IAES International Journal of Robotics and Automation (IJRA)
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Pick-and-place application using a dual arm collaborative robot and an RGB-D camera with YOLOv5
Get PDFNowadays, many industries use robots and cameras in tandem to detect specific objects and perform specific tasks. However, misdetection can occur due to inconsistencies in lighting, background, and environment. In order to address the aforementioned issues, this study proposes using a dual arm six-degree-of-freedom (6-DoF) collaborative robot, ABB YuMi, and red, green, blue-depth (RGB-D) camera with YOLOv5 in a pick-and-place application. In order to prepare the dataset, the images are collected and labeled. The dataset has been trained with the YOLOv5 machine learning algorithm. It has taken on the role of weight for real-time detection. When RGB images from a camera are sent to YOLOv5, data pertaining to the bottle’s position x-y and color are extracted from the depth and color images. The position of the robot is used to control its movement. There are three parts to the experiment. To begin, YOLOv5 is tested with and without trained images. Second, YOLOv5 is tested with real-time camera images. Finally, we assume that YOLOv5 has perfect detection and grasping ability. The results were 95, 90, and 90%
Construction of automated optimal control systems with elements of artificial intelligence
Get PDFThis article examines the widespread introduction of artificial intelligence technologies, means of their implementation and support as a determining factor in the development of scientific and technological progress. On this basis, various advanced objects of various functional purposes are created, which are characterized as “smart”. Their distinguishing feature is the ability to implement a “reasonable” way of functioning, taking into account the prevailing circumstances. This ability is expressed in the fact that in the object automatically, i.e., without human participation, or with minimal human participation, the most rational or optimal modes of functioning are supported, the definition of which involves the performance of operations containing signs of rational activity. This “smart” behavior of technical objects is mainly determined by the “intelligent” functioning of the control systems built into them. In particular, intelligent automated systems for optimal control. In accordance with this, the development of new approaches and methods that expand the possibilities of building such control systems should be considered as an urgent and priority task
Application of a mathematical model for the Motoman MH-50 industrial robot’s electric drive system
Get PDFIn recent years, there has been a great interest in the transition to digital and automation services for dangerous and menial working processes. Due to its MH50-35 industrial robot, Motoman's properties allow us to improve the control system of an electric drive for industrial robots. The structure of the electric drive for six-axis robot manipulator performance can be superior to conventional Drive Control servos for motor excitation, and a novel automation system can be implemented for its servo performance. To solve these issues, we propose an optimization strategy that allows us to achieve an increase in productivity and labor safety in the industry, reduce the percentage of defects, guarantee product uniformity, and reduce the prime cost of production of items. Ideal conditions were anticipated using a mathematical model. In this study, by using a statistical model, the ideal conditions were synthesized. The optimization of the control system of an electric drive for industrial robot analysis was carried out, and our findings suggest using this model in industrial production to elucidate problems such as high accuracy and speed indicators
4-degree-of-freedom voice-controlled robotic arm
Get PDFPeople with impairments who utilize robotic arms have a great deal more independence in their daily lives. The robotic arm can help persons with specific needs by using voice control, which is practical. The working mechanism is fashioned to have four degrees of freedom (4-DOF) with the inclusion of a jaw or gripper. The Arduino microcontroller, the speech module, and the arm are the main components of the robotic arm, which is a lightweight model driven by four motors. The servo motor is used to supply the rotational motion in the arm’s three rotary joints and end effector. Rotation in two directions is made possible by the geared DC motors employed, which alter their direction of rotation if the polarity is flipped. The automatic voice recognition technology aids in comprehending spoken words picked up by a microphone. The HM2007 processor, the brains of the speech recognizer, is necessary for the speech recognizer to function. Digital commands are created from analog speech input. These commands are used as input to the Arduino thereby resulting in a system whereby the human voice gives a continuous control signal to operate a real and functional robotic arm
Semi-active structural vibration control with magnetorheological damper based on hybrid fuzzy sliding mode controller
Get PDFRecently, structural vibration control has proved its capacity to save lives and keep structures safe during earthquakes. Furthermore, there is a wealth of research in both numerical and experimental studies. As a result, due to its simplicity and performance in mitigating structural vibrations generated by ground motions, semi-active control played a significant role in the majority of these studies. Nonetheless, the magnetorheological damper is the most often used semi-active device. In particular, the rheological fluid properties have gained adequate attention in earthquake energy dissipation and structural vibrations management, particularly in the civil engineering field. The semi-active control of three scaled excited structures is addressed in this study. A magnetorheological damper operated by a hybrid fuzzy sliding mode controller ensures the proposed control. However, to provide the appropriate current for the damper to operate, this proposed intelligent controller is combined with a clipped optimum algorithm. Otherwise, the numerical simulation results of the seismic excited scaled structure demonstrate the resilience of the suggested controller. As a result, four time-scaled seismic data are applied to the tested structure. Finally, the usefulness of the suggested semi-active control technique in mitigating earthquake structural vibration is demonstrated clearly in the compared controlled and uncontrolled responses
