability to model the stress distribution in the bio-materials being cut would provide a better understanding of the influencing factors and help predict the required cutting force for the design of the cutting mechanism and for automating the cutting operations. This research is presented in two parts: part I models the stress distribution when a blade acts on the bio-material and part II discusses the principles of biomaterial cutting. Starting with modeling a point force in the normal and tangential direction on the boundary of a semi -infinite body, an analytical expression for the stress tensor has been obtained and simulated using direct integral method. This paper provides the theoretical basis for explaining the cutting phenomena and predicting the cutting forces, a topic to be presented in Part II.
ItemCutting, ‘by Pressing and Slicing’, Applied to the Robotic Cut of Bio-materials, Part II: Force during Slicing and Pressing Cuts(Georgia Institute of Technology, 2006-05) Zhou, Debao ; Claffee, Mark R. ; Lee, Kok-Meng ; McMurray, Gary V. ; Georgia Tech Research Institute (GTRI) ; Institute for Robotics and Intelligent Machines ; Georgia Tech Research InstituteThe applications of robotics are becoming more and more common in non-traditional industries such as the medical industry including robotic surgery and sample microtoming as well as food industry that include the processing of meats, fruits and vegetables. In this paper, the influence of the blade edgeshape and its slicing angle on the cutting of biomaterials are formulated and discussed based on the stress analysis that has been presented in Part I. Through modeling the cutting force, an optimal slicing angle can be formulated to maximize the feed rate while minimizing the cutting forces. Moreover, the method offers a means to predict cutting forces between the blade and the biomaterials, and a basis for design of robust force control algorithms for automating the cutting of biomaterials.
ItemAutomation of Bird Front Half Deboning Procedure: Design and Analysis(Georgia Institute of Technology, 2007-06) Zhou, Debao ; Holmes, Jonathan ; Holcombe, Wiley ; Lee, Kok-Meng ; McMurray, Gary ; Georgia Tech Research Institute (GTRI) ; Institute for Robotics and Intelligent Machines ; Georgia Institute of Technology. School of Mechanical EngineeringBio -material cutting, such as meat deboning, is one of the most common operations in the food processing industry. It is also the largest employer of people in the United States. These tasks are currently manual processes with only limited use of fixed automation. The main difficulty in this task is the natural variability of the product's size and individual anatomy. The industry is looking to robotics to help solve these problems. This research has focused on automating the cutting of chicken front halves to obtain high quality breast meat. In order to specify the cutting locations and cutting trajectories on chicken front halves, in this paper, the anatomy structure of the chicken shoulder joint was studied first. Then a 2-DOF cutting mechanism was proposed. Through the formulation of the kinematics and dynamics of the mechanism, the cutting trajectory was simulated. Pneumatic actuators with position feedback sensors were selected as the driven system. To verify whether the pneumatic driving system could satisfy the trajectory following requirements (speed and response time), experiments were carried out. The results show that the pneumatics driven system can marginally follow the desired trajectory with enough speed for the adaptation motion. The device will be built and tested in our future research.
ItemAdaptive mobile sensor networks for structural health monitoring(Georgia Institute of Technology, 2012-01-31) Wang, Yang ; Lee, Kok-Meng ; School of Civil and Environmental Engineering ; Georgia Institute of Technology. School of Civil and Environmental Engineering ; Georgia Institute of Technology. Office of Sponsored Programs
ItemPhysically Accurate Synthetic Images for Computer Vision System Design(Georgia Institute of Technology, 1991) Rushmeier, Holly E. ; Parker, Johne' Michelle ; Lee, Kok-Meng ; GVU CenterThe design of a computer vision system for part presentation is a complex hardware/software problem. In the past, standard renderings of parts available from CAD systems have been used as aids in the design process. However, such standard renderings are very limited because of the simple illumination models they employ. We present preliminary results of a study of the utility of physically accurate synthetic images in the design of vision systems. Physically accurate images can potentially be used both for the hardware lighting and sensing design, as well as for template design for model-based matching for part location. We describe how state-of-the-art computer graphics global illumination algorithms can be used to generate images for the vision problem. We present a comparison of a variety of synthetic images to images captured using the GRIPPS retroreflective vision system under development at Georgia Tech.
ItemPresidential young investigator award : high performance precision motion control(Georgia Institute of Technology, 1994-07) Lee, Kok-Meng ; Georgia Institute of Technology. Office of Sponsored Programs ; Georgia Institute of Technology. School of Mechanical Engineering
ItemModeling of the Natural Product Deboning Process Using Biological and Human Models(Georgia Institute of Technology, 1999-09) Daley, Wayne ; He, Tian ; Lee, Kok-Meng ; Sandlin, Melissa ; Georgia Tech Research Institute (GTRI) ; Institute for Robotics and Intelligent Machines ; Georgia Tech Research InstituteOne critical area in automation for commercial deboning systems for meat processing, is the inability of existing equipment to adapt to varying sizes and shapes of products. This usually results in less than desirable outcomes when measured in terms of yield of the operations. In poultry processing for example, the initial cut of wing-shoulder joints is the most critical step in the deboning process. Two approaches for determining a trajectory for the cut is presented. The first is a technique using x-ray and visual images to obtain a 2-D model that locates the shoulder joint with respect to the surface features of the product. The second approach is obtained by determining a 3-D cutting trajectory and the associated forces/torques using a motion analysis system and a force/torque sensor incorporated with a knife. We then discuss the potential application of these results in the design of an automated cutting system that uses the obtained trajectory as a nominal cutting path. The system would make'adjustments during the cut using force feedback so as to emulate the manual cutting process.
ItemDevelopment of a spherical stepper wrist motor(Georgia Institute of Technology, 1991) Lee, Kok-Meng ; George W. Woodruff School of Mechanical Engineering ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Office of Sponsored Programs
ItemIntelligent automated transfer of live birds to shackle line(Georgia Institute of Technology, 1998) Lee, Kok-Meng ; George W. Woodruff School of Mechanical Engineering ; Georgia Institute of Technology. Office of Sponsored Programs ; Georgia Institute of Technology. Office of Sponsored Programs