Search results for: sliding robots

Authors: Samira Haghbin, Behnam Daryayelaal, Zeinab Amiri

Abstract:

As a result of rapid progress of technology in various industries, the only way to survive in a competitive market of business is to update one's situation along with the said developments. During recent decades, Robotics and automation of the construction operation has emerged as one of the important technologies grabbing the attention of various industries and specially the construction industry. Because of the coming labor shortage of the aging society in the near future, robots will be used in construction fields more than ever. By predicting the condition of Robotics in world's future construction industry, we can make necessary preparations to face with needs imposed by the time and stay ahead. This article takes a library study approach and presents a literature review of existing studies with an aim to investigate the use of robotics in past, present and future of construction industry and make predictions on its' growth and change process. Therefore, to make familiar with this kind of technology and its' requirements in the construction industry, the status of Robotics in construction industry of different countries of the world has been studied and necessary context for its' future progress is expressed. It is hoped that identifying needs and required contexts will facilitate further development of advanced technologies such as robotics industry and lead to more preparation for future.

Keywords: future of robotics, construction industry, construction automation, trends of automation

Procedia PDF Downloads 392

Authors: Syamimi Shamsuddin, Hanafiah Yussof, Fazah Akhtar Hanapiah, Salina Mohamed, Nur Farah Farhan Jamil, Farhana Wan Yunus

Abstract:

Robot-based intervention for children with autism is an evolving research niche in human-robot interaction (HRI). Recent studies in this area mostly covered the role of robots in the clinical and experimental setting. Our previous work had shown that interaction with a robot pose no adverse effects on the children. Also, the presence of the robot, together with specific modules of interaction was associated with less autistic behavior. Extending this impact on school-going children, interactions that are in-tune with special education lessons are needed. This methodological paper focuses on how a robot can be incorporated in a current learning environment for autistic children. Six interaction scenarios had been designed based on the existing syllabus to teach communication skills, using the Applied Behavior Analysis (ABA) technique as the framework. Development of the robotic experience in class also covers the required set-up involving participation from teachers. The actual research conduct involving autistic children, teachers and robot shall take place in the next phase.

Keywords: autism spectrum disorder, ASD, humanoid robot, communication skills, robot-assisted learning

Procedia PDF Downloads 367

Authors: Djeridi Rachid, Ould Ouali Mohand

Abstract:

The search of a mechanism for the elastomer abrasive wear study is an open issue. The practice difficulties are complex due to the complexity of deformation mechanism, to the complex mechanism of the material tearing and to the marked interactions between the tribological parameters. In this work, we present an experimental technique to study the elastomers abrasive wear. The interaction 'elastomer/indenter' implicate dependant ant temporary of different tribological parameters. Consequently, the phenomenon that governs this interaction is not easy to explain. An optimal elastomers compounding and an adequate utilization conditions of these materials that define its resistance at the abrasion is discussed. The results are confronted to theoretical models: the weight loss variation in function of blade angle or in function of cycle number is in agreement with rupture models and with the mechanism of fissures propagation during the material tearing in abrasive wear of filler elastomers. The weight loss in function of the sliding velocity shows the existence of a critical velocity that corresponds to the maximal wear. The adding of silica or black carbon influences in a different manner on wear abrasive behavior of filler elastomers.

Keywords: abrasion wear, filler elastomer, tribology, hyperelastic

Procedia PDF Downloads 322

Authors: Pascal Gliesche, Kathrin Seibert, Christian Kowalski, Dominik Domhoff, Max Pfingsthorn, Karin Wolf-Ostermann, Andreas Hein

Abstract:

Robotic assistance in nursing care is an increasingly important area of research and development. Facing a shortage of labor and an increasing number of people in need of care, the German Nursing Care Innovation Center (Pflegeinnovationszentrum, PIZ) aims to address these challenges from the side of technology. Little is known about nurses experiences with existing robotic assistance systems. Especially nurses perspectives on starting points for the development of robotic solutions, that target recurring burdensome tasks in everyday nursing care, are of interest. This paper presents findings focusing on robotics resulting from an explanatory mixed-methods study on nurses experiences with and their expectations for innovative technologies in nursing care in stationary and ambulant care facilities and hospitals in Germany. Based on the findings, eight scenarios for robotic assistance are identified based on the real needs of practitioners. An initial system addressing a single use-case is described to show perspectives for the use of robots in nursing care.

