Abstract: This paper presents an new vision technique for
robotic manipulation of randomly oriented objects in industrial
applications. The proposed approach uses 2D and 3D vision for
efficiently extracting the 3D pose of an object in the presence of
multiple randomly positioned objects. 2D vision permits to quickly
select the objects of interest for 3D processing with a new modified
ICP algorithm (FaR-ICP), thus reducing significantly the processing
time. The extracted 3D pose is then sent to the robot manipulator for
picking. The tests show that the proposed system achieves high
performances
Abstract: A multi fingered dexterous anthropomorphic hand is
being developed by the authors. The focus of the hand is the
replacement of human operators in hazardous environments and also
in environments where zero tolerance is observed for the human
errors. The robotic hand will comprise of five fingers (four fingers
and one thumb) each having four degrees of freedom (DOF) which
can perform flexion, extension, abduction, adduction and also
circumduction. For the actuation purpose pneumatic muscles and
springs will be used. The paper exemplifies the mechanical design for
the robotic hand. It also describes different mechanical designs that
have been developed before date.
Abstract: A new approach to determine the machine layout in flexible manufacturing cell, and to find the feasible robot configuration of the robot to achieve minimum cycle time is presented in this paper. The location of the input/output location and the optimal robot configuration is obtained for all sequences of work tasks of the robot within a specified period of time. A more realistic approach has been presented to model the problem using the robot joint space. The problem is formulated as a nonlinear optimization problem and solved using Sequential Quadratic Programming algorithm.
Abstract: A new and cost effective robotic device was designed
for remote tele surgery using dual tone multi frequency technology
(DTMF). Tele system with Dual Tone Multiple Frequency has a large
capability in sending and receiving of data in hardware and software.
The robot consists of DC motors for arm movements and it is
controlled manually through a mobile phone through DTMF
Technology. The system enables the surgeon from base station to
send commands through mobile phone to the patient’s robotic system
which includes two robotic arms that translate the input into actual
instrument manipulation. A mobile phone attached to the
microcontroller 8051 which can activate robot through relays. The
Remote robot-assisted tele surgery eliminates geographic constraints
for getting surgical expertise where it is needed and allows an expert
surgeon to teach or proctor the performance of surgical technique by
real-time intervention.
Abstract: The identification and classification of weeds are of
major technical and economical importance in the agricultural
industry. To automate these activities, like in shape, color and
texture, weed control system is feasible. The goal of this paper is to
build a real-time, machine vision weed control system that can detect
weed locations. In order to accomplish this objective, a real-time
robotic system is developed to identify and locate outdoor plants
using machine vision technology and pattern recognition. The
algorithm is developed to classify images into broad and narrow class
for real-time selective herbicide application. The developed
algorithm has been tested on weeds at various locations, which have
shown that the algorithm to be very effectiveness in weed
identification. Further the results show a very reliable performance
on weeds under varying field conditions. The analysis of the results
shows over 90 percent classification accuracy over 140 sample
images (broad and narrow) with 70 samples from each category of
weeds.
Abstract: This paper will provide the kinematic and dynamic
analysis of a lower limb exoskeleton. The forward and inverse
kinematics of proposed exoskeleton is performed using Denevit and
Hartenberg method. The torques required for the actuators will be
calculated using Lagrangian formulation technique. This research can
be used to design the control of the proposed exoskeleton.
Abstract: Developing techniques for mobile robot navigation constitutes one of the major trends in the current
research on mobile robotics. This paper develops a local
model network (LMN) for mobile robot navigation. The
LMN represents the mobile robot by a set of locally valid
submodels that are Multi-Layer Perceptrons (MLPs).
Training these submodels employs Back Propagation (BP) algorithm. The paper proposes the fuzzy C-means (FCM) in this scheme to divide the input space to sub regions, and then a submodel (MLP) is identified to represent a particular
region. The submodels then are combined in a unified
structure. In run time phase, Radial Basis Functions (RBFs) are employed as windows for the activated submodels. This
proposed structure overcomes the problem of changing operating regions of mobile robots. Read data are used in all experiments. Results for mobile robot navigation using the
proposed LMN reflect the soundness of the proposed
scheme.
