Search results for: GPS bsed based Robotic library

Authors: M. S. Sreejith, Steffy Joy, Abhishesh Pal, Beom-Sahng Ryuh, V. R. Sanal Kumar

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In this paper an attempt has been made for the design of a robotic library using an intelligent system. The robot works on the ARM microprocessor, motor driver circuit with 5 degrees of freedom with Wi-Fi and GPS based communication protocol. The authenticity of the library books is controlled by RFID. The proposed robotic library system is facilitated with embedded system and ARM. In this library issuance system the previous potential readers’ authentic review reports have been taken into consideration for recommending suitable books to the deserving new users and the issuance of books or periodicals is based on the users’ decision. We have conjectured that the Wi-Fi based robotic library management system would allow fast transaction of books issuance and it also produces quality readers.

Keywords: GPS bsed based Robotic library, library management system, robotic library, Wi-Fi library

Procedia PDF Downloads 270

Authors: Zainab Ajab Mohideen, Kiran Kaur, A. Basheer Ahamadhu, Noor Azlinda Wan Jan, Sukmawati Muhammad

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The corpus in the digital library is to provide an overview and evidence from library automation that can be used to justify the needs of the digital library. This paper disperses the approach and implementation of the digital library as part of best practices by the Automation Division at Hamzah Sendut Library of the University Science Malaysia (USM). The implemented digital library model emphasizes on the entire library collections, technical perspective, and automation solution. This model served as a foundation for digital library services as part of information delivery in the USM digital library. The approach to digital library includes discussion on key factors, design, architecture, and pragmatic model that has been collected, captured, and identified during the implementation stages. At present, the USM digital library has achieved the status of an Institutional Repository (IR).

Keywords: academic digital library, digital information system, digital library best practice, digital library model

Procedia PDF Downloads 522

Authors: Shahruhaida Adayu Mohd Paili, Abd Latif Abdul Rahman, Asmadi Mohammed Ghazali

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Digital library was developed by many organizations, especially universities. The digital library can be considered as a new information system. Digital library brings many benefits to the users. There are many researches that have investigated the importance of the digital library, the acceptance, and continuance use of digital library. The investigation towards the digital library is important and it is crucial to understand the reason why users accept and continued use of digital library. Users can search the information and available resources through the digital library website. It is important to know the user’s perception towards the aesthetics of the digital library. Besides that, because of digital library provided information to the users, the researcher also needed to investigate the quality of information in digital library. This study used Extending the Unified Theory of Acceptance and Use of Technology (UTAUT2) in order to know the user’s intention to continued use of digital library.

Keywords: digital library, aesthetics, information quality, intention to continued use of digital library, UTAUT2

Procedia PDF Downloads 350

Authors: D. Maneetham, L. Sivhour

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Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: forward kinematics, D-H model, robotic toolbox, PC- and EtherCAT-based control

Procedia PDF Downloads 148

Authors: M. Fikriansyah Wicaksono, Rafael Arief Budiman, M. Very Setiawan

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Currently, a wide range of innovative mobile library (M-Library) service is provided for the users in the library. The M-Library service is an innovation that aims to bring the collections of the library to users who currently use their smartphone so often. With M-Library services, it is expected that the users can fulfill their information needs more conveniently and practically. This study aims to find out how users use M-Library services provided by UGM library. This study applied a quantitative approach to investigate how to use the application M-Library. The Technology Acceptance Model (TAM) theory is applied to perform the analysis in terms of perceived usefulness, perceived ease of use, attitude towards behavior, behavioral intention and actual system usage. The results show that overall the users found that the M-Library application is useful to meet their information needs. Such as facilitate user to access e-resources, search UGM library collections, online booking collections, and reminder for returning book.

