IAES International Journal of Robotics and Automation (IJRA)
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Parametric study of soft pneumatic robot grippers through finite element analysis
Get PDFThis paper investigates the gripping stress and deformation of pneumatically-actuated fluidic elastomer actuation (FEA)-based soft robotic gripper through ansys finite element analysis software. By varying gripper parameters, i.e. Input pressures and clearance to the object, simulations on the deformation of the soft fingers are performed to achieve gripping of the object. The motivation of this parametric study is to facilitate the design optimization of soft robotic grippers. Results demonstrate that grippers with lesser clearance to the object require lesser input pressure to achieve similar gripping stress on the object although it is evident that grippers with higher clearance are able to cater for wider range of object sizes
Potential challenges of collaborative robot implementation in Vietnamese garment manufacturing
Get PDFCollaborative robots (cobots) are a new significant technology in the integration of Industry 4.0 (I4.0) and Industry 5.0 (I5.0). Working alongside humans in open environments, cobots can boost safety and productivity. However, manufacturers are facing some potential challenges in adopting cobots, such as technological challenges, social problems, cost barriers, and labor issues. Vietnam has a great potential for outsourcing in the top supply chains for many famous fashion brands globally, with thousands of textile and garment factories. The purpose of this study was to explore potential challenges of cobot implementations in the context of Vietnam’s garment factories from factory employees’ perspectives. Data were collected from 29 garment factory managers in Vietnam. Findings revealed a rapid change in fashion trends and many unskilled workers may limit cobots’ flexibility, precision, and innovation. Furthermore, cobot implementation is affected by the cost of cobots, infrastructure upgrades, and risks of possible failure in deployment. Cobot firms, application partners, technology programmers, and manufacturers need to discuss how to maximize cobots’ benefits in diverse aspects of the garment manufacturing setting. These insights could boost the industry’s economy and sustainability
A Lyapunov based posture controller for a differential drive mobile robot
Get PDFDriving a vehicle to a desired position and orientation is one of the most important problems that should be solved in most navigation systems. This paper describes a new complete design and hardware implementation of a two-level controller that will enable a differential drive mobile robot to reach any desired posture starting from any initial position. The first or low-level controller consists of a set of two proportional–integral–derivative (PID) controllers, running on an embedded system on board of the robot. These controllers provide the required voltages to the motors to make the left and right wheels of the robot rotate with the angular speeds computed by the second or high-level controller, running on a stationary PC system. This second controller is based on the Lyapunov stability theorem to derive two control laws for the kinematic model, used to transform the linear and angular speeds of the unicycle model in terms of left and right rotational speeds, required by the motors. As will be shown later, this architecture provides a very flexible way not only to tune the main controller parameters but also to get access and record all the system states
Experimental results on position and path control of an automated guided vehicle using fixed camera at ceiling and color markers
Get PDFThis article presents the results of experiments on path planning and control of automated guided vehicles (AGV) using single, fixed ceiling mounted, monocular cameras and colored markers. The camera employed in the system serves as both a sensor and controller. Initially, the working environment is structured using colored markers for given applications. For every new setup, structuring the environment is essential. The image processing algorithm identifies the colored markers and their positions, which are then utilized for path planning and segmentation. The actuation time required to transverse each segment is calculated and then AGV is actuated accordingly. A transformation or inverse mapping matrix (M), predetermined, is employed for calculating world coordinates from given image coordinates. Path planning and AGV control are across various paths, both with and without static obstacles, in real-time applications. The colored marker detection and recognition accuracy for the given setup have been found cent percentage while the AGV reaches the goal point with an error margin of around 3.9% on straight paths, both with and without obstacles
The color features and k-nearest neighbor algorithm for classifying betel leaf image
Get PDFPiper betle L. (betel) is a species that belongs to the genus Piper and is a type of medicinal plant that is quite well known to the general population. The varieties of the leaf color may distinguish are red, green, and black betel. However, consumers still need assistance determining the differences between the many types of betel leaf. Therefore, using image processing techniques, this research contributes to building a classification method for distinguishing betel leaves based on color attributes. This approach anoints for the region of interest detection, feature extraction, and classification. In addition, three different classifiers, naïve Bayes, support vector machine, and k-nearest neighbors (k-NN), were used during the classification process. The evaluation for this study used a percentage split to divide a total of 180 images between the training and testing phases. The method’s performance provided the highest accuracy value possible, 100%, by utilizing the color characteristics with the k-NN classifier
Analysis of single layer artificial neural network neuromorphic hardware chip
