Search results for: mobile robot

Authors: Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier

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The aim of this paper is to show that the observation of the external effort and the sensor-less control of a system is limited by the mechanical system. First, the model of a one-joint robot with a prismatic joint is presented. Based on this model, two different procedures were performed in order to identify the mechanical parameters of the system and observe the external effort applied on it. Experiments have proven that the accuracy of the force observer, based on the DC motor current, is limited by the mechanics of the robot. The sensor-less control will be limited by the accuracy in estimation of the mechanical parameters and by the maximum static friction force, that is the minimum force which can be observed in this case. The consequence of this limitation is that industrial robots without specific design are not well adapted to perform sensor-less precision tasks. Finally, an efficient control law is presented for high effort applications.

Keywords: control, identification, robot, co-manipulation, sensor-less

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Authors: Dechrit Maneetham

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Pick and place task is one among the most important tasks in industrial field handled by 'Selective Compliance Assembly Robot Arm' (SCARA). Repeatability with high-speed movement in a horizontal plane is a remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving stability of high-speed movement with the long length of links. Shorter links arm can move more stable. This condition made the links should be considered restrict then followed by restriction of operation area (workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint, the previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint becomes 4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m² performed by the previous arm (without linear actuator) to 1.1281m² by the proposed arm (with linear actuator). The increasing rate was about 97.97% of workspace with the same links' lengths. The result of experimentation also indicated that the operation time spent to reach object position was also reduced.

Keywords: kinematics, linear sliding actuator, manipulator, control system

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Authors: D. Berg, N. Hartley, L. Nasr

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This paper presents a conceptual model of human-robot interaction within service encounters and the effect on the well-being of both consumers and service providers. In this paper, service providers are those employees who work alongside frontline service robots. The significance of this paper lies in the knowledge created which outlines how frontline service robots can be effectively utilized in service encounters for the benefit of organizations and society as a whole. As this paper is conceptual in nature, the main methodologies employed are theoretical, namely problematization and theory building. The significance of this paper is underpinned by the shift of service robots from manufacturing plants and factory floors to consumer-facing service environments. This service environment places robots in direct contact with frontline employees and consumers creating a hybrid workplace where humans work alongside service robots. This change from back-end to front-end roles may have implications not only on the physical environment, servicescape, design, and strategy of service offerings and encounters but also on the human parties of the service encounter itself. Questions such as ‘how are frontline service robots impacting and changing the service encounter?’ and ‘what effect are such changes having on the well-being of the human actors in a service encounter?’ spring to mind. These questions form the research question of this paper. To truly understand social service robots, an interdisciplinary perspective is required. Besides understanding the function, system, design or mechanics of a service robot, it is also necessary to understand human-robot interaction. However not simply human-robot interaction, but particularly what happens when such robots are placed in commercial settings and when human-robot interaction becomes consumer-robot interaction and employee-robot interaction? A service robot in this paper is characterized by two main factors; its social characteristics and the consumer-facing environment within which it operates. The conceptual framework presented in this paper contributes to interdisciplinary discussions surrounding social robotics, service, and technology’s impact on consumer and service provider well-being, and hopes that such knowledge will help improve services, as well as the prosperity and well-being of society.

Keywords: frontline service robots, human-robot interaction, service encounters, well-being

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Authors: Abdulmohsen A. AlBesher, Richard T. Stone

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Star rating for mobile applications is a very useful way to differentiate between the best and worst rated applications. However, the question is whether the rating reflects the level of usability or not. The aim of this paper is to find out if the user’ star ratings on mobile apps correlate with the usability of those apps. Thus, we tested three mobile apps, which have different star ratings: low, medium, and high. Participating in the study, 15 mobile phone users were asked to do one single task for each of the three tested apps. After each task, the participant evaluated the app by answering a survey based on the System Usability Scale (SUS). The results found that there is no major correlation between the star rating and the usability. However, it was found that the task completion time and the numbers of errors that may happen while completing the task were significantly correlated to the usability.