Keywords: robotics and automation, engineering management, engineering in medicine and biology, medical services, public health-care

Procedia PDF Downloads 153

Authors: A. Shebani, C. Pislaru

Abstract:

Wear of materials is an everyday experience and has been observed and studied for long time. The prediction of wear is a fundamental problem in the industrial field, mainly correlated to the planning of maintenance interventions and economy. Pin-on-disc test is the most common test which is used to study the wear behaviour. In this paper, the pin-on-disc (AEROTECH UNIDEX 11) is used for the investigation of the effects of normal load and hardness of material on the wear under dry and sliding conditions. In the pin-on-disc rig, two specimens were used; one, a pin which is made of steel with a tip, is positioned perpendicular to the disc, where the disc is made of aluminium. The pin wear and disc wear were measured by using the following instruments: The Talysurf instrument, a digital microscope, and the alicona instrument; where the Talysurf profilometer was used to measure the pin/disc wear scar depth, and the alicona was used to measure the volume loss for pin and disc. After that, the Archard model, American Society for Testing and Materials model (ASTM), and neural network model were used for pin/disc wear modelling and the simulation results are implemented by using the Matlab program. This paper focuses on how the alicona can be considered as a powerful tool for wear measurements and how the neural network is an effective algorithm for wear estimation.

Keywords: wear modelling, Archard Model, ASTM Model, Neural Networks Model, Pin-on-disc Test, Talysurf, digital microscope, Alicona

Procedia PDF Downloads 456

Authors: Maryam Alimardani, Kazuo Hiraki

Abstract:

This study presents a framework for development of a new generation of therapy robots that can interact with users by monitoring their physiological and mental states. Here, we focused on one of the controversial methods of therapy, hypnotherapy. Hypnosis has shown to be useful in treatment of many clinical conditions. But, even for healthy people, it can be used as an effective technique for relaxation or enhancement of memory and concentration. Our aim is to develop a robot that collects information about user’s mental and physical states using electroencephalogram (EEG) and electromyography (EMG) signals and performs costeffective hypnosis at the comfort of user’s house. The presented framework consists of three main steps: (1) Find the EEG-correlates of mind state before, during, and after hypnosis and establish a cognitive model for state changes, (2) Develop a system that can track the changes in EEG and EMG activities in real time and determines if the user is ready for suggestion, and (3) Implement our system in a humanoid robot that will talk and conduct hypnosis on users based on their mental states. This paper presents a pilot study in regard to the first stage, detection of EEG and EMG features during hypnosis.

Keywords: hypnosis, EEG, robotherapy, brain-computer interface (BCI)

Procedia PDF Downloads 256

Authors: Jianyong Xue, Olivier L. Georgeon, Salima Hassas

Abstract:

During the initial phase of cognitive development, infants exhibit amazing abilities to generate novel behaviors in unfamiliar situations, and explore actively to learn the best while lacking extrinsic rewards from the environment. These abilities set them apart from even the most advanced autonomous robots. This work seeks to contribute to understand and replicate some of these abilities. We propose the Bottom-up hiErarchical sequential Learning algorithm with Constructivist pAradigm (BEL-CA) to design agents capable of learning autonomously and continuously through interactions. The algorithm implements no assumption about the semantics of input and output data. It does not rely upon a model of the world given a priori in the form of a set of states and transitions as well. Besides, we propose a toolkit to analyze the learning process at run time called GAIT (Generating and Analyzing Interaction Traces). We use GAIT to report and explain the detailed learning process and the structured behaviors that the agent has learned on each decision making. We report an experiment in which the agent learned to successfully interact with its environment and to avoid unfavorable interactions using regularities discovered through interaction.