Get PDFThe neuromorphic architectures are hardware network systems designed with neural functions. Neural networks seen in biology serve as an inspiration for network systems. A synapse connects every node or neuron in an artificial neural network (ANN) to every other node. As in biological brains, the amplitude of the linking between nodes referred to as synaptic weights will regulate the connection. In contrast to conventional design, ANN uses many highly organized dealing pieces that work together to solve real-world issues. The design of the neuromorphic hardware chip is discussed in the paper. The target device used is a Virtex-5 Field Programmable Gate Array (FPGA) and the simulation is taken on Xilinx ModelSim software. This chip is designed for 20 neuron inputs, each of the neuron inputs is 8-bit. Each 20-neuron input is multiplied by 20 input weights and each weight is 8-bit so when these 20 input weights are multiplied by 20 neuron inputs in the multiplier it gives 16-bit output. A control logic is used in this neuromorphic hardware chip design which is used to feed multiplier output to each input of the hidden layer. The system-level outcome of the hidden layer is then given to the multiplexer which has 20 inputs and one single output. The multiplexer is used to select any of the 20 outputs of the control logic. Finally, to gain an understanding of the performance of this neuromorphic hardware chip, we have computed the hardware utilization parameters. These parameters include slices, input/output blocks (IOBs), registers used, memory, and the overall propagation delay used by the hardware chip
Development of robotic arm control using Arduino controller
Get PDFThe advance of Arduino-based technology has spurred innovation in the realm of robotic arm control, offering a cost-effective and accessible platform for enthusiasts and professionals alike. This paper presents the development of robot arm control using an Arduino controller. The work involves the integration of Arduino microcontrollers and sensors to enable precise and dynamic control of a robotic arm. The proposed robot is controlled by 4 servo motors, the motors rotate left, right, front, and back. The paper discusses the challenges encountered during the development process and proposes solutions, paving the way for further advancements in this burgeoning field. With Arduino's widespread availability and affordability, the presented robotic arm control system holds promise for expanding the accessibility of robotics education and fostering innovation in automation technologies. This paper provides a glimpse into the promising synergy between Arduino and robotic arm control, highlighting the contributions and implications of this technology in shaping the future of automation
Script late injection: a framework to introduce JavaScript into web pages
Get PDFScript injection is one type of fault present in web, which mostly utilizes user data to execute code without applying any type of filters. Script injection can impact both client and server making exposing them to vulnerabilities. Security and related products may need to execute logic on the client-side generally in a browser. In order to achieve this, proxy servers inject appropriate JavaScript code into the responses they proxy. Typically, the injection point is at the end of the body element. The framework introduced in this paper rather uses a stack-based approach to determine the injection point in the web page. Ten kilobytes from the end of a web page are given as a string input to the framework, after tokenization and construction of the vector of tokens. A stack is used to determine the injection point. Along with the position of the injection point, a warning flag is also estimated indicating the correctness of the injection point. Different types of web pages were considered for running the unit tests and fuzzy tests on the framework. These classes of pages are determined by crawling most used web pages. The injected scripts are executed once the body content is completely loaded. Hence, it can retrieve maximum information without affecting end-user performance. It also does the job at a low cost
Autonomous navigation system for hexa-legged search and rescue robot using LiDAR
Get PDFThis study proposes an autonomous navigation system for hexapod robots, promising in complex rescue scenarios. The system is tested in simulations under three environments: rocky, cracked flooring, and inclined surfaces. utilizing light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM), the robot recognizes positions and constructs environmental maps. Implemented via robot operating system, the research successfully applies navigation and mapping using hector_slam. LiDAR mapping yields satisfactory accuracy, with average errors of 0.21% for general mapping and 5.34% for circular paths. Within a 2-meter range, navigation achieves good accuracy, averaging 1.2% error on the x-axis and 0.011% on the y-axis during linear motion. Navigational repeatability improves, with reliable results showing an average error of 4.33 cm on the x-axis and 0.5 cm on the y-axis when returning to starting points. Arena testing with varied obstacles demonstrates successful obstacle traversal. However, in the second test, limitations in hardware, notably the Raspberry Pi 4 CPU usage reaching 97% during navigation, hindered reaching the third target
A small payload desktop industry robot design without conventional reducers
Get PDFDesigning a compact desktop industrial robot with a small payload capacity, eliminating the use of traditional reducers, poses an intriguing challenge. This innovative approach aims to enhance the robot's cost-efficiency and reduce its overall size. The design focuses on optimizing the mechanical structure and exploring alternative mechanisms to achieve precise control without relying on conventional reducers. This article delves into the design aspects of a 1 kg payload robot. Initially, the paper presents an overview of the robot's mechanism and its kinematic analysis. Subsequently, synchronous belts are proposed as replacements for traditional reducers, accompanied by an introduction to the mechanical structure. Simulation is carried out to calculate the drive forces on the belts. According to the result, a suitable belt scheme has been designed. Ultimately, a prototype of the robot is constructed, and experiments demonstrate that this design achieves a repeatable accuracy comparable to robots employing conventional reducers, all while considerably reducing the overall cost of the robot