Keywords: mobile applications, SUS, star rating, usability

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Authors: Iman E. Bouthahab, Badea B. Geador

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Aim of this paper is to explore the prospect of a new approach of mobile phone banking in Libya. This study evaluates customer knowledge on commercial mobile banking in Libya. To examine the relationship between age, occupation and intention for using mobile banking for commercial purpose, a survey was conducted to gather information from one hundred Libyan bank clients. The results indicate that Libyan customers have accepted the new technology and they are ready to use it. There is no significant joint relationship between age and occupation found in intention to use mobile banking in Libya. On the other hand, the customers’ knowledge about mobile banking has a greater relationship with the intention. This study has implications for demographic researches and consumer behaviour disciplines. It also has profitable implications for banks and managers in Libya, as it will assist in better understanding of the Libyan consumers and their activities, when they develop their market strategies and new service.

Keywords: mobile banking, intention, customer knowledge, banks in Libya

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Authors: Nazatul Aini Abd Majid, Faridah Yunus, Haslina Arshad, Mohammad Farhan Mohammad Johari

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Mobile technology, augmented reality, and game-based learning are some of the key learning technologies that can be fully optimized to promote pre-literacy skills. The problem is how to design an effective pre-literacy kit that utilizes some of the learning technologies. This paper presents a framework based on mobile augmented reality for the development of pre-literacy kit. This pre-literacy kit incorporates three main components which are contents, design, and tools. A prototype of a mobile app based on the three main components was developed for promoting pre-literacy. The results show that the children and teachers gave positive feedbacks after using the mobile app for the pre-literacy.

Keywords: framework, mobile technology, augmented reality, pre-literacy skills

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Authors: Boguslaw Schreyer

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In some types of wheeled robots it is important to secure starting acceleration and deceleration maxima while at the same time maintaining transversal stability. In this paper torque distribution between the front and rear wheels as well as the timing of torque application have been calculated. Both secure an optimum traction coefficient. This paper also identifies required input signals to a control unit, which controls the torque values and timing. Using a three dimensional, two mass model of a robot developed by the author a computer simulation was performed confirming the calculations presented in this paper. These calculations were also implemented and confirmed during military robot testing.

Keywords: robot dynamics, torque distribution, traction coefficient, wheeled robots

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Authors: Mohammed Abdullah Alrajhi

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The rapid growth in the number of mobile phone subscribers has resulted in an increased number of mobile base stations all over the world. Generally, mobile base stations are existing in huge numbers in populated areas than in non-populated ones to serve the largest number of users. The total number of mobile subscriptions in the Kingdom of Saudi Arabia reached around 50 million at the end of 2014, with a penetration rate of 165.1% according to the quarterly electronic newsletter issued by the Communications and Information Technology Commission. The current investigation was conducted primarily to measure the level of electromagnetic fields emitted from 400 mobile base stations for the purpose of environmental safety and radiation protection in light of national guidelines for public exposure as well as the International Commission on Non-Ionizing Radiation Protection (ICNIRP). The outcomes of this investigation provide valuable comments and recommendation for safety and protection of electromagnetic fields emitted from mobile base stations.

Keywords: electromagnetic fields, mobile, safety, protection, ICNIRP

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Authors: Muhammad Fezan Afzal, Imran Khan, Salma Imtiaz

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The need for human verification and identification requires from centuries for authentication. Since it is being used in big institutes like financial, government and crime departments, a continued struggle is important to make this system more efficient to prevent security breaches. Therefore, multiple devices are used to authenticate the biometric for each individual. A large number of devices are required to cover a large number of users. As the number of devices increases, cost will automatically increase. Furthermore, it is time-consuming for biometrics due to the devices being insufficient and are not available at every door. In this paper, we propose the framework and algorithm where the mobile of each individual can also perform the biometric authentication of attendance and security. Every mobile has a biometric authentication system that is used in different mobile applications for security purposes. Therefore, each individual can use the biometric system mobile without moving from one place to another. Moreover, by using the biometrics mobile, the cost of biometric systems can be removed that are mostly deployed in different organizations for the attendance of students, employees and for other security purposes.