Keywords: cognitive development, constructivist learning, hierarchical sequential learning, self-adaptation

Procedia PDF Downloads 181

Authors: Stefano Sorace, Gloria Terenzi

Abstract:

The study of a base isolation seismic retrofit solution for a reinforced concrete school building is presented in this paper. The building was assumed as a benchmark structure for a Research Project financed by the Italian Department of Civil Protection, and is representative of several similar public edifices designed with earlier Technical Standards editions, in Italy as well as in other earthquake-prone European countries. The structural characteristics of the building, and a synthesis of the investigation campaigns developed on it, are initially presented. The mechanical parameters, dimensions, locations and installation details of the base isolation system, incorporating double friction pendulum sliding bearings as protective devices, are then illustrated, along with the performance assessment analyses carried out in original and rehabilitated conditions according to a full non-linear dynamic approach. The results of the analyses show a remarkable enhancement of the seismic response capacities of the structure in base-isolated configuration. This allows reaching the high performance levels postulated in the rehabilitation design with notably lower costs and architectural intrusion as compared to traditional retrofit interventions designed for the same objectives.

Keywords: seismic retrofit, seismic assessment, r/c structures, school buildings, base isolation

Procedia PDF Downloads 270

Authors: Brwa Abdulrahman Abubaker

Abstract:

Recently, there has been a lot of interest in the difficult task of applying reinforcement learning to autonomous mobile robots. Conventional reinforcement learning (TRL) techniques have many drawbacks, such as lengthy computation times, intricate control frameworks, a great deal of trial and error searching, and sluggish convergence. In this paper, a modified Spiking Neural Network (SNN) is used to offer a distinct method for autonomous mobile robot learning and control in unexpected surroundings. As a learning algorithm, the suggested model combines dopamine modulation with spike-timing-dependent plasticity (STDP). In order to create more computationally efficient, biologically inspired control systems that are adaptable to changing settings, this work uses the effective and physiologically credible Izhikevich neuron model. This study is primarily focused on creating an algorithm for target tracking in the presence of obstacles. Results show that the SNN trained with three obstacles yielded an impressive 96% success rate for our proposal, with collisions happening in about 4% of the 214 simulated seconds.

Keywords: spiking neural network, spike-timing-dependent plasticity, dopamine modulation, reinforcement learning

Procedia PDF Downloads 21

Authors: Eman Alarfaj, Hissah Alabdullatif, Huda Alabdullatif, Ghazal Albakri, Nor Shahriza Abdul Karim

Abstract:

Autism Spectrum Disorder is extensively spread amid children; it affects their social, communication and interactive skills. As robotics technology has been proven to be a significant helpful utility those able individuals to overcome their disabilities. Robotic technology is used in ASD therapy. The purpose of this research is to show how Nao robots can improve the social skills for children who suffer from autism in Saudi Arabia by interacting with the autistic child and perform a number of tasks. The objective of this research is to identify, implement, and test the effectiveness of the module for interacting with ASD children in an autism center in Saudi Arabia. The methodology in this study followed the ten layers of protocol that needs to be followed during any human-robot interaction. Also, in order to elicit the scenario module, TEACCH Autism Program was adopted. Six different qualified interaction modules have been elicited and designed in this study; the robot will be programmed to perform these modules in a series of controlled interaction sessions with the Autistic children to enhance their social skills.

Keywords: humanoid robot Nao, ASD, human-robot interaction, social skills

Procedia PDF Downloads 264

Authors: Getachew Demeissie Ayalew, Yongtao Sun, Yang Yang

Abstract:

The spiral welded pipe manufacturing industry requires strict production standards for automated grinders for welding seams. However, traditional grinding machines in this sector are insufficient due to a lack of quality control protocols and inconsistent performance. This research aims to improve the quality of spiral welded pipes by developing intelligent automated abrasive belt grinding equipment. The system has equipped with six degrees of freedom (6 DOF) KUKA KR360 industrial robots, enabling concurrent grinding operations on both internal and external welds. The grinding robot control system is designed with a PLC, and a human-machine interface (HMI) system is employed for operations. The system includes an electric speed controller, data connection card, DC driver, analog amplifier, and HMI for input data. This control system enables the grinding of spiral welded pipe. It ensures consistent production quality and cost-effectiveness by reducing the product life cycle and minimizing risks in the working environment.