Keywords: m-library, mobile library services, technology acceptance, library of UGM

Procedia PDF Downloads 200

Authors: Ibrahim Abdullahi Mohammad

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A library catalogue exists not only as an inventory of the collections of the particular library, but also as a retrieval device. It is provided to assist the library user in finding whatever information or information resources they may be looking for. The paper proposes that this location objective of the library catalogue can only be fulfilled, if the library catalogue is constructed, bearing in mind the information needs and searching behavior of the library user. Comparing AACR2 and RDA viz-a-viz the changes RDA has introduced into bibliographic standards, the paper tries to establish the level of viability of RDA in relation to AACR2.

Keywords: library catalogue, information retrieval, AACR2, RDA

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Authors: Mehrshad Khosraviani, Sepehr Najjarpour

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Considering the usage of graph-based approaches in systems and synthetic biology, and the various types of ‎the graphs employed by them, a comprehensive graph library based ‎on the three-tier architecture (3TA) was previously introduced for full representation of the biological systems. Although proposing a 3TA-based graph library, three following reasons motivated us to redesign the graph ‎library based on the service-oriented architecture (SOA): (1) Maintaining the accuracy of the data related to an input graph (including its edges, its ‎vertices, its topology, etc.) without involving the end user:‎ Since, in the case of using 3TA, the library files are available to the end users, they may ‎be utilized incorrectly, and consequently, the invalid graph data will be provided to the ‎computer algorithms. However, considering the usage of the SOA, the operation of the ‎graph registration is specified as a service by encapsulation of the library files. In other words, overall control operations needed for registration of the valid data will be the ‎responsibility of the services. (2) Partitioning of the library product into some different parts: Considering 3TA, a whole library product was provided in general. While here, the product ‎can be divided into smaller ones, such as an AND/OR graph drawing service, and each ‎one can be provided individually. As a result, the end user will be able to select any ‎parts of the library product, instead of all features, to add it to a project. (3) Reduction of the complexities: While using 3TA, several other libraries must be needed to add for connecting to the ‎database, responsibility of the provision of the needed library resources in the SOA-‎based graph library is entrusted with the services by themselves. Therefore, the end user ‎who wants to use the graph library is not involved with its complexity. In the end, in order to ‎make ‎the library easier to control in the system, and to restrict the end user from accessing the files, ‎it was preferred to use the service-oriented ‎architecture ‎‎(SOA) over the three-tier architecture (3TA) and to redevelop the previously proposed graph library based on it‎.

Keywords: Bio-Design Automation, Biological System, Graph Library, Service-Oriented Architecture, Systems and Synthetic Biology

Procedia PDF Downloads 285

Authors: A. Basheer Ahamadhu, Kiran Kaur, Zainab Ajab Mohideen, Sukmawati Muhammad, Noor Azlinda Wan Jan

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Library management facing favorable conditions and unexpected challenges in the century of information technology. They were having been under pressure to meet their duties to meet the information needs of customers. An information technology has brought big changes to the traditional methods of library work. Libraries need to evaluate, measuring effect information technology to them. This would equip them with the knowledge to make effective information technology to enhance their services. Recognizing the importance of development an electronic library, this research investigated their willingness to change from the traditional library based on the level of automation for the digital library initiatives, review both of the problems associated with digital library and public and terms to be considered for future growth. The main components have been inspected, such as grip library, demographic automations and digitization projects, digital library related to budgetary problems, the thought leader in the electronic library practices library, and the situation viewed for future growth. Libraries have run several digitization projects, at the level of institutions and countries but still needs more efforts in order to bring it to higher levels.

Keywords: academic library, electronic library, information technology, information commons, web pages library

Procedia PDF Downloads 443

Authors: Kunyanuth Kularbphettong, Kunnika Tenprakhon, Pattarapan Roonrakwit

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In this paper, we present a recommendation library application on Android system. The objective of this system is to support and advice user to use library resources based on mobile application. We describe the design approaches and functional components of this system. The system was developed based on under association rules, Apriori algorithm. In this project, it was divided the result by the research purposes into 2 parts: developing the Mobile application for online library service and testing and evaluating the system. Questionnaires were used to measure user satisfaction with system usability by specialists and users. The results were satisfactory both specialists and users.

