IAES International Journal of Robotics and Automation (IJRA)
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Design and Coordination of Cooperative Mobile Robots
Get PDFObject transportation is an important task considered in mobile robotics. For many years, it has been performed by single robots, capable to transport payload of moderate size and mass with respect to the robot size and mass. But if the payload gets bigger, the robot fails in the transporting task. For wider or heavier payloads, human operators improve their capacities by working in group. A similar improvement should be expected with a group of mobile robots.In this paper, we proposed a new concept of cooperative mobile robots to deal with the problem of long object transportation in unstructured environment whatever the payload length. The proposed C3Bots AT/VLP robot is formed by the association of two or more mono-robots with simple kinematics forming a poly-robot system.The paper presents several kinematic schemes and the corresponding obstacle-crossing processes. It deals with the problem of how to maintain stable motion for the poly-robot during obstacle crossing. Changes in the internal configuration of the robot adjust the center of gravity to guarantee stable motion. A specific stability criterion for contact on three wheels is presented. By adjusting the relative poses of the front and rear axles with respect to the payload, it is possible to maximize the stability of the poly-robot and its payload during obstacle crossing
Nonlinear dynamic modeling and optimal motion analysis of two-link manipulators
Get PDFManipulators are used in various industrial applications to perform variant operations such as conveying payloads. Regarding to their applications, dynamic modeling and motion analysis of manipulators are known as important and appealing tasks. In this work, nonlinear dynamics and optimal motion analysis of two-link manipulators are investigated. To dynamic modeling of the system, the Lagrange principle is employed and nonlinear dynamic equations of the manipulator are presented in state-space form. Then, optimal motion analysis of the nonlinear system is developed based on optimal control theory. By means of optimal control theory, indirect solution of problem results in a two-point boundary value problem which can be solved numerically. Finally, in order to demonstrate the power and efficiency of method, a number of simulations are performed for a two-link manipulator which show applicability of proposed method
Load Carrying Assistance Device Pogo Suit
Get PDFWearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models
Self-Corrective Autonomous Systems using Optimization Processes for Detection and Correction of Unexpected Error Conditions
Get PDFA theoretical framework for autonomous self-detection and self-correction of unexpected error conditions is derived by incorporating the principles of operation in autonomous control in biological evolution. Using the biologically inspired principles, the time-dependent multi-dimensional disparity vector is used as a quantitative metric for detecting unexpected and unforeseeable error conditions without any external assistance. The disparity vector is a measure of the discrepancy between the expected outcome predicted by the autonomous system and the actual outcome in the real world. It is used as a measure to detect any unexpected or unforeseeable errors. The process for autonomous self-correction of the self-discovered errors is an optimization process to minimize the errors represented by the disparity vectors. The strategies for prioritizing the urgency of corrective actions are also provided in the theoretical derivations. The criteria for any change in direction of the corrective actions are also provided quantitatively. The criteria for the detection of the minimization and maximization of errors are also provided in the autonomous optimization process. The biological correspondences of the emotional responses in relation to the autonomic self-corrective feedback systems are also provided
Analysis of M42SP-7P on the Balinese Papyrus Script Printing Control System
No full textScript writing art in the lives of Balinese people has a very important function, particularly in terms of writing a sacred script such as writing an inscription on copper plate, bronze, silver, and gold, by using a penknife which required a persistence, patience, skill and experience by itself, since not all Balinese people is able to do this very complicated work. Considering the difficulty in writing a script on papyrus and the rarity of script writer experts, therefore the researcher gives appreciation on papyrus preservation and conservation. In the present time, sophisticated technology has replaced manual equipments which required a lot of manpower to be operated. Maybe also the inscription writing model with ancient language and writing has been done so many times with computer technology by using the printer as the interface for printing. In this research the Balinese script printing tools will be designed namely a penknife using robotic technology which mimicking human hand’s motion when writing a script on papyrus. Thought the script tool printer design through robotic technology in order to write a script on palm leaves is an important role of technology as an innovation strategy that is able to create new thinking, new ideas and inovation creative products. Eventually is also expected to satisfy the user as consumer and a new creative market
Automation in the unloading and loading process of hot rolled coil using workspace simulation software : A Review