Keywords: Intelligent Systems, Spiral Welded Pipe, Grinding, Industrial Robot, End-Effector, PLC Controller System, 3D Laser Sensor, HMI.

Procedia PDF Downloads 296

Authors: Anton Hristozov, Eric Matson, Eric Dietz, Marcus Rogers

Abstract:

Components are heavily used in many software systems, including robotics systems. The growth of sophistication and diversity of new capabilities for robotic systems presents new challenges to their architectures. Their complexity is growing exponentially with the advent of AI, smart sensors, and the complex tasks they have to accomplish. Such complexity requires a more rigorous approach to the creation, use, and interoperability of software components. The issue is exacerbated because robotic systems are becoming more and more reliant on third-party components for certain functions. In order to achieve this kind of interoperability, including dynamic component replacement, we need a way to standardize their interfaces. A formal approach is desperately needed to specify what an interface of a robotic software component should contain. This study performs an analysis of the issue and presents a universal and generic approach to standardizing component interfaces for robotic systems. Our approach is inspired by well-established robotic architectures such as ROS, PX4, and Ardupilot. The study is also applicable to other software systems that share similar characteristics with robotic systems. We consider the use of JSON or Domain Specific Languages (DSL) development with tools such as Antlr and automatic code and configuration file generation for frameworks such as ROS and PX4. A case study with ROS2 is presented as a proof of concept for the proposed methodology.

Keywords: CPS, robots, software architecture, interface, ROS, autopilot

Procedia PDF Downloads 92

Authors: Yong Zhao, Jian He, Cheng Zhang

Abstract:

Cardiovascular diseases caused by hypertension are extremely threatening to human health, and early diagnosis of hypertension can save a large number of lives. Traditional hypertension detection methods require special equipment and are difficult to detect continuous blood pressure changes. In this regard, this paper first analyzes the principle of heart rate variability (HRV) and introduces sliding window and power spectral density (PSD) to analyze the time domain features and frequency domain features of HRV, and secondly, designs an HRV-based hypertension prediction network by combining Resnet, attention mechanism, and multilayer perceptron, which extracts the frequency domain through the improved ResNet18 features through a modified ResNet18, its fusion with time-domain features through an attention mechanism, and the auxiliary prediction of hypertension through a multilayer perceptron. Finally, the network was trained and tested using the publicly available SHAREE dataset on PhysioNet, and the test results showed that this network achieved 92.06% prediction accuracy for hypertension and outperformed K Near Neighbor(KNN), Bayes, Logistic, and traditional Convolutional Neural Network(CNN) models in prediction performance.

Keywords: feature extraction, heart rate variability, hypertension, residual networks

Procedia PDF Downloads 105

Authors: Catherine Kuforiji, Michel Nganbe

Abstract:

The abrasive wear of composite materials is a major challenge in highly demanding wear applications. Therefore, this study focuses on fabricating, testing and assessing the properties of 50wt% SS316L stainless steel–50wt% Al2O3 particle composites. Composite samples were fabricated using the powder metallurgy route. The effects of the powder metallurgy processing parameters and hard particle reinforcement were studied. The microstructure, density, hardness and toughness were characterized. The wear behaviour was studied using pin-on-disc testing under dry sliding conditions. The highest hardness of 1085.2 HV, the highest theoretical density of 94.7% and the lowest wear rate of 0.00397 mm3/m were obtained at a milling speed of 720 rpm, a compaction pressure of 794.4 MPa and sintering at 1400 °C in an argon atmosphere. Compared to commercial SS316 and fabricated SS316L, the composites had 7.4 times and 11 times lower wear rate, respectively. However, the commercial 90WC-10Co showed 2.2 times lower wear rate compared to the fabricated SS316L-Al2O3 composites primarily due to the higher ceramic content of 90 wt.% in the reference WC-Co. However, eliminating the relatively high porosity of about 5 vol% using processes such as HIP and hot pressing can be expected to lead to further substantial improvements of the composites wear resistance.

