Search results for: Joint and Snake robot.

Authors: Chung-Woon Park, Jungwoo Lee, Jong-Tae Lim

Abstract:

In this paper, we propose a novel limited feedback scheme for task planning with service robots. Instead of sending the full service robot state information for the task planning, the proposed scheme send the best-M indices of service robots with a indicator. With the indicator, the proposed scheme significantly reduces the communication overhead for task planning as well as mitigates the system performance degradation in terms of the utility. In addition, we analyze the system performance of the proposed scheme and compare the proposed scheme with the other schemes.

Keywords: Task Planning, Service Robots, Limited Feedback, Scheduling

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Authors: Mutuku Muvengei, John Kihiu

Abstract:

This paper focuses on the development of bond graph dynamic model of the mechanical dynamics of an excavating mechanism previously designed to be used with small tractors, which are fabricated in the Engineering Workshops of Jomo Kenyatta University of Agriculture and Technology. To develop a mechanical dynamics model of the manipulator, forward recursive equations similar to those applied in iterative Newton-Euler method were used to obtain kinematic relationships between the time rates of joint variables and the generalized cartesian velocities for the centroids of the links. Representing the obtained kinematic relationships in bondgraphic form, while considering the link weights and momenta as the elements led to a detailed bond graph model of the manipulator. The bond graph method was found to reduce significantly the number of recursive computations performed on a 3 DOF manipulator for a mechanical dynamic model to result, hence indicating that bond graph method is more computationally efficient than the Newton-Euler method in developing dynamic models of 3 DOF planar manipulators. The model was verified by comparing the joint torque expressions of a two link planar manipulator to those obtained using Newton- Euler and Lagrangian methods as analyzed in robotic textbooks. The expressions were found to agree indicating that the model captures the aspects of rigid body dynamics of the manipulator. Based on the model developed, actuator sizing and valve sizing methodologies were developed and used to obtain the optimal sizes of the pistons and spool valve ports respectively. It was found that using the pump with the sized flow rate capacity, the engine of the tractor is able to power the excavating mechanism in digging a sandy-loom soil.

Keywords: Actuators, bond graphs, inverse dynamics, recursive equations, quintic polynomial trajectory.

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Authors: Othman Maklouf, Abdurazag Ghila, Ahmed Abdulla

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This paper introduces a low cost INS/GPS algorithm for land vehicle navigation application. The data fusion process is done with an extended Kalman filter in cascade configuration mode. In order to perform numerical simulations, MATLAB software has been developed. Loosely coupled configuration is considered. The results obtained in this work demonstrate that a low-cost INS/GPS navigation system is partially capable of meeting the performance requirements for land vehicle navigation. The relative effectiveness of the kalman filter implementation in integrated GPS/INS navigation algorithm is highlighted. The paper also provides experimental results; field test using a car is carried out.

Keywords: GPS, INS, IMU, Kalman filter.

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Authors: Rawinun Praserttaweelap, Somyot Kiatwanidvilai

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Obstacle avoidance is the one key for the robot system in unknown environment. The robots should be able to know their position and safety region. This research starts on the path planning which are SLAM and AMCL in ROS system. In addition, the best parameters of the obstacle avoidance function are required. In situation on Hard Disk Drive Manufacturing, the distance between robots and obstacles are very serious due to the manufacturing constraint. The simulations are accomplished by the SLAM and AMCL with adaptive velocity and safety region calculation.

Keywords: Obstacle avoidance, simultaneous localization and mapping, adaptive Monte Carlo localization, KLD sampling.

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Authors: Shattyk Aliyev, Zhakypbek Altayev, Zuchra Ismagambetova, Yerkin Massanov

Abstract:

Information society is an absolutely new public formation at which the infrastructure and the social relations correspond to the socialized essence of «information genotype» mankind. Information society is a natural social environment which allows the person to open completely the information nature, to use intelligence for joint creation with other people of new information on the basis of knowledge earlier saved up by previous generations.

Keywords: Information society, Philosophy, Education, Globalization and innovation.

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Authors: Mirza Munir Ahmed, S.R.M. Kutty, Mohd Faris Khamidi, Idris Othman, Azmi Mohd Shariff

Abstract:

Petrol Fuel Station (PFS) has potential hazards to the people, asset, environment and reputation of an operating company. Fire hazards, static electricity air pollution evoked by aliphatic and aromatic organic compounds are major causes of accident/incident occurrence at fuel station. Activities such as carelessness, maintenance, housekeeping, slips trips and falls, transportation hazard, major and minor injuries, robbery and snake bites has a potential to create unsafe conditions. The level of risk of these hazards varies according to location and country. The emphasis on safety considerations by the government is variable all around the world. Developed countries safety records are much better as compared to developing countries safety statistics. There is no significant approach available to highlight the unsafe acts and unsafe conditions during operation and maintenance of fuel station. Fuel station is the most commonly available facilities that contain flammable and hazardous materials. Due to continuous operation of fuel station they pose various hazards to people, environment and assets of an organization. To control these hazards, there is a need for specific approach. PFS operation is unique as compared to other businesses. For smooth operations it demands an involvement of operating company, contractor and operator group. This study will focus to address hazard contributing factors that have a potential to make PFS operation risky. One year data collected, 902 activities analyzed, comparisons were made to highlight significant contributing factors. The study will provide help and assistance to PFS outlet marketing companies to make their fuel station operation safer. It will help health safety and environment (HSE) professionals to arrest the gap available related to safety matters at PFS.

Keywords: Accident, Contributing factors, carelessness, fire, explosion, injuries.