Keywords: online library, Apriori algorithm, Android application, black box

Procedia PDF Downloads 456

Authors: Jaber Nikpouri, Arsalan Amralizadeh

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In robotics manipulators, the trajectory should be optimum, thus the torque of the robot can be minimized in order to save power. This paper includes an optimal path planning scheme for a robotic manipulator. Recently, techniques based on metaheuristics of natural computing, mainly evolutionary algorithms (EA), have been successfully applied to a large number of robotic applications. In this paper, the improved BBO algorithm is used to minimize the objective function in the presence of different obstacles. The simulation represents that the proposed optimal path planning method has satisfactory performance.

Keywords: biogeography-based optimization, path planning, obstacle detection, robotic manipulator

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Authors: Aikaterini Manthiou, Phil Klaus, Kafia Ayadi

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Tourism research has shown a growing need to comprehend the robotic tourism experience’s meaning and foundations while also offering guidance regarding future discussions and research. This paper aims to analyze the robotic tourism experience based on the basis of De Keyser et al.’s (2020) conceptualization. In order to develop three theoretical propositions, we explore the robotic tourism experience by means of the three building blocks: touchpoints, context, and qualities. The three building blocks should not be examined in isolation but as a system of interplaying factors impacting the customer journey and customer experience. The study discusses the theoretical and practical implications of these impacts, as well as providing future research directions.

Keywords: robotic tourism experience, robot, touchpoints, context, qualities

Procedia PDF Downloads 176

Authors: V. K. Banga

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Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic

Procedia PDF Downloads 261

Authors: Veena Rani

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This paper presents the role of academic library in information literacy in the present time. Information is the very important aspect for the growth of any country. In this context information literacy is an essential tool in the development of various fields. Academic library is an essential part of university as well as of an institution. In Academic library we can include university library, college library as well as school library. Academic libraries are playing an important role for information literacy. Academic libraries provide excellent services for the benefit of students, teachers, researchers, and all those who are interested in education. All over the world many of the schemes, policies and services provide for information literacy.

Keywords: information literacy, academic library, tool literacy, higher education

Procedia PDF Downloads 330

Authors: Troels Bo Jørgensen, Preben Hagh Strunge Holm, Henrik Gordon Petersen, Norbert Kruger

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This paper presents a simulation framework for using machine learning techniques to determine robust robotic motions for handling deformable objects. The main focus is on applications in the meat sector, which mainly handle three-dimensional objects. In order to optimize the robotic handling, the robot motions have been parameterized in terms of grasp points, robot trajectory and robot speed. The motions are evaluated based on a dynamic simulation environment for robotic control of deformable objects. The evaluation indicates certain parameter setups, which produce robust motions in the simulated environment, and based on a visual analysis indicate satisfactory solutions for a real world system.

Keywords: deformable objects, robotic manipulation, simulation, real world system

Procedia PDF Downloads 255

Authors: Mustafa Tevfik Hebebci, Sirin Kucuk, Ismail Celik, A. Oguz Akturk, Ismail Sahin, Fetah Eren

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The purpose of this paper is to introduce an interactive online case-study library website developed in a national project. The design goal of the website is to provide interactive, enhanced, case-based and online educational resource for educators through the purpose and within the scope of a national project. The ADDIE instructional design model was used in the development of the website for interactive case-based library. This library is developed on a web-based platform, which is important in terms of manageability, accessibility, and updateability of data. Users are able to sort the displayed case-studies by their titles, dates, ratings, view counts, etc. The usability test is used and the expert opinion is taken for the evaluation of the website. This website is a tool to integrate technology into education. It is believed that this website will be beneficial for pre-service and in-service teachers in terms of their professional developments.

