Abstract: For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.
Abstract: A repetitive training movement is an efficient method
to improve the ability and movement performance of stroke survivors
and help them to recover their lost motor function and acquire new
skills. The ETS-MARSE is seven degrees of freedom (DOF)
exoskeleton robot developed to be worn on the lateral side of the
right upper-extremity to assist and rehabilitate the patients with
upper-extremity dysfunction resulting from stroke. Practically,
rehabilitation activities are repetitive tasks, which make the
assistive/robotic systems to suffer from repetitive/periodic
uncertainties and external perturbations induced by the high-order
dynamic model (seven DOF) and interaction with human muscle
which impact on the tracking performance and even on the stability
of the exoskeleton. To ensure the robustness and the stability of the
robot, a new nonlinear backstepping control was implemented with
designed tests performed by healthy subjects. In order to limit and to
reject the periodic/repetitive disturbances, an iterative estimator was
integrated into the control of the system. The estimator does not need
the precise dynamic model of the exoskeleton. Experimental results
confirm the robustness and accuracy of the controller performance to
deal with the external perturbation, and the effectiveness of the
iterative estimator to reject the repetitive/periodic disturbances.
Abstract: End effectors for robotic systems are becoming more
and more advanced, resulting in a growing variety of gripping tasks.
However, most grippers are application specific. This paper presents
a gripper that interacts with an object’s surface rather than being
dependent on a defined shape or size. For this purpose, ingressive and
astrictive features are combined to achieve the desired gripping
capabilities. The developed prototype is tested on a variety of
surfaces with different hardness and roughness properties. The results
show that the gripping mechanism works on all of the tested surfaces.
The influence of the material properties on the amount of the
supported load is also studied and the efficiency is discussed.
Abstract: This paper describes the design process of a 200 MHz Ground Penetrating Radar (GPR) and a battery powered concrete vertical concrete surface climbing mobile robot. The key design feature is a miniaturized 200 MHz dipole antenna using additional radiating arms and procedure records a reduction of 40% in length compared to a conventional antenna. The antenna set is mounted in front of the robot using a servo mechanism for folding and unfolding purposes. The robot’s adhesion mechanism to climb the reinforced concrete wall is based on neodymium permanent magnets arranged in a unique combination to concentrate and maximize the magnetic flux to provide sufficient adhesion force for GPR installation. The experiments demonstrated the robot’s capability of climbing reinforced concrete wall carrying the attached prototype GPR system and perform floor-to-wall transition and vice versa. The developed GPR’s performance is validated by its capability of detecting and localizing an aluminium sheet and a reinforcement bar (rebar) of 12 mm diameter buried under a test rig built of wood to mimic the concrete structure environment. The present robotic GPR system proves the concept of feasibility of undertaking inspection procedure on large concrete structures in hazardous environments that may not be accessible to human inspectors.
Abstract: When industrial robotics subject is taught in a degree in robotics, social and humanoid robotics concepts are rarely mentioned because this field of robotics is not used in industry. In this paper, an educational project related with industrial robotics is presented which includes social and humanoid robotics. The main motivations to realize this research are: i) humanoid robotics will be appearing soon in industry, the experience, based on research projects, indicates their deployment sooner than expected; ii) its educational interest, technology is shared with industrial robotics; iii) it is very attractive, students are interested in this part of the subject and thus they are interested in the whole subject. As a pedagogical methodology, the use of the problem-based learning is considered. Those concepts are introduced in a seminar during the last part of the subject and developed as a set of practices in the laboratory.
Abstract: Object manipulation techniques in robotics can be
categorized in two major groups including manipulation with grasp
and manipulation without grasp. The original aim of this paper is to
develop an object manipulation method where in addition to being
grasp-less, the manipulation task is done in a passive approach. In
this method, linear and angular positions of the object are changed
and its manipulation path is controlled. The manipulation path is a
helix track with constant radius and incline. The method presented in
this paper proposes a system which has not the actuator and the active
controller. So this system requires a passive mechanical intelligence
to convey the object from the status of the source along the specified
path to the goal state. This intelligent is created based on utilizing the
geometry of the system components. A general set up for the
components of the system is considered to satisfy the required
conditions. Then after kinematical analysis, detailed dimensions and
geometry of the mechanism is obtained. The kinematical results are
verified by simulation in ADAMS.
Abstract: Electrical impedance tomography is a non-invasive medical imaging technique suitable for medical applications. This paper describes an electrical impedance tomography device with the ability to navigate a robotic arm to manipulate a target object. The design of the device includes various hardware and software sections to perform medical imaging and control the robotic arm. In its hardware section an image is formed by 16 electrodes which are located around a container. This image is used to navigate a 3DOF robotic arm to reach the exact location of the target object. The data set to form the impedance imaging is obtained by having repeated current injections and voltage measurements between all electrode pairs. After performing the necessary calculations to obtain the impedance, information is transmitted to the computer. This data is fed and then executed in MATLAB which is interfaced with EIDORS (Electrical Impedance Tomography Reconstruction Software) to reconstruct the image based on the acquired data. In the next step, the coordinates of the center of the target object are calculated by image processing toolbox of MATLAB (IPT). Finally, these coordinates are used to calculate the angles of each joint of the robotic arm. The robotic arm moves to the desired tissue with the user command.