Keywords: SS316L, Al2O3, powder metallurgy, wear characterization

Procedia PDF Downloads 304

Authors: Kazuo Kiguchi, Kouta Ikegami

Abstract:

In the case of physically weak persons, not only motor abilities, but also sensory abilities are sometimes deteriorated. The concept of perception-assist has been proposed to assist the sensory ability of the physically weak persons with a power-assist robot. Since upper-limb motion is very important in daily living, perception-assist for upper-limb motion has been proposed to assist upper-limb motion in daily living. A virtual tunnel was applied to modify the user’s upper-limb motion if it was necessary. In this paper, effective shape of the virtual tunnel which is applied in the perception-assist for upper-limb motion is proposed. Not only the position of the grasped tool but also the angle of the grasped tool are modified if it is necessary. Therefore, the upper-limb motion in daily living can be effectively modified to realize certain proper daily motion. The effectiveness of the proposed virtual tunnel was evaluated by performing the experiments.

Keywords: motion modification, power-assist robots, perception-assist, upper-limb motion

Procedia PDF Downloads 241

Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka

Abstract:

This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: simulation, visual navigation, mobile robot, data visualization

Procedia PDF Downloads 255

Authors: Alireza Changizi, Arash Rezaei, Jamal Muhammad, Jyrki Latokartano, Minna Lanz

Abstract:

Offline programming (OLP) is a new method in robot programming which is used widely in the industry nowadays which is a simulation base method that can produce the robot codes for motion according to virtual world in the simulation software. In this project Delmia v5 is used as simulation software. First the work cell component was modelled by Catia v5 and all of them was imported to a process file in Delmia and placed roughly to form the virtual work cell. Then robot was added to the work cell from the Delmia library. Work cell was calibrated corresponding to real world work cell to have accurate code. Tool calibration is the first step of calibration scheme and then work cell equipment can be calibrated using 6 point calibration method. Finally generated code needs to be reformed to match related controller code instruction. At the last stage IO were set to accomplish robots cooperation and make their motion synchronized. The pros and cons also will be discussed to clarify the presented results show the feasibility of the method and its effect on production line efficiency. Finally the positive and negative points of the implementation will be discussed.

Keywords: robotic, automated, production, offline programming, CAD

Procedia PDF Downloads 387

Authors: Khizir Mohd Ismail, Yu Jun Lim, Tshun Howe Yong

Abstract:

The study of flow behavior in an enclosed volume using Computational Fluid Dynamics (CFD) has been around for decades. However, due to the knowledge limitation of adaptive grid methods, the flow in an enclosed volume near the moving wall using CFD is less explored. A CFD simulation of flow in an enclosed volume near a moving wall was demonstrated and studied by introducing a moving mesh method and was modeled with Unsteady Reynolds-Averaged Navier-Stokes (URANS) approach. A static enclosed volume with controlled opening size in the bottom was positioned against a moving, translational wall with sliding mesh features. Controlled variables such as smoothed, crevices and corrugated wall characteristics, the distance between the enclosed volume to the wall and the moving wall speed against the enclosed chamber were varied to understand how the flow behaves and reacts in between these two geometries. These model simulations were validated against experimental results and provided result confidence when the simulation had shown good agreement with the experimental data. This study had provided better insight into the flow behaving in an enclosed volume when various wall types in motion were introduced within the various distance between each other and create a potential opportunity of application which involves adaptive grid methods in CFD.