Keywords: fingerprint, fingerprint authentication, mobile verification, mobile biometric verification, mobile fingerprint sensor

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Authors: Mehwish Raza

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Mobile learning (m-learning) offers unique affordances to learners, setting them free of limitations posed by time and geographic space; thus becoming an affordable device for convenient distant learning. There is a plethora of research available on mobile learning projects planned, implemented and evaluated across disciplines in the context of developed countries, however, the potential of m-learning at different educational levels remain unexplored with little evidence of research carried out in developing countries. Despite the favorable technical infrastructure offered by cellular networks and boom in mobile subscriptions in the developing world, there is limited focus on utilizing m-learning for education and development purposes. The objective of this review is to unify findings from m-learning projects that have been implemented in developing countries such as Pakistan, Bangladesh, Philippines, India, and Tanzania for teachers’ in-service training. The purpose is to draw upon key characteristics of mobile learning that would be useful for future researchers to inform conceptualizations of mobile learning for developing countries.

Keywords: design model, developing countries, key characteristics, mobile learning

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Authors: Nassim Dennouni, Yvan Peter, Luigi Lancieri, Zohra Slama

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The objective of this article is to make a bibliographic study on the recommendation of mobile learning activities that are used as part of the field trip scenarios. Indeed, the recommendation systems are widely used in the context of mobility because they can be used to provide learning activities. These systems should take into account the history of visits and teacher pedagogy to provide adaptive learning according to the instantaneous position of the learner. To achieve this objective, we review the existing literature on field trip scenarios to recommend mobile learning activities.

Keywords: mobile learning, field trip, mobile learning activities, collaborative filtering, recommendation system, point of interest, ACO algorithm

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Authors: Hossein Keshavarz, Alejandro Ramirez-Serrano

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Energy efficiency and locomotion speed are two key parameters for legged robots; thus, finding ways to improve them are important. This paper proposes a locomotion framework to analyze the energy usage and speed of quadruped robots via a Genetic Algorithm (GA) optimization process. For this, a quadruped robot platform with joint redundancy in its hind legs that we believe will help multi-legged robots improve their speed and energy consumption is used. ContinuO, the quadruped robot of interest, has 14 active degrees of freedom (DoFs), including three DoFs for each front leg, and unlike previously developed quadruped robots, four DoFs for each hind leg. ContinuO aims to realize a cost-effective quadruped robot for real-world scenarios with high speeds and the ability to overcome large obstructions. The proposed framework is used to locomote the robot and analyze its energy consumed at diverse stride lengths and locomotion speeds. The analysis is performed by comparing the obtained results in two modes, with and without the joint redundancy on the robot’s hind legs.

Keywords: genetic algorithm optimization, locomotion path planning, quadruped robots, redundant legs

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Authors: Bharat P. Modi, Jayesh M. Patel

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Mobile Internet is acting as a major source of data. As the number of web pages continues to grow the Mobile web provides the data miners with just the right ingredients for extracting information. In order to cater to this growing need, a special term called Mobile Web mining was coined. Mobile Web mining makes use of data mining techniques and deciphers potentially useful information from web data. Web Usage mining deals with understanding the behavior of users by making use of Mobile Web Access Logs that are generated on the server while the user is accessing the website. A Web access log comprises of various entries like the name of the user, his IP address, a number of bytes transferred time-stamp etc. A variety of Log Analyzer tools exists which help in analyzing various things like users navigational pattern, the part of the website the users are mostly interested in etc. The present paper makes use of such log analyzer tool called Mobile Web Log Expert for ascertaining the behavior of users who access an astrology website. It also provides a comparative study between a few log analyzer tools available.