Abstract: Comparative analysis of robotic vehicles for pipe inspection is presented in this paper. The promising concept of self-propelled intelligent robotic vehicle (SPIRV) based on octahedral dodekapod for inspection and operation in active branched pipelines with variable cross-sections is reasoned. SPIRV is able to move in pipeline, regardless of its spatial orientation. SPIRV can also be used to move along the outside of the pipelines as well as in space between surfaces of annular tubes. Every one of faces of the octahedral dodekapod can clamp/unclamp a thing with a closed loop surface of various forms as well as put pressure on environmental surface of contact. These properties open new possibilities for its applications in SPIRV. We examine design principles of octahedral dodekapod as future intelligent building blocks for various robotic vehicles that can self-move and self-reconfigure.
Abstract: In this paper, an attempt has been made for the design
of a robotic library using an intelligent system. The robot works on
the ARM microprocessor, motor driver circuit with 5 degrees of
freedom with Wi-Fi and GPS based communication protocol. The
authenticity of the library books is controlled by RFID. The proposed
robotic library system is facilitated with embedded system and ARM.
In this library issuance system, the previous potential readers’
authentic review reports have been taken into consideration for
recommending suitable books to the deserving new users and the
issuance of books or periodicals is based on the users’ decision. We
have conjectured that the Wi-Fi based robotic library management
system would allow fast transaction of books issuance and it also
produces quality readers.
Abstract: Finding the optimal 3D path of an aerial vehicle under
flight mechanics constraints is a major challenge, especially when
the algorithm has to produce real time results in flight. Kinematics
models and Pythagorian Hodograph curves have been widely used
in mobile robotics to solve this problematic. The level of difficulty
is mainly driven by the number of constraints to be saturated at the
same time while minimizing the total length of the path. In this paper,
we suggest a pragmatic algorithm capable of saturating at the same
time most of dimensioning helicopter 3D trajectories’ constraints
like: curvature, curvature derivative, torsion, torsion derivative, climb
angle, climb angle derivative, positions. The trajectories generation
algorithm is able to generate versatile complex 3D motion primitives
feasible by a helicopter with parameterization of the curvature and the
climb angle. An upper ”motion primitives’ concatenation” algorithm
is presented based. In this article we introduce a new way of designing
three-dimensional trajectories based on what we call the ”Dubins
gliding symmetry conjecture”. This extremely performing algorithm
will be soon integrated to a real-time decisional system dealing with
inflight safety issues.
Abstract: For a rigid body sliding on a rough surface, a range of
uncertainty or non-uniqueness of solution could be found, which is
termed: Painlevé paradox. Painlevé paradox is the reason of a wide
range of bouncing motion, observed during sliding of robotic
manipulators on rough surfaces. In this research work, the existence
of the paradox zone during the sliding motion of a two-link (P-R)
robotic manipulator with a unilateral constraint is investigated.
Parametric study is performed to investigate the effect of friction,
link-length ratio, total height and link-mass ratio on the paradox zone.
Abstract: New design of three dimensional (3D) flywheel system
based on gimbal and gyro mechanics is proposed. The 3D flywheel
device utilizes the rotational motion of three spherical shells and the
conservation of angular momentum to achieve planar locomotion.
Actuators mounted to the ring-shape frames are installed within the
system to drive the spherical shells to rotate, for the purpose of steering
and stabilization. Similar to the design of 2D flywheel system, it is
expected that the spherical shells may function like a “flyball” to store
and supply mechanical energy; additionally, in comparison with
typical single-wheel and spherical robots, the 3D flywheel can be used
for developing omnidirectional robotic systems with better mobility.
The Lagrangian method is applied to derive the equation of motion of
the 3D flywheel system, and simulation studies are presented to verify
the proposed design.
Abstract: The work aims to develop a robot in the form of
autonomous vehicle to detect, inspection and mapping of
underground pipelines through the ATmega328 Arduino platform.
Hardware prototyping is very similar to C / C ++ language that
facilitates its use in robotics open source, resembles PLC used in
large industrial processes. The robot will traverse the surface
independently of direct human action, in order to automate the
process of detecting buried pipes, guided by electromagnetic
induction. The induction comes from coils that send the signal to the
Arduino microcontroller contained in that will make the difference in
intensity and the treatment of the information, and then this
determines actions to electrical components such as relays and
motors, allowing the prototype to move on the surface and getting the
necessary information. This change of direction is performed by a
stepper motor with a servo motor. The robot was developed by
electrical and electronic assemblies that allowed test your application.