Keywords: moving wall, adaptive grid methods, CFD, moving mesh method

Procedia PDF Downloads 147

Authors: B. Siva Kumar Reddy, B. Lakshmi

Abstract:

WiMAX is a high speed broadband wireless access technology that adopted OFDM/OFDMA techniques to supply higher data rates with high spectral efficiency. However, OFDM suffers in view of high Peak to Average Power Ratio (PAPR) and high affect to synchronization errors. In this paper, the high PAPR problem is solved by using phase modulation to get Constant Envelop Orthogonal Frequency Division Multiplexing (CE-OFDM). The synchronization failures are brought down by employing a frequency lock loop, Poly phase clock synchronizer, Costas loop and blind equalizers such as Constant Modulus Algorithm (CMA) equalizer and Sign Kurtosis Maximization Adaptive Algorithm (SKMAA) equalizers. The WiMAX physical layer is executed on Software Defined Radio (SDR) prototype by utilizing USRP N210 as hardware and GNU Radio as software plat-forms. A SNR estimation is performed on the signal received through USRP N210. To empathize wireless propagation in specific environments, a sliding correlator wireless channel sounding system is designed by using SDR testbed.

Keywords: BER, CMA equalizer, Kurtosis equalizer, GNU Radio, OFDM/OFDMA, USRP N210

Procedia PDF Downloads 349

Authors: Mortez Alijani, Anas Osman

Abstract:

Recently, the popularity of Unmanned aerial vehicles (UAVs) has skyrocketed amidst the unprecedented events and the global pandemic, as they play a key role in both the security and health sectors, through surveillance, taking test samples, transportation of crucial goods and spreading awareness among civilians. However, the process of designing and producing such aerial robots is suppressed by the internal and external constraints that pose serious challenges. Landing is one of the key operations during flight, especially, the autonomous landing of UAVs on a moving platform is a scientifically complex engineering problem. Typically having a successful automatic landing of UAV on a moving platform requires accurate localization of landing, fast trajectory planning, and robust control planning. To achieve these goals, the information about the autonomous landing process such as the intersection point, the position of platform/UAV and inclination angle are more necessary. In this study, the mathematical approach to this problem in the X-Y axis based on the inclination angle and position of UAV in the landing process have been presented. The experimental results depict the accurate position of the UAV, intersection between UAV and moving platform and inclination angle in the landing process, allowing prediction of the intersection point.

Keywords: autonomous landing, inclination angle, unmanned aerial vehicles, moving platform, X-Y axis, intersection point

Procedia PDF Downloads 164

Authors: Q. J. Yang

Abstract:

This paper presents a case study of geotechnical design of bridge foundations and approaches in hilly granite formation in northern New South Wales of Australia. Firstly, the geological formation and existing cut slope conditions which have high risks of rock fall will be described. The bridge has three spans to be constructed using balanced cantilever method with a middle span of 150 m. After concept design option engineering, it was decided to change from pile foundation to pad footing with ground anchor system to optimize the bridge foundation design. The geotechnical design parameters were derived after two staged site investigations. The foundation design was carried out to satisfy both serviceability limit state and ultimate limit state during construction and in operation. It was found that the pad footing design was governed by serviceability limit state design loading cases. The design of bridge foundation also considered presence of weak rock layer intrusion and a layer of “no core” to ensure foundation stability. The precast mass concrete block system was considered for the retaining walls for the bridge approaches to resolve the constructability issue over hilly terrain. The design considered the retaining wall block sliding stability, while the overturning and internal stabilities are satisfied.

Keywords: pad footing, Hilly formation, stability, block works

Procedia PDF Downloads 332

Authors: Rezvan Khavari

Abstract:

The Zagros fold-thrust belt in SW Iran is a part of the Alpine-Himalayan system which consists of a variety of structures with different sizes or geometries. The study area is Chamshir Dam, which is located on the Zohreh River, 20 km southeast of Gachsaran City (southwest Iran). The satellite images are valuable means available to geologists for locating geological or geomorphological features expressing regional fault or fracture systems, therefore, the satellite images were used for structural analysis of the Chamshir dam area. As well, using the DEM and geological maps, 3D Models of the area have been constructed. Then, based on these models, all the acquired fracture traces data were integrated in Geographic Information System (GIS) environment by using Arc GIS software. Based on field investigation and DEM model, main structures in the area consist of Cham Shir syncline and two fault sets, the main thrust faults with NW-SE direction and small normal faults in NE-SW direction. There are three joint sets in the study area, both of them (J1 and J3) are the main large fractures around the Chamshir dam. These fractures indeed consist with the normal faults in NE-SW direction. The third joint set in NW-SE is normal to the others. In general, according to topography, geomorphology and structural geology evidences, Chamshir dam has a potential for sliding in some parts of Gachsaran formation.