Keywords: mobile web access logs, web usage mining, web server, log analyzer

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Authors: Bashiru Olayinka Adisa, Najeem Lateef

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The integrated knowledge in the application of mechanical engineering, microprocessor and electronic sensor technologies is becoming the basic skill of a modern engineer in machinery based processes. To meet this objective, we have developed a cross-disciplinary industrial training to teach essential hard technical and soft project skills to the mechanical engineering students in mid-curriculum. Ten groups of students were selected to participate in a 150 hour program. The students were required to design and build a robot with ability to follow tracks and pick/place target blocks in specific locations. The students were trained to integrate the knowledge of computer aid design, electronics, sensor theories and motor technology to fabricate a workable robot as a major outcome of this course. On completion of the project, students competed for top robot honors by demonstrating their robots' movements and performance in pick/place to a panel of judges.

Keywords: electronics, sensor theories and motor, robot, technology

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Authors: Bruno T. Gomes, José A. Menezes, Giordano Cabral

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With the popularity of smartphones, mobile apps emerge to meet the diverse needs, however the resources at the disposal are limited, either by the hardware, due to the low computing power, or the software, that does not have the same robustness of desktop environment. For example, in automatic audio classification (AC) tasks, musical information retrieval (MIR) subarea, is required a fast processing and a good success rate. However the mobile platform has limited computing power and the best AC tools are only available for desktop. To solve these problems the fast classifier suits, to mobile environments, the most widespread MIR technologies, seeking a balance in terms of speed and robustness. At the end we found that it is possible to enjoy the best of MIR for mobile environments. This paper presents the results obtained and the difficulties encountered.

Keywords: audio classification, audio extraction, environment mobile, musical information retrieval

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Authors: Naoki Saito, Daisuke Kon, Toshiyuki Sato

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This paper describes an underactuated robot hand operated by low-power actuators. It can grasp objects of various shapes using easy operations. This hand is suitable for use as a lightweight prosthetic hand that can grasp various objects using few input channels. To realize operations using a low-power actuator, a cross section deformation spring is proposed. The design procedure of the underactuated robot finger is proposed to realize an adaptive grasping movement. The validity of this mechanism and design procedure are confirmed through an object grasping experiment. Results demonstrate the effectiveness of a cross section deformation spring in reducing the actuator power. Moreover, adaptive grasping movement is realized by an easy operation.

Keywords: robot hand, underactuated mechanism, cross-section deformation spring, prosthetic hand

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Authors: Z. S. Yip, T. K. Tan, C. C. Geh, T. T. Ting

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The mobile phone is an indispensable device in today’s daily living. The arising new brands in the market with different specification are targeting at the different population. The most promising market would be the younger generation who are IT savvy. Therefore, it is beneficial to find out their factors of consideration in purchasing a mobile phone. A survey is carried out in Malaysia to discover the current youngster’s mobile phone buying behavior. This study has found that the most influencing factor of consideration is Price, followed by Feature, and Battery Lifespan. Gender and Income have no relationship with certain factors of consideration. It is important to discover the factors of consideration in order to provide industry insight into the current trend of smartphone in Malaysia.

Keywords: buying behavior, smart phone, mobile brand, mobile operating system, specification, battery lifespan

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Authors: Caner Koc, Dilara Gerdan Koc, Emrah Saka, H. Ibrahim Karagol

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The use of pesticides in agricultural activities is the most harmful to the environment and farmers' health, and it also has the greatest input prices, along with fertilizers. In this study, an electric, electrostatically charged, autonomous agricultural robot was developed, modeled, and prototyped and manufactured. It allows for sensitive pesticide applications with variable levels, has controllable spray nozzles, and uses camera distance sensors to detect and spray into tree canopies. The created prototype was produced with flexibility in mind. Two stages of prototype manufacture were completed. The initial stage involved designing and producing the flexible primary body of the autonomous vehicle. Detachable hanger assemblies are employed so that the main body robot can perform a variety of agricultural tasks. The design of the spraying devices and their fitting to the autonomous vehicle was completed as the second stage of the prototype. The built prototype spraying robot's itinerary was planned using the free, open-source program Mission Planner. PX4, telemetry, and RTK GPS are used to maneuver the autonomous car along the designated path. To avoid potential obstructions, the robot uses ultrasonic and lidar sensors. The developed autonomous vehicle's energy needs are intended to be met entirely by electric batteries. In the event that the batteries run out of power, the sockets are set up to be recharged both by using the generator and the main power source through the specifically constructed panel.

