IAES International Journal of Robotics and Automation (IJRA)
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Development of an Arduino-based photobioreactor to investigate algae growth rate and CO2 removal efficiency
Get PDFGlobal carbon dioxide (CO2) emissions are rising, and microalgae have been a primary focus for alleviating the negative impacts of increasing CO2 levels. CO2 sequestration is influenced by pH level, temperature, light, nutrient levels, and aeration. This study adapted a 2-chamber system with a 6-Liter vertical-column photobioreactor. It was constructed to remove CO2 from the air using microalgae. Arduino sensors, namely temperature, pH, and CO2 gas, were incorporated to monitor microalgal growth. Two 7-day trials, with an initial algae mass of 15 g, were implemented to investigate the growth and CO2 removal rates. The results showed that trial 1 yielded 21.5 g with a growth rate of 0.56 gxin-2 x day-1, and trial 2, a final sample of 19.7 g with a growth rate of 0.51 gxin-2 x day-1. The CO2 removal rate for trial 1 increased from 10.17% to 22.04%. However, the CO2 removal rate for trial 2 decreased from 15.66% to 3.55%. In terms of relative percent error, the Arduino sensors' accuracy was also determined to be low, ranging from 0.85 to 1.94. With accurate readings, the findings show that the CO2 removal efficiency rate and algae growth rate are directly proportional to each other
Selection of smooth motion profile for a tube locator module of an inspection device
Get PDFThe Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented
Waypoint and autonomous flying control of an indoor drone for GPS-denied environments
Get PDFIn this study, we propose a method for recognizing the self-location of a drone flying in an indoor environment and introduce the flying performance using it. DWM1000, which is an ultra-wide band communication module, was used for accurate indoor self-location recognition. The self-localization algorithm constructs a formula using trilateration and finds the solution using the gradient descent method. Using the measured values of the distance between the modules in the room, it is found that the error stays within 10-20 cm when the newly proposed trilateration method is applied. We confirmed that the 3D position information of the drone can be obtained in real-time, and it can be controlled to move to a specific location. We proposed a drone control scheme to enable autonomous flight indoors based on deep learning. In particular, to improve the conventional convolutional neural network (CNN) algorithm that uses images from three video cameras, we designed a distinguished CNN structure with deeper layers and appropriate dropouts to use the input data set provided by only one camera
Person following control for a mobile robot based on color invariance corresponding to varying illumination
Get PDFIn this paper, we present a method of person following control for a mobile robot using visual information. Color information is often used for object tracking. Color information of objects varies greatly under illumination changing environment. In such conditions, the robot controlled by visual information may lose sight of a person. In this paper, we consider a robust person following method by color invariance and image-based control. Color invariance shows robust features of colored objects in terms of changing illumination conditions. At first, we estimate the lowest positions of both feet of a tracked person through particle filters based on color invariances. Then, we control the velocity of the robot to track the person by using the image-based controller. Experimental results using an actual robot demonstrate the effectiveness of the proposed method
Development of a dynamic intelligent recognition system for a real-time tracking robot
Get PDFNowadays, the development of computer vision technology help to overcome track and identify humans within a location in the complex environment through mobile robots, which gives the motivation to presents a vision-based approach to a mobile security robot. The proposed system utilizes a wireless camera to detect the objects in the field of robot view. Principle component analysis (PCA) algorithm and filters are used to implement and demonstrate the process of the images. This gives the designed system the ability to recognize objects independently from current light conditions. Frame tracking in the images uses an attention system to get an estimate of the position of a person. This estimate helps the applied camera to identify objects with changing background lighting conditions such as a fire inside a building. By using this estimate, the applied camera could identify objects with changing background lighting conditions such as a fire inside premises. The system has been tested using the MATLAB environment, and the empirical performance explains the efficiency and strongness of the suggested device
Switched time delay control based on neural network for fault detection and compensation in robot
Get PDFFault detection in robotic manipulators is necessary for their monitoring and represents an effective support to use them as independent systems. This present study investigates an enhanced method for representation of the faultless system behavior in a robot manipulator based on a multi-layer perceptron (MLP) neural network learning model which produces the same behavior as the real dynamic manipulator. The study was based on generation of residue by contrasting the actual output of the manipulator with those of the neural network; Then, a time delay control (TDC) is applied to compensate the fault, in which a typical sliding mode command is used to delete the time delay estimate produced by the belated signal in order to obtain strong performances. The results of the simulations performed on a model of the SCARA arm manipulator, showed a good trajectory tracking and fast convergence speed in the presence of faults on the sensors. In addition, the command is completely model independent, for both TDC and MLP neural network, which represents a major advantage of the proposed command