Abstract: We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
Abstract: Automated operations based on voice commands will become more and more important in many applications, including robotics, maintenance operations, etc. However, voice command recognition rates drop quite a lot under non-stationary and chaotic noise environments. In this paper, we tried to significantly improve the speech recognition rates under non-stationary noise environments. First, 298 Navy acronyms have been selected for automatic speech recognition. Data sets were collected under 4 types of noisy environments: factory, buccaneer jet, babble noise in a canteen, and destroyer. Within each noisy environment, 4 levels (5 dB, 15 dB, 25 dB, and clean) of Signal-to-Noise Ratio (SNR) were introduced to corrupt the speech. Second, a new algorithm to estimate speech or no speech regions has been developed, implemented, and evaluated. Third, extensive simulations were carried out. It was found that the combination of the new algorithm, the proper selection of language model and a customized training of the speech recognizer based on clean speech yielded very high recognition rates, which are between 80% and 90% for the four different noisy conditions. Fourth, extensive comparative studies have also been carried out.
Abstract: In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design approach, involving cutting edge technologies in motion capture. After an initial description of the capabilities and complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the mechanical and kinematical structure of some important works carried out all around the world in the last three decades and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an experimental setup for the first stage using recent developments in human body motion capture systems that might lead to lighter and always more dexterous robotic hands.
Abstract: Today, the central role of industrial robots in automation in general and in material handling in particular is crystal clear. Based on the current status of Photovoltaics and by focusing on lightweight material handling, PV industry has turned into a potential candidate for introducing a fresh “pick and place" robot technology. Thus, to examine the industry needs in this regard, firstly the best suited applications for such robotic automation,and then the essential prerequisites in PV industry should be identified. The objective of this paper is to present holistic views on the industry trends, general automation status and existing challenges facing lightweight robotic material handling in PV Silicon Wafer and Thin Film technologies. The results of this study show that currently no uniform pick and place solution prevails among PV Silicon Wafer manufacturers and the industry calls for a new robot solution to satisfy its needs in new directions.
Abstract: This paper focuses on the development of bond graph
dynamic model of the mechanical dynamics of an excavating mechanism
previously designed to be used with small tractors, which are
fabricated in the Engineering Workshops of Jomo Kenyatta University
of Agriculture and Technology. To develop a mechanical dynamics
model of the manipulator, forward recursive equations similar to
those applied in iterative Newton-Euler method were used to obtain
kinematic relationships between the time rates of joint variables
and the generalized cartesian velocities for the centroids of the
links. Representing the obtained kinematic relationships in bondgraphic
form, while considering the link weights and momenta as
the elements led to a detailed bond graph model of the manipulator.
The bond graph method was found to reduce significantly the number
of recursive computations performed on a 3 DOF manipulator for a
mechanical dynamic model to result, hence indicating that bond graph
method is more computationally efficient than the Newton-Euler
method in developing dynamic models of 3 DOF planar manipulators.
The model was verified by comparing the joint torque expressions
of a two link planar manipulator to those obtained using Newton-
Euler and Lagrangian methods as analyzed in robotic textbooks. The
expressions were found to agree indicating that the model captures
the aspects of rigid body dynamics of the manipulator. Based on
the model developed, actuator sizing and valve sizing methodologies
were developed and used to obtain the optimal sizes of the pistons
and spool valve ports respectively. It was found that using the pump
with the sized flow rate capacity, the engine of the tractor is able to
power the excavating mechanism in digging a sandy-loom soil.
Abstract: Describes the current situation of educational Robotics
"the State of the art" its concept, its evolution their niches of
opportunity, academic and business and the importance of education
and academic outreach. It shows that the development of high-tech
automated educational materials influence the teaching-learning
process and that communication between machines and humans is a
reality.
Abstract: One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.
Abstract: Motion control of flexible arms is more difficult than
that of rigid arms, however utilizing its dynamics enables improved
performance such as a fast motion in short operation time. This paper
investigates a ball throwing robot with one rigid link and one flexible
link. This robot throws a ball at a set speed with a proper control torque.
A mathematical model of this ball throwing robot is derived through
Hamilton’s principle. Several patterns of torque input are designed and
tested through the proposed simulation models. The parameters of
each torque input pattern is optimized and determined by chaos
embedded vector evaluated particle swarm optimization (CEVEPSO).