Keywords: ADDIE, case-based library, design, technology integration

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Authors: Alaa El-Din Rezk

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In Egypt, management of crops still away from what is being used today by utilizing the advances of mechanical design capabilities, sensing and electronics technology. These technologies have been introduced in many places and recorm, for Straight Path, Curved Path, Sine Wave ded high accuracy in different field operations. So, an autonomous robotic platform based on machine vision has been developed and constructed to be implemented in Egyptian conditions as self-propelled mobile vehicle for carrying tools for inter/intra-row crop management based on different control modules. The experiments were carried out at plant protection research institute (PPRI) during 2014-2015 to optimize the accuracy of agricultural robotic platform control using machine vision in term of the autonomous navigation and performance of the robot’s guidance system. Results showed that the robotic platform' guidance system with machine vision was able to adequately distinguish the path and resisted image noise and did better than human operators for getting less lateral offset error. The average error of autonomous was 2.75, 19.33, 21.22, 34.18, and 16.69 mm. while the human operator was 32.70, 4.85, 7.85, 38.35 and 14.75 mm Path, Offset Discontinuity and Angle Discontinuity respectively.

Keywords: autonomous robotic, Hough transform, image processing, machine vision

Procedia PDF Downloads 278

Authors: Y. Bai, M. Bodlak, V. Frolov, S. Huber, V. Jary, I. Konorov, D. Levit, J. Novy, D. Steffen, O. Subrt, M. Virius

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Modern experiments in high energy physics impose great demands on the reliability, the efficiency, and the data rate of Data Acquisition Systems (DAQ). This contribution focuses on the development and deployment of the new communication library DIALOG for the intelligent, FPGA-based Data Acquisition System (iFDAQ) of the COMPASS experiment at CERN. The iFDAQ utilizing a hardware event builder is designed to be able to readout data at the maximum rate of the experiment. The DIALOG library is a communication system both for distributed and mixed environments, it provides a network transparent inter-process communication layer. Using the high-performance and modern C++ framework Qt and its Qt Network API, the DIALOG library presents an alternative to the previously used DIM library. The DIALOG library was fully incorporated to all processes in the iFDAQ during the run 2016. From the software point of view, it might be considered as a significant improvement of iFDAQ in comparison with the previous run. To extend the possibilities of debugging, the online monitoring of communication among processes via DIALOG GUI is a desirable feature. In the paper, we present the DIALOG library from several insights and discuss it in a detailed way. Moreover, the efficiency measurement and comparison with the DIM library with respect to the iFDAQ requirements is provided.

Keywords: data acquisition system, DIALOG library, DIM library, FPGA, Qt framework, TCP/IP

Procedia PDF Downloads 292

Authors: Jiewei Li, Hongyan Cui, Chunqi Chang, Yong Hu

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It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is a new modality BCI. The use of somatosensory stimulation is not only an input for BCI, but also a electrical stimulation for treatment of hemiparesis to strengthen the arm and improve its range of motion. A trial of this robotic rehabilitation arm was performed in a stroke patient with pure motor hemiparesis. The initial trial showed a promising result from the patient with great motivation and function improvement. It suggests that robotic rehabilitation arm driven by somatosensory BCI can enhance the rehabilitation performance and progress for hemiparetic patients after stroke.

Keywords: robotic rehabilitation arm, brain computer interface (BCI), hemiparesis, stroke, somatosensory stimulation

Procedia PDF Downloads 367

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

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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 126

Authors: Chung-Chun Hsiao, Yu-Kai, Ting, Kai-Yuan Liu, Pang-Wei Yen, Jia-Ying Tu

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In this paper, a new design of spherical robotic system based on the concepts of gimbal structure and gyro dynamics is presented. Robots equipped with multiple wheels and complex steering mechanics may increase the weight and degrade the energy transmission efficiency. In addition, the wheeled and legged robots are relatively vulnerable to lateral impact and lack of lateral mobility. Therefore, the proposed robotic design uses a spherical shell as the main body for ground locomotion, instead of using wheel devices. Three spherical shells are structured in a similar way to a gimbal device and rotate like a gyro system. The design and mechanism of the proposed robotic system is introduced. In addition, preliminary results of the dynamic model based on the principles of planar rigid body kinematics and Lagrangian equation are included. Simulation results and rig construction are presented to verify the concepts.