Internet of robotic things: Design and develop the quality of service framework for the healthcare sector using CoAP
Get PDFThe number of robotics used globally is gradually growing, according to a variety of research. They are becoming more and more popular in different workplaces, like manufacturing, distribution, medical conditions, military, inaccessible areas, etc. The int ernet of things (IoT) and robotics groups have until now been guided by a set of, but somewhat compatible, goals, which are mainly to help knowledge systems in the field of general sensing, tracking, and monitoring. Therefore, the development of an interne t of robotic things (IoRT), which incorporates the outcome from both cultures, is progressively said to have a significant added benefit. Internet of robotic thin gs, the intersection of the Internet of Things and robotics, is where self - sufficient machines will assemble information from various sensors and speak with one another to perform errands including basic reasoning. As the name suggests, IoRT is the combination of two front - line innovations, the internet of things and robotics . People can manage any electronic device in homes with IoT and can also be used in contactless applications in healthcare. The constrained application protocol (CoAP), for the management and control of a community of homogeneous sensor modules, has recently endorsed multicast c ommunications in IoRT. It will boost connectivity performance, less power consumption due to data aggregation, and enhanced security features with DTLS security features for various applications for the internet of things . This paper presents an implementa tion of the CoAP framework on IoRT sky motes using the C ontiki C ooja Simulator that will be a useful healthcare sector that will confirm their potential and therefore, new research directions are outlined
Application of DPC and DPC-GA to the dual-rotor wind turbine system with DFIG
Get PDFThe work presents the dual-rotor wind energy conversion system (DRWECS) with a direct driven doubly-fed induction generator (DFIG). The system consists of a dual-rotor wind turbine (DRWT) with a DFIG, the grid side converter (GSC), and the machine side converter (MSC). To command the MSC, the direct power command (DPC) based on genetic algorithm (GA) and classical pulse width modulation (PWM) has been applied. To achieve the maximum power from the DRWT, the maximum powe point tracking (MPPT) technique has been used. The performed simulation studies confirmed the high performances of the DPC-GA contro method
Formation shape transition of multiple mobile robots in leader-follower method
Get PDFThis paper presents a formation shape transition technique of multiple mobile robots in the leader-follower method as a new function that gives flexibility to the formation control of mobile robots with multiple sonars. First, we propose basic shape transition methods for the case of two mobile robots under formation control by the leader-fol lower method, and then extend the methods to the shape transition of three mobile robots. Since the multiple sonars attached to the mobile robot are located forward, including the left and right sides, there is a constraint on the formation shape feasible by the leader-follower method. In the case of two mobile robots, the follower must be positioned behind the leader. Therefore, there are three shapes of the follower relative to the leader: line, right-back, left-back. In the case of three mobile robots, t hree types of line, zigzag, triangle shapes are considered. The effectiveness of the proposed technique is demonstrated by experiments using real mobile robots
Future trends in mechatronics
Get PDFPresently, the move towards a more complex and multidisciplinary system development is increasingly important in order to understand and strengthen engineering approaches for the systems in the engineering field. This will lead to the effective and successful management of these systems. The scientific developments in computer engineering, simulation and modeling, electromechanical motion tools, power electronics, computers and informatics, micro-electro-mechanical systems (MEMS), microprocessors, and distributed system platforms (DSPs) have brought new challenges to industry and academia. Important aspects of designing advanced mechatronic products include modeling, simulation, analysis, virtual prototyping, and visualization. Competition on a global market includes the adaptation of new technology to produce better, cheaper, and smarter, scalable, multifunctional goods. Since the application area for developing such systems is very broad, including, for example, automotive, aeronautics, robotics or consumer products, and much more, there is also the need for flexible and adaptable methods to develop such systems. These dynamic interdisciplinary systems are called mechatronic systems, which refer to a system that possess synergistic integration of Software, electronic, and mechanical systems. To approach the complexity inherent in the aspects of the discipline, different methods and techniques of development and integration are coming from the disciplines involved. This paper will provide a brief review of the history, current developments and the future trends of mechatronics in general view