Keywords: autonomous agricultural robot, pesticide, smart farming, spraying, variable rate application

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Authors: Ammar Khader Almasri

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The software processes play a vital role for delivering a high quality software system that meets the user’s needs. There are many software development models which are used by most system developers, which can be categorized into two categories (traditional and new methodologies). Mobile applications like other desktop applications need appropriate and well-working software development process. Nevertheless, mobile applications have different features which limit their performance and efficiency like application size, mobile hardware features. Moreover, this research aims to help developers in using a standardized model for developing mobile applications.

Keywords: software development process, agile methods , moblile application development, traditional methods

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Authors: Ruby Jean Hornsby

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In our rapidly advancing techno-moral world, human-robot relationships are increasingly becoming a part of intimate human life. Indeed, social robots - that is, autonomous or semi-autonomous embodied artificial agents that generally possess human or animal-like qualities (such as responding to environmental stimuli, communicating, learning, performing human tasks, and making autonomous decisions) - have been designed to function as human friends. In light of such advances, immediate philosophical scrutiny is imperative in order to examine the extent to which human-robot interactions constitute genuine friendship and therefore contribute towards the good human life. Aristotle's conception of friendship is philosophically illuminating and sufficiently broad in scope to guide such analysis. On his account, it is necessary (though not sufficient) that for a friendship to exist between two agents - A and B - both agents must have a mutual love for one another. Aristotle claims that A loves B if: Condition 1: A desires those apparent good (qua pleasant, useful, or virtuous) properties attributable to B, and Condition 2: A has goodwill (wishes what is best) for B. This paper argues that human-robot interaction can (and does) successfully meet both conditions; as such, it demonstrates that robots and humans can reciprocally love one another. It will argue for this position by first justifying the claim that a human can desire apparent good features attributable to a robot (i.e., by taking them to be pleasant and/or useful) and outlining how it is that a human can wish a robot well in light of that robot's (quasi-) interests. Next, the paper will argue that a robot can (quasi-)desire certain properties that are attributable to a human before elucidating how it is possible for a robot to act in the interests of a human. Accordingly, this paper will conclude that it is already the case that humans can formulate relationships with robots that involve reciprocated love. This is significant because it suggests that social robots are candidates for human friendship and can therefore contribute toward flourishing human futures.

Keywords: ancient philosophy, friendship, inter-disciplinary applied ethics, love, social robotics

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Authors: Reza Karami, Ali Akbar Ebrahimi

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This paper discusses concurrent engineering of robot manipulators, based on the Holistic Concurrent Design (HCD) methodology and by using a hardware-in-the-loop simulation platform. The methodology allows for considering numerous design variables with different natures concurrently. It redefines the ultimate goal of design based on the notion of satisfaction, resulting in the simplification of the multi-objective constrained optimization process. It also formalizes the effect of designer’s subjective attitude in the process. To enhance modeling efficiency for both computation and accuracy, a hardware-in-the-loop simulation platform is used, which involves physical joint modules and the control unit in addition to the software modules. This platform is implemented in the HCD design architecture to reliably evaluate the design attributes and performance super criterion during the design process. The resulting overall architecture is applied to redesigning kinematic, dynamic and control parameters of an industrial robot manipulator.