Keywords: gyro, gimbal, lagrange equation, spherical robots

Procedia PDF Downloads 282

Authors: Saeed Ullah Jan, Shafaq, Sumbul

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Anxiety is one of the most common emotions and is a normal reaction to danger or a threat. It is a normal reaction to stress and can be beneficial in some situations. It can alert us to dangers and help us prepare and pay attention. The prime aim of this study was to examine the level of anxiety of Library and Information Science students at the Department of Library and Information Science, Khushal Khan Khattak University Karak. A survey method was used for the completion of this study. The response of male respondents was better than female LIS students at the Department of Library and Information Science, Khushal Khan Khattak University Karak. The librarians should have to focus on the information needs of the university students. Special training needs to be arranged for female students to improve their library usage and readership rate.

Keywords: library-anxiety, library anxiety-students, library anxiety -students-Pakistan, stress

Procedia PDF Downloads 156

Authors: Changchun Liang, Xiaodong Zhang, Xin Liu, Pengfei Sun

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Space intelligent robotic systems are expected to play an increasingly important role in the future. The robotic on-orbital service, whose key is the tracking and capturing technology, becomes research hot in recent years. In this paper, the authors propose a vision servo control system for target capturing. Robotic manipulator will be an intelligent robotic system with large-scale movement, functional agility, and autonomous ability, and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation mode. To realize the autonomous movement and capture mission of SRM, a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better precision. Distributed control system hierarchy is designed and reliability is considering to guarantee the abilities of control system. At last, a ground experiment system is set up based on the concept of robotic control system. With that, the autonomous target capturing experiments are conducted. The experiment results validate the proposed algorithm, and demonstrates that the control system can fulfill the needs of function, real-time and reliability.

Keywords: control system, on-orbital service, space robot, vision servo

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Authors: Arbnor Pajaziti, Hasan Cana

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In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.

Keywords: robotic arm, neural network, genetic algorithm, optimization

Procedia PDF Downloads 485

Authors: Qinghua Zhang, Yanhe Zhu, Xiang Zhao, Yeqin Yang, Hongwei Jing, Guoan Zhang, Jie Zhao

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This paper presents a wearable reconfigurable supernumerary robotic limb with differential actuated joints, which is lightweight, compact and comfortable for the wearers. Compared to the existing supernumerary robotic limbs which mostly adopted series structure with large movement space but poor carrying capacity, a prototype with the series-parallel configuration to better adapt to different task requirements has been developed in this design. To achieve a compact structure, two kinds of cable-driven mechanical structures based on guide pulleys and differential actuated joints were designed. Moreover, two different tension devices were also designed to ensure the reliability and accuracy of the cable-driven transmission. The proposed device also employed self-designed bearings which greatly simplified the structure and reduced the cost.

Keywords: cable-driven, differential actuated joints, reconfigurable, supernumerary robotic limb

Procedia PDF Downloads 184

Authors: Abdulmumin Isah

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Over the years, researchers have employed different approaches in the study of usage of library services in the traditional library system, such approaches have provided explanations on the users’ perception, attitude, and usage of library services. Findings of such studies which often employed survey research approach have guided librarians and library stakeholders in their drive to improve library services to patrons. However, with the advent of digital library services, librarians and information science researchers have been experiencing methodological issues in the study of digital library services. While some quantitative approaches have been employed to understand adoption and usage of digital library services, conflicting results from such studies have increased the need to employ qualitative approaches. The appropriateness of the qualitative approaches has also been questioned. This study intends to review methodological approaches in the studies of digital libraries and provides a framework for the selection of appropriate research approach for the study of digital libraries using Nigerian university systems as case study.

Keywords: digital library, university library, methodological issues, research approaches, quantitative, qualitative, Nigeria

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Authors: Wei Liu, Xionghui Zhou, Qiang Niu, Yunhao Ni

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3D part library is an ideal approach to reuse the existing design and thus facilitates the modeling process, which will enhance the efficiency. In this paper, we implemented the thought on the SolidWorks platform. The system supports the functions of type and parameter selection, 3D template driving and part assembly. Finally, BOM is exported in Excel format. Experiment shows that our method can satisfy the requirement of die and mold designers.