The assembly is made up of metal detector coils, circuit boards and
microprocessor, which interconnected circuits previously developed
can determine, process control and mechanical actions for a robot
(autonomous car) that will make the detection and mapping of buried
pipelines plates. This type of prototype can prevent and identifies
possible landslides and they can prevent the buried pipelines suffer an
external pressure on the walls with the possibility of oil leakage and
thus pollute the environment.
Abstract: The main purpose of this study is static analysis of
two three-degree of freedom parallel mechanisms: 3-RCC and 3-
RRS. Geometry of these mechanisms is expressed and static
equilibrium equations are derived for the whole chains. For these
mechanisms due to the equal number of equations and unknowns, the
solution is as same as 3-RCC mechanism. A mathematical software is
used to solve the equations. In order to prove the results obtained
from solving the equations of mechanisms, the CAD model of these
robots has been simulated and their static is analysed in ADAMS
software. Due to symmetrical geometry of the mechanisms, the force
and external torque acting on the end-effecter have been considered
asymmetric to prove the generality of the solution method. Finally,
the results of both softwares, for both mechanisms are extracted and
compared as graphs. The good achieved comparison between the
results indicates the accuracy of the analysis.
Abstract: In this paper a new model for center of motion
creating is proposed. This new method uses cables. So, it is very
useful in robots because it is light and has easy assembling process.
In the robots which need to be in touch with some things this method
is so useful. It will be described in the following. The accuracy of the
idea is proved by two experiments. This system could be used in the
robots which need a fixed point in the contact with some things and
make a circular motion.
Abstract: In this paper, we introduce an NLG application for the automatic creation of ready-to-publish texts from big data. The resulting fully automatic generated news stories have a high resemblance to the style in which the human writer would draw up such a story. Topics include soccer games, stock exchange market reports, and weather forecasts. Each generated text is unique. Readyto-publish stories written by a computer application can help humans to quickly grasp the outcomes of big data analyses, save timeconsuming pre-formulations for journalists and cater to rather small audiences by offering stories that would otherwise not exist.
Abstract: Image segmentation and color identification is an
important process used in various emerging fields like intelligent
robotics. A method is proposed for the manipulator to grasp and place
the color object into correct location. The existing methods such as
PSO, has problems like accelerating the convergence speed and
converging to a local minimum leading to sub optimal performance.
To improve the performance, we are using watershed algorithm and
for color identification, we are using EPSO. EPSO method is used to
reduce the probability of being stuck in the local minimum. The
proposed method offers the particles a more powerful global
exploration capability. EPSO methods can determine the particles
stuck in the local minimum and can also enhance learning speed as
the particle movement will be faster.
Abstract: The problem of finding control laws for underactuated
systems has attracted growing attention since these systems are
characterized by the fact that they have fewer actuators than the
degrees of freedom to be controlled. The acrobot, which is a planar
two-link robotic arm in the vertical plane with an actuator at the elbow
but no actuator at the shoulder, is a representative in underactuated
systems. In this paper, the dynamic model of the acrobot is
implemented using Mathworks’ Simscape. And the sliding mode
control is constructed using MATLAB and Simulink.
Abstract: New design of three dimensional (3D) flywheel system
based on gimbal and gyro mechanics is proposed. The 3D flywheel
device utilizes the rotational motion of three spherical shells and the
conservation of angular momentum to achieve planar locomotion.
Actuators mounted to the ring-shape frames are installed within the
system to drive the spherical shells to rotate, for the purpose of steering
and stabilization. Similar to the design of 2D flywheel system, it is
expected that the spherical shells may function like a “flyball” to store
and supply mechanical energy; additionally, in comparison with
typical single-wheel and spherical robots, the 3D flywheel can be used
for developing omnidirectional robotic systems with better mobility.
The Lagrangian method is applied to derive the equation of motion of
the 3D flywheel system, and simulation studies are presented to verify
the proposed design.
Abstract: The feedbacks obtained regarding the sense of
presence from pilot users operating a Mobile Robotic presence
(MRP) system to visit a simulated museum are reported in this paper.
The aim is to investigate how much the perception of system’s
usefulness and ease of use is affected by operators’ sense of social
telepresence (presence) in the remote location. Therefore, scenarios
of visiting a museum are simulated and the user operators are
supposed to perform some regular tasks inside the remote
environment including interaction with local users, navigation and
visiting the artworks. Participants were divided into two groups,
those who had previous experience of operation and interaction with
a MRP system and those who never had experience. Based on the
results, both groups provided different feedbacks. Moreover, there
was a significant association between user’s sense of presence and
their perception of system usefulness and ease of use.