Keywords: concurrent engineering, hardware-in-the-loop simulation, robot manipulator, multidisciplinary systems, mechatronics

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Authors: Ebrahim Alrashed, Yousef Rafique

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Mobile devices have drastically changed the way we do things on the move. They are being extremely relied on to perform tasks that are analogous to desktop computer capability. There has been a rapid increase of computational power on these devices; however, battery technology is still the bottleneck of evolution. The primary modern approach day approach to tackle this issue is offloading computation to the cloud, proving to be latency expensive and requiring high network bandwidth. In this paper, we explore efforts to perform barter-based mobile-to-mobile offloading. We present define a protocol and present an architecture to facilitate the development of such a system. We further highlight the deployment and security challenges.

Keywords: computational offloading, power conservation, cloud, sandboxing

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Authors: Raya A. Jones

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This paper interrogates online representations of robot companions for children, including promotional material by manufacturers, media articles and technology blogs. The significance of the study lies in its contribution to understanding attitudes to robots. The prospect of childcare robots is particularly controversial ethically, and is associated with emotive arguments. The sampled material is restricted to relatively recent posts (the past three years) though the analysis identifies both continuous and changing themes across the past decade. The method extrapolates social representations theory towards examining the ways in which information about robotic products is provided for the general public. Implications for social acceptance of robot companions for the home and robot ethics are considered.

Keywords: acceptance of robots, childcare robots, ethics, social representations

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Authors: Jamaluddin Abd Rashid, Aris Abdul Rahman

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Mobile phones have become the most popular way to communicate with other individuals and it has created an unspoken social dependency. Making phone calls, instant messaging, playing online games and accessing the Internet are among the features added to a mobile phone, attracting teenagers to spend more hours fixated on their gadgets. As such, this study attempted to examine the frequency of time spent on mobile phones and how this influenced academic performance. A quantitative methodology was applied in this study, where face to face survey through the distribution of questionnaires was facilitated onto a group of 200 secondary school students from the Shah Alam community in Selangor,Malaysia. Both genders, male and females were assessed equally to find out if there exists a correlation between genders when measuring higher or lower frequency of attachment to mobile phones. It can also be seen that 100% correspondents have a mobile phone in their possession. The adolescents uses mobile phones daily, which shows students being somewhat addicted, as they tend to feel that it is necessary to use a mobile phone. The main findings of this research found out that, students that are mobile phone addictive received a lower grade in schools. Mobile phone addiction does affect academic performance negatively. As this study discusses the modern-day phenomenon, it is hoped that the findings and discussion could add to present literary works and help future researchers understand the relationship between mobile phone addiction and academic performance.

Keywords: academic performance, mobile phone addiction, social media, student

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Authors: Manpreet Singh, V. P. Agrawal, Gurmanjot Singh Bhatti

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From the last decades, there is a significant technological advancement in the field of robotics, and a number of modular self-reconfigurable robots were introduced that can help in space exploration, bucket to stuff, search, and rescue operation during earthquake, etc. As there are numbers of self-reconfigurable robots, choosing the optimum one is always a concern for robot user since there is an increase in available features, facilities, complexity, etc. The objective of this research work is to present a multiple attribute decision making based methodology for coding, evaluation, comparison ranking and selection of modular self-reconfigurable robots using a technique for order preferences by similarity to ideal solution approach. However, 86 attributes that affect the structure and performance are identified. A database for modular self-reconfigurable robot on the basis of different pertinent attribute is generated. This database is very useful for the user, for selecting a robot that suits their operational needs. Two visual methods namely linear graph and spider chart are proposed for ranking of modular self-reconfigurable robots. Using five robots (Atron, Smores, Polybot, M-Tran 3, Superbot), an example is illustrated, and raking of the robots is successfully done, which shows that Smores is the best robot for the operational need illustrated, and this methodology is found to be very effective and simple to use.

Keywords: self-reconfigurable robots, MADM, TOPSIS, morphogenesis, scalability

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Authors: Yaxiao Zhang, Yangzhou Chen

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This study investigate the formation problem for high-order continuous-time multi-robot with bounded symmetric time-varying delay protocol under switched directed communication topology. By using a linear transformation, the formation problem is transformed to stability analysis of a switched delay system. Under the assumption that each communication topology has a directed spanning tree, sufficient conditions are presented in terms of linear matrix inequalities (LMIs) that the multi-robot system can achieve a desired formation by the trade-off among the pre-exist topologies with the help of the scheme of average dwell time. A numeral example is presented to illustrate the effectiveness of the obtained results.