Keywords: DEM, chamshir dam, zohreh river, satellite images

Procedia PDF Downloads 482

Authors: Ondrej Lufinka, Jan Kaderabek, Juraj Prstek, Jiri Skala, Kamil Kosturik

Abstract:

This paper deals with the problem of using Autonomous Robotic Platforms (ARP) for the ADAS (Advanced Driver Assistance Systems) testing in automotive. There are different possibilities of the testing already in development, and lately, the autonomous robotic platforms are beginning to be used more and more widely. Autonomous Robotic Platform discussed in this paper explores the hardware and software design possibilities related to the field of embedded systems. The paper focuses on its chapters on the introduction of the problem in general; then, it describes the proposed prototype concept and its principles from the embedded HW and SW point of view. It talks about the key features that can be used for the innovation of these platforms (e.g., modularity, omnidirectional movement, common and non-traditional sensors used for localization, synchronization of more platforms and cars together, or safety mechanisms). In the end, the future possible development of the project is discussed as well.

Keywords: advanced driver assistance systems, ADAS, autonomous robotic platform, embedded systems, hardware, localization, modularity, multiple robots synchronization, omnidirectional movement, safety mechanisms, software

Procedia PDF Downloads 143

Authors: K. Zehouani, I. Oldal

Abstract:

Purpose: In the human knee joint, degenerative joint disease may happen with time. The standard treatment of this disease is the total knee replacement through prosthesis implanting. The reason lies in the fact that this phenomenon causes different material abrasion as compare to pure sliding or rolling alone. This study focuses on developing a knee prosthesis geometry, which fulfills the mechanical and kinematical requirements. Method: The MSC ADAMS program is used to describe the rotation of the human knee joint as a function of flexion, and to investigate how the flexion and rotation movement changes between the condyles of a multi-body model of the knee prosthesis as a function of flexion angle (in the functional arc of the knee (20-120º)). Moreover, the multi-body model with identical boundary conditions is constituted, and the numerical simulations are carried out using the MSC ADAMS program system. Results: It is concluded that the use of the multi-body model reduces time and cost since it does not need to manufacture the tibia and the femur as it requires for the knee prosthesis of the test machine. Moreover, without measuring or by dispensing with a test machine for the knee prosthesis geometry, approximation of the results of our model to a human knee is carried out directly. Conclusion: The pattern obtained by the multi-body model provides an insight for future experimental tests related to the rotation and flexion of the knee joint concerning the actual average and friction load.

Keywords: biomechanics, knee joint, rotation, flexion, kinematics, MSC ADAMS

Procedia PDF Downloads 144

Authors: Nayden Chivarov, Denis Chikurtev, Kaloyan Yovchev, Nedko Shivarov

Abstract:

This paper represents methods for improving the efficiency and precision of service mobile robot. This robot is used for increasing the quality of life of elderly and disabled people. The key concept of the proposed Intelligent Service Mobile Robot is its easier adaptability to achieve services for a wide range of Elderly or Disabled Person’s needs, by performing different tasks for supporting Elderly or Disabled Persons care. We developed robot autonomous navigation and computer vision systems in order to recognize different objects and bring them to the people. Web based user interface is developed to provide easy access and tele-control of the robot by any device through the internet. In this study algorithms for object recognition and localization are proposed for providing successful object recognition and accuracy in the positioning. Different methods for sending movement commands to the mobile robot system are proposed and evaluated. After executing some experiments to show the results of the research, we can summarize that these systems and algorithms provide good control of the service mobile robot and it will be more useful to help the elderly and disabled persons.