Modeling and performance analysis of open-loop remotely operated vehicles ORCA
Get PDFORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accomplish stabilized navigation. This paper discusses a detailed approach to the mathematical modeling of ORCA based on Newtonian dynamics and simulating the position and velocity responses in Simulink. The open loop nonlinear model of the remotely operated vehicle was used to study the navigation challenges due to the various perturbations present underwater namely Coriolis and centripetal force, added mass, hydrodynamic damping force, and restoring forces. The six-thruster open loop ORCA model was subjected to various thrust inputs (25%, 50%, and 75%) to achieve six degrees of freedom (DoF) respectively and it was observed that there was significant instability in the other DOFs along with the principal direction of motion. Further, the authors will incorporate the various control systems in ORCA and analyze the stability in navigation induced due to each of them
Competition on the medical robotics markets for elderly
Get PDFPopulation aging becomes one of the most significant 21st century social challenges. These challenges strongly reflect on the industry, labor, and financial markets. Population aging increases the demand for medicines, diagnostic equipment, and medical services. Both developed and developing countries have problems resulting from the current shortage of health workers and a limited supply of medical equipment. An alternative for medical staff growth is the robotization of medical services. However, robotics is economically justified when the costs of medical robots are lower than the construction of additional medical clinics and the increase in medical staff. Medical robotics appeared on the market later than the industrial and military ones but has recently found increasing use in high-income countries. Low and middle-income countries could not acquire expensive medical robots in sufficient quantities. The increased competition in the medical robotics market will lead to price reductions and make robotized services available for wide use. The article analyses the competition in segments of the medical robotics markets, connected with population aging
Water level control of small-scale recirculating aquaculture system with protein skimmer using fuzzy logic controller
Get PDFThe recirculating aquaculture system (RAS) is a land-based aquaculture facility, either open-air or indoors, that minimizes water consumption by filtering, adapting, and reusing water. Solid organic matter from fish waste and food waste directly becomes waste that needs to be eliminated because it is a source of increasing total ammonia nitrogen (TAN), total suspended solids (TSS), total dissolved solids (TDS), and also has an impact on reducing dissolved oxygen (DO). RAS requires a water level control system so the fish tank does not experience water shortages or floods, disrupting the aquatic aquaculture ecosystem. In this study, small-scale RAS is modeled using a 3-coupled tanks system approach with a tank configuration that follows the most straightforward RAS water recirculation process (fish tank, mechanic filter, biofilter). Clean water from the reservoir flows into the fish tank through a protein skimmer. This study applies the fuzzy logic controller (FLC) to control the water level in the protein skimmer and biofilter tanks by controlling the position of several valves where the placement positions of the valves have been determined according to system requirements. The study results show that the tuned single-input FLC has the best average output response characteristics with ts=50, h1ss=49.98, ess=0.02 in protein skimmer and ts=4700, h1ss=39.75, ess=0.25 in the tank system
An overview of emerging trends in robotics and automation
Get PDFRobotics has experienced significant growth and development over the past few decades, with the first industrial robots introduced in the 1950s. As technology advances, robotics has become more intelligent, smart, and flexible, with the introduction of artificial intelligence (AI) and machine learning (ML). Robots are now being integrated into various fields, including healthcare, agriculture, transportation, and space exploration. Robots are set to revolutionize our daily lives, transforming interactions and work processes as technology advances. Emerging trends in robotics, such as AI and ML, soft robotics, and swarm robotics, can transform industries and improve efficiency. The future of robotics and automation promises safer workplaces, improved healthcare, and enhanced environmental sustainability. Society must adapt to this changing landscape, requiring continuous learning and upskilling to remain relevant in the workforce
CURe-Mi mobile manipulator robot for contact-less COVID-19 patients serving missions
Get PDFSince March 2020, coronavirus disease (COVID-19) has become a major global concern. Even in an emergency, medical personnel should avoid contact with COVID-19 patients. Mobile manipulators are a non-contact alternative to medical personnel for performing healthcare tasks such as distributing supplies to COVID-19-quarantined patients. In this study, patients use an Android application to order mobile manipulator robots, which include the Collaborative Manipulator Robot UR5e and the autonomous mobile robot MiR200 (abbreviated and referred to as CURe-Mi). The HTTP protocol is used for communication between the Android application and the robot. The experiment was conducted in a small room with several tables and bottles used to simulate hospital rooms and medications. The delivery testing results show that all four items were delivered successfully. The results of the manipulator robot and mobile robot movement accuracy tests show that the average error is 0.213 and 4.51 cm, respectively. The Android application performance test demonstrates that the application successfully sends commands to the mobile manipulator robot within its maximum range of 1,800 cm. The CURe-Mi mobile manipulator robot has successfully assisted medical personnel in handling several contactless COVID-19 patients serving missions