Keywords: multi-robot systems, formation, switched directed topology, symmetric time-varying delay, average dwell time, linear matrix inequalities (lmis)

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Authors: M. E. Marwan, A. R. Madar, N. Fuad

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Mobile learning (m-learning) is a new method in teaching and learning process which combines technology of mobile device with learning materials. It can enhance student's engagement in learning activities and facilitate them to access the learning materials at anytime and anywhere. In Kolej Poly-Tech Mara (KPTM), this method is seen as an important effort in teaching practice and to improve student learning performance. The aim of this paper is to discuss the development of m-learning application called Mobile EEF Learning System (MEEFLS) to be implemented for Electric and Electronic Fundamentals course using Flash, XML (Extensible Markup Language) and J2ME (Java 2 micro edition). System Development Life Cycle (SDLC) was used as an application development approach. It has three modules in this application such as notes or course material, exercises and video. MEELFS development is seen as a tool or a pilot test for m-learning in KPTM.

Keywords: flash, mobile device, mobile learning, teaching and learning, SDLC, XML

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Authors: Abolfazl Zaraki, Yoshikatsu Hayashi, Harry Thorpe, Vincent Strong, Gisle-Andre Larsen, William Holderbaum

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Thanks to the high maneuverability of the cable-driven hyper-redundant manipulators (HRMs), this class of robots has shown a superior capability in highly confined and unstructured space applications. Although the large number of degrees of freedom (DOF) of HRMs enhances the motion flexibility and the robot’s reachability range, it highly increases the complexity of the kinematic configuration which makes the kinematic control problem very challenging or even impossible to solve. This paper presents our current progress achieved on the development of a kinematic-based leader-follower control system which is designed to control not only the robot’s body posture but also to control the trajectory of the robot’s movement in a semi-autonomous manner (the human operator is retained in the robot’s control loop). To obtain the forward kinematic model, the coordinate frames are established by the classical Denavit–Hartenburg (D-H) convention for a hyper-redundant serial manipulator which has a controlled cables-driven mechanism. To solve the inverse kinematics of the robot, unlike the conventional methods, a leader-follower mechanism, based on the sequential inverse kinematic, is followed. Using this mechanism, the inverse kinematic problem is solved for all sequential joints starting from the head joint to the base joint of the robot. To verify the kinematic design and simulate the robot motion, the MATLAB robotic toolbox is used. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and trajectory in our confined space application.

Keywords: hyper-redundant robots, kinematic analysis, semi-autonomous control, serial manipulators

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Authors: Kevin Worrall, Euan McGookin

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The use of optimization algorithms is common across a large number of diverse fields. This work presents the use of a hybrid optimization algorithm applied to a mobile robot tasked with carrying out a search of an unknown environment. The algorithm is then applied to the multiple robots case, which results in a reduction in the time taken to carry out the search. The hybrid algorithm is a Random Search Algorithm fused with a Tabu mechanism. The work shows that the algorithm locates the desired points in a quicker time than a brute force search. The Tabu Random algorithm is shown to work within a simulated environment using a validated mathematical model. The simulation was run using three different environments with varying numbers of targets. As an algorithm, the Tabu Random is small, clear and can be implemented with minimal resources. The power of the algorithm is the speed at which it locates points of interest and the robustness to the number of robots involved. The number of robots can vary with no changes to the algorithm resulting in a flexible algorithm.

Keywords: algorithms, control, multi-agent, search and rescue

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Authors: Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj

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This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application.

Keywords: cable-driven multi-body system, computed-torque controller, lower limb rehabilitation, tracking trajectory

Procedia PDF Downloads 358