Keywords: service robot, mobile robot, autonomous navigation, computer vision, web user interface, ROS

Procedia PDF Downloads 339

Authors: Faik Derya Ince, Ugur Topgul, Alp Gunay, Can Bayoglu, Dante J. Dorantes-Gonzalez

Abstract:

Explosive attacks are arguably the most lethal threat that may occur in terrorist attacks. In order to counteract this issue, explosive ordnance disposal operators put their lives on the line to dispose of a possible improvised explosive device. Robots can make the disposal process more accurately and saving human lives. For this purpose, there is a demand for more accurate and dexterous manipulating robotic hands that can be teleoperated from a distance. The aim of this project is to design a robotic hand that contains two active and two passive DOF for each finger, as well as a minimum set of tools for mechanical cutting and screw driving within the same robotic hand. Both hand and toolset, are teleoperated from a distance from a haptic robotic glove in order to manipulate dangerous objects such as improvised explosive devices. SolidWorks® Computer-Aided Design, computerized dynamic simulation, and MATLAB® kinematic and static analysis were used for the robotic hand and toolset design. Novel, dexterous and robust solutions for the fingers were obtained, and six servo motors are used in total to remotely control the multi-tooled robotic hand. This project is still undergoing and presents currents results. Future research steps are also presented.

Keywords: Explosive Manipulation, Robotic Hand, Tele-Operation, Tool Integration

Procedia PDF Downloads 141

Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

Abstract:

In recent years, Japanese society has been aging, engendering a labour shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke, and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: disturbance observer, pneumatic balloon, predictive functional control, rubber artificial muscle

Procedia PDF Downloads 453

Authors: Mehmet Savsar, Majid Aldaihani

Abstract:

Flexible Manufacturing Systems (FMS) are used to produce a variety of parts on the same equipment. Therefore, their utilization is higher than traditional machining systems. Higher utilization, on the other hand, results in more frequent equipment failures and additional need for maintenance. Therefore, it is necessary to carefully analyze operational characteristics and productivity of FMS or Flexible Manufacturing Cells (FMC), which are smaller configuration of FMS, before installation or during their operation. Appropriate models should be developed to determine production rates based on operational conditions, including equipment reliability, availability, and repair capacity. In this paper, a stochastic model is developed for an automated FMC system, which consists of two machines served by two robots and a single repairman. The model is used to determine system productivity and equipment utilization under different operational conditions, including random machine failures, random repairs, and limited repair capacity. The results are compared to previous study results for FMC system with sufficient repair capacity assigned to each machine. The results show that the model will be useful for design engineers and operational managers to analyze performance of manufacturing systems at the design or operational stages.

Keywords: flexible manufacturing, FMS, FMC, stochastic modeling, production rate, reliability, availability

Procedia PDF Downloads 516

Authors: Christopher Viens, Steve Krase

Abstract:

Terms such as “riding a hard streak”, “formation push”, and “fighting formation” are commonly used in the directional drilling world to explain BHA behavior that causes unwanted trajectory change. Theories about downhole directional tendencies are commonly speculated from various personal experiences with little merit due to the lack of hard data to reveal the actual mechanisms behind the phenomenon, leaving interpretation of the root cause up to personal perception. Understanding and identifying in real time the lithological factors that influence the BHA to change or hold direction adds tremendous value in terms reducing sliding time and targeting zones for optimal ROP. Utilizing surface drilling parameters and employing downhole measurements of azimuthal gamma, continuous inclination, and bending moment, a direct measure of the rock related directional phenomenon have been captured and quantified. Furthermore, identifying continuous zones of like lithology with consistent bit to rock interaction has value from a reservoir characterization and completions standpoint. The paper will show specific examples of lithology related directional tendencies from the Spraberry and Wolfcamp in the Delaware Basin.

Keywords: Azimuthal gamma imaging, bending moment, continuous inclination, downhole dynamics measurements, high frequency data

Procedia PDF Downloads 290

Authors: Konstanca Nikolajevic, Nicolas Belanger, David Duvivier, Rabie Ben Atitallah, Abdelhakim Artiba

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.

Keywords: robotics, aerial robots, motion primitives, helicopter

Procedia PDF Downloads 616