Get PDFThe aim of this paper is to confirm the importance of unloading and loading process of hot rolled coil and automation in manufacturing industry. This paper describes about the different systems which are used in various ISPAT industries for material handling purpose or lifting the heavy coils. There are six main systems which are used in industries for material handling purpose. After studying all these systems, we will propose one system which is more beneficial than other systems. Later in this paper we will also study the introductory part of the workspace simulation software, its features, benefits and applications. The objective of this project is to overcome the problems at industry by designing and simulating a robot arm to perform the task. By simulating, the process of unloading and loading of hot rolled coil can perform more effectively. Workspace LT is the software used in this project
Anchor Movement Strategy for Conjecture Geometry Based Localization Scheme in Wireless Sensor Network
Get PDFAbstract—Localization of sensor node with least error is one of the major concern in wireless sensor network as some of the application require sensor node to know their location with high degree of precision. For mobile anchor based localization many of the path planning schemes already developed which includes scan, double scan, Circles & S- Curves. These path planning schemes have some limitations like localization error, Number of sensor nodes covered in the network, Trajectory length of mobile anchor node. This paper represents anchor movement strategy which is based on Scan path, with modifications are made in such a way that it satisfies the requirements of localization scheme. This movement strategy ensures that trajectory of mobile anchor node will minimize localization error and also will cover majority of sensor node in the environment. The localization error yielded by Modified Scan algorithm is in the range of 0.2 to 0.4m which is quite lower than the other existing mentioned path planning strategies producing localization error in the range 0.6 to 1.8mKeywords—Localization; Mobile anchor node; Wireless sensor network; Modified Scan algorith
Accelerometer Based Control of Robotic Arm
Get PDFAbstract— Robots are very smart and interactive machines that can be programmed and used in many areas such as industry, manufacturing, production lines, household or health, etc. These robots can perform hard, dangerous, and accurate work to facilitate our life and to increase the production. Humans are trying to minimize the time required to do the similar kind of jobs. The task in which picking & placing of an object is to be done, can be carried out with the help of robots. These robots can minimize the human efforts. The robotic arms can be also used in the industries to assemble the small parts, in chemical industries to pick and place small types of object such as tablets. Artificial robotic arms thus can be used to control gestures. In this paper an idea of controlling robotic arm is implemented using an accelerometer which is placed on the human hand, capturing its behavior (gestures and postures) which are then transmitted at some distance and the robotic arm assembly connected wirelessly moves accordingly
Using a Mobile Robot with Interpolation and Extrapolation Method for Chemical Source Localization in Dynamic Advection-diffusion Environment
Get PDFthis paper address the problem of mapping likely particle path derived from a chemical source using interpolation and extrapolation method. Order localization is the problem of finding the source of an odor or other volatile chemical. Most localization method require the robot to follow the odor plume along its entire length, which is time consuming and may be especially difficult in a cluttered environment. In this paper, a map of sensors’ environment was used, together with the path line of airflow, to predict the pattern of air movement. The robot then used the airflow pattern to reason about the probable location of the odor source. This demonstrates that interpolation and extrapolation method can be used to assist odor localization search and indicates that similar techniques have great operating in an unstructured environment to reason about its surroundings. This paper present details of getting the model of particle path using interpolation and extrapolation method, model of particle path surrounding the obstacles and openings, result of practical odor source location simulation
Kinematic Modelling of Multi-Terrain Pine Needle Collecting Robot (PiNCoR) for the Hilly areas of Uttarakhand
Get PDFUttarakhand – a northern state of India in the foothills of Himalayas has approximately 64.8% of forest. Pine (Pinus roxburghii) is an important tree species which is because of its numerous uses becomes more prominent in this hilly state. Pine Needle Collecting Robot (PiNCoR) is a machine designed to collect pine needles from the high altitude pine forest regions. The robot is capable to maneuver over rough terrains, can navigate through craters and can stock the collected pine needles. After analyzing the design constraints for navigation on the hilly terrains, a small rover was designed and the kinematics portion is discussed in this paper. With the use of a versatile rocker bogie suspension mechanism, this paper also presents the kinematic modelling of a wheeled mobile robot being the best for hilly areas with super stability and traction control being its assets. It analyzes the different inputs from the information provided by the on-board sensor system for maneuvering. The robot has five degrees of freedom (DoF) providing it the flexibility to work in x and z axes as along with the standard pitch, roll and yaw directions