Keywords: part library, SolidWorks, automatic assembly, intelligent

Procedia PDF Downloads 355

Authors: Arun Prasad

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Background: Robotic Bariatric Surgery is a good option for the super obese where laparoscopy demands challenging technical skills. Gastric bypass can be difficult due to inability of the robot to work in two quadrants at the same time. Lonroth technique of gastric bypass involves a totally supracolic surgery where all anastomosis are done in one quadrant only. Methods: We have done 78 robotic gastric bypass surgeries using the modified Lonroth technique. The robot is docked above the head of the patient in the midline. Camera port is placed supra umbilically. Two ports are placed on the left side of the patient and one port on the right side of the patient. An assistant port is placed between the camera port and right sided robotic port for use of stapler. Gastric pouch is made first followed by the gastrojejunostomy that is a four layered sutured anastomosis. Jejuno jejunostomy is then performed followed by a leak test and then the jejunum is divided. A 150 cm biliopancreatic limb and a 75 cm alimentary limb are finally obtained. Mesenteric and Petersen’s defects are then closed. Results: All patients had a successful robotic procedure. Mean time taken in the first 5 cases was 130 minutes. This reduced to a mean of 95 minutes in the last five cases. There were no intraoperative or post operative complications. Conclusions: While a hybrid technique of partly laparoscopic and partly robotic gastric bypass has been done at many centres, we feel using the modified Lonroth technique, a totally robotic gastric bypass surgery fully utilizes the potential of robotic bariatric surgery.

Keywords: robot, bariatric, totally robotic, gastric bypass

Procedia PDF Downloads 216

Authors: Sergey N. Sayapin, Anatoly P. Karpenko, Suan H. Dang

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Comparative analysis of robotic vehicles for pipe inspection is presented in this paper. The promising concept of self-propelled intelligent robotic vehicle (SPIRV) based on octahedral dodekapod for inspection and operation in active branched pipelines with variable cross-sections is reasoned. SPIRV is able to move in pipeline, regardless of its spatial orientation. SPIRV can also be used to move along the outside of the pipelines as well as in space between surfaces of annular tubes. Every one of faces of the octahedral dodekapod can clamp/unclamp a thing with a closed loop surface of various forms as well as put pressure on environmental surface of contact. These properties open new possibilities for its applications in SPIRV. We examine design principles of octahedral dodekapod as future intelligent building blocks for various robotic vehicles that can self-move and self-reconfigure.

Keywords: Modular robot, octahedral dodekapod, pipe inspection robot, spatial parallel structure

Procedia PDF Downloads 478

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

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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

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Authors: Carlos Gordon, Patricio Encalada, Henry Lema, Diego Leon, Dennis Chicaiza

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The following work presents a proposal of autonomous navigation of mobile robots implemented in an omnidirectional robot Kuka Youbot. We have been able to perform the integration of robotic operative system (ROS) and machine learning algorithms. ROS mainly provides two distributions; ROS hydro and ROS Kinect. ROS hydro allows managing the nodes of odometry, kinematics, and path planning with statistical and probabilistic, global and local algorithms based on Adaptive Monte Carlo Localization (AMCL) and Dijkstra. Meanwhile, ROS Kinect is responsible for the detection block of dynamic objects which can be in the points of the planned trajectory obstructing the path of Kuka Youbot. The detection is managed by artificial vision module under a trained neural network based on the single shot multibox detector system (SSD), where the main dynamic objects for detection are human beings and domestic animals among other objects. When the objects are detected, the system modifies the trajectory or wait for the decision of the dynamic obstacle. Finally, the obstacles are skipped from the planned trajectory, and the Kuka Youbot can reach its goal thanks to the machine learning algorithms.

Keywords: autonomous navigation, machine learning, path planning, robotic operative system, open source computer vision library

Procedia PDF Downloads 149