Then, the residual vibration of the manipulator after throwing is
suppressed with input shaping technique. Finally, a real experiment is
set up for the model checking.
Abstract: The design of an active leg orthosis for tumble
protection is proposed in this paper. The orthosis would be applied to
assist elders or invalids in rebalancing while they fall unexpectedly.
We observe the regain balance motion of healthy and youthful people,
and find the difference to elders or invalids. First, the physical model
of leg would be established, and we consider the leg motions are
achieve through four joints (phalanx stem, ankle, knee, and hip joint)
and five links (phalanges, talus, tibia, femur, and hip bone). To
formulate the dynamic equations, the coordinates which can clearly
describe the position in 3D space are first defined accordance with the
human movement of leg, and the kinematics and dynamics of the leg
movement can be formulated based on the robotics. For the purpose,
assisting elders and invalids in avoiding tumble, the posture variation
of unbalance and regaining balance motion are recorded by the
motion-capture image system, and the trajectory is taken as the desire
one. Then we calculate the force and moment of each joint based on
the leg motion model through programming MATLAB code. The
results would be primary information of the active leg orthosis design
for tumble protection.
Abstract: In recent years, IT convergence technology has been developed to get creative solution by combining robotics or sports science technology. Object detection and recognition have mainly applied to sports science field that has processed by recognizing face and by tracking human body. But object detection and recognition using vision sensor is challenge task in real world because of illumination. In this paper, object detection and recognition using vision sensor applied to sports simulator has been introduced. Face recognition has been processed to identify user and to update automatically a person athletic recording. Human body has tracked to offer a most accurate way of riding horse simulator. Combined image processing has been processed to reduce illumination adverse affect because illumination has caused low performance in detection and recognition in real world application filed. Face has recognized using standard face graph and human body has tracked using pose model, which has composed of feature nodes generated diverse face and pose images. Face recognition using Gabor wavelet and pose recognition using pose graph is robust to real application. We have simulated using ETRI database, which has constructed on horse riding simulator.
Abstract: In its attempt to offer new ways into autonomy for a
large population of disabled people, assistive technology has largely
been inspired by robotics engineering. Recent human-like robots
carry new hopes that it seems to us necessary to analyze by means of
a specific theory of anthropomorphism. We propose to distinguish a
functional anthropomorphism which is the one of actual wheelchairs
from a structural anthropomorphism based on a mimicking of human
physiological systems. If functional anthropomorphism offers the
main advantage of eliminating the physiological systems
interdependence issue, the highly link between the robot for disabled
people and their human-built environment would lead to privilege in
the future the anthropomorphic structural way. In this future
framework, we highlight a general interdependence principle : any
partial or local structural anthropomorphism generates new
anthropomorphic needs due to the physiological systems
interdependency, whose effects can be evaluated by means of
specific anthropomorphic criterions derived from a set theory-based
approach of physiological systems.
Abstract: The autonomous mobile robot was designed and implemented which was capable of navigating in the industrial environments and did a job of picking objects from variable height and delivering it to another location following a predefined trajectory. In developing country like Bangladesh industrial robotics is not very prevalent yet, due to the high installation cost. The objective of this project was to develop an autonomous mobile robot for industrial application using the available resources in the local market at lower manufacturing cost. The mechanical system of the robot was comprised of locomotion, gripping and elevation system. Grippers were designed to grip objects of a predefined shape. Cartesian elevation system was designed for vertical movement of the gripper. PIC18F452 microcontroller was the brain of the control system. The prototype autonomous robot was fabricated for relatively lower load than the industry and the performance was tested in a virtual industrial environment created within the laboratory to realize the effectiveness.
Abstract: This paper features the kinematic modelling of a 5-axis stationary articulated robot arm which is used for doing successful robotic manipulation task in its workspace. To start with, a 5-axes articulated robot was designed entirely from scratch and from indigenous components and a brief kinematic modelling was performed and using this kinematic model, the pick and place task was performed successfully in the work space of the robot. A user friendly GUI was developed in C++ language which was used to perform the successful robotic manipulation task using the developed mathematical kinematic model. This developed kinematic model also incorporates the obstacle avoiding algorithms also during the pick and place operation.