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Authors: J. Fei

Abstract:

This paper presents the adaptive control scheme with sliding mode compensator for vibration control problem in the presence of disturbance. The dynamic model of the flexible cantilever beam using finite element modeling is derived. The adaptive control with sliding mode compensator using output feedback for output tracking is developed to reject the external disturbance, and to improve the tracking performance. Satisfactory simulation results verify that the effectiveness of adaptive control scheme with sliding mode compensator.

Keywords: finite element model, adaptive control, sliding modecontrol, vibration suppression

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Authors: Max Ti-Kuang Hou, Hui-Mei Shen, Chiang-Ni Lu, I-Jen Hsu

Abstract:

We present design, fabrication, and characterization of a small (12 mm × 12 mm × 8 mm) movable railway vehicle for sensor carrying. The miniature railway vehicle (MRV) was mainly composed of a vibrational structure and three legs. A railway was designed and fabricated to power and guide the MRV. It also transmits the sensed data from the MRV to the signal processing unit. The MRV with legs on the railway was moving due to its high-frequency vibration. A model was derived to describe the motion. Besides, FEM simulations were performed to design the legs. Then, the MRV and the railway were fabricated by precision machining. Finally, an infrared sensor was carried and tested. The result shows that the MRV without loading was moving along the railway and its maximum speed was 12.2 mm/s. Moreover, the testing signal was sensed by the MRV.

Keywords: Locomotion, Micro-Robot, Miniature Railway Vehicle, Stick-Slip.

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Authors: M. Ntšolo, D. Kalumba, N. Lefu, G. Letlatsa

Abstract:

Rock mass damage due to shear tectonic activity has been investigated largely in geoscience where fluid transport is of major interest. However, little has been studied on the effect of shear zones on rock mass behavior and its impact on stability of rock slopes. At Letšeng Diamonds open pit mine in Lesotho, the shear zone composed of sheared kimberlite material, calcite and altered basalt is forming part of the haul ramp into the main pit cut 3. The alarming rate at which the shear zone is deteriorating has triggered concerns about both local and global stability of pit the walls. This study presents the numerical modelling of the open pit slope affected by shear zone at Letšeng Diamond Mine (LDM). Analysis of the slope involved development of the slope model by using a two-dimensional finite element code RS2. Interfaces between shear zone and host rock were represented by special joint elements incorporated in the finite element code. The analysis of structural geological mapping data provided a good platform to understand the joint network. Major joints including shear zone were incorporated into the model for simulation. This approach proved successful by demonstrating that continuum modelling can be used to evaluate evolution of stresses, strain, plastic yielding and failure mechanisms that are consistent with field observations. Structural control due to geological shear zone structure proved to be important in its location, size and orientation. Furthermore, the model analyzed slope deformation and sliding possibility along shear zone interfaces. This type of approach can predict shear zone deformation and failure mechanism, hence mitigation strategies can be deployed for safety of human lives and property within mine pits.

Keywords: Numerical modeling, open pit mine, shear zone, slope stability.

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Authors: Dimitrie Marinceu

Abstract:

The newest Canadian Used Fuel Container (UFC)- (called also “Mark II”) modifies the design approach for its Assembly Robotic Cell (ARC) in the Canadian Used (Nuclear) Fuel Packing Plant (UFPP). Some of the robotic design solutions are presented in this paper. The design indicates that robots and manipulators are expected to be used in the Canadian UFPP. As normally, the UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, this paper suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity, and reliability.

Keywords: Used fuel packing plant, robotic assembly cell, used fuel container, deep geological repository.

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Authors: Carlos V. Regueiro, Jose E. Domenech, Roberto Iglesias, Jose L. Correa

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In this work a visual and reactive contour following behaviour is learned by reinforcement. With artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. In order to facilitate its generalisation to other behaviours and to reduce the role of the designer, we propose a regular image-based codification of states. Even though this is much more difficult, our implementation converges and is robust. Results are presented with a Pioneer 2 AT on a Gazebo 3D simulator.

Keywords: Image-based State Codification, Mobile Robotics, ReinforcementLearning, Visual Behaviour.

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Authors: Mohammed Sani Abdulai

Abstract:

Public sector budgeting, all over the world, is underpinned by some universally accepted principles of sound budget management such as budget unity, universality, annuality, and a balanced budget. These traditional principles, though fundamental, had, in recent years, been augmented by the more modern principles of budgeting within fiscal objective, alignment with medium-term strategic plans as well as the observance of such related concepts as transparency, openness and accessibility. In this paper, we have endeavored to shed light, from literature and practice, on the meaning and purposes of such fundamental budgeting principles. We have also assessed the extent to which the Government of Ghana’s budget complies with the four traditional principles of budget unity, universality, annuality, and a balanced budget and the three out of the ten modern principles of budgetary governance of Organisation for Economic Co-operation and Development (OECD). We did so by using a qualitative method of review and analysis of existing documents and the performance assessment reports on Ghana’s Public Financial Management (PFM) measured using such frameworks as the Public Expenditure and Financial Accountability (PEFA), the Open Budget Survey (OBS) and its Index (OBI), the reports and action plans of Open Government Partnership (OGP) and the Global Initiative for Fiscal Transparency (GIFT). Other performance assessment reports that were relied on included, but not limited to, the Joint Evaluation Report of PFM in Ghana, 2001-2010, and the Joint Evaluation of Budget Support to Ghana, 2005-2015. We have, through this paper, brought to the fore the lessons that could be learned on how those budgetary principles undergird the Government of Ghana’s budget formulation, execution, accounting, control, and oversight. These lessons include, but are not limited to, the need for both scholars and practitioners in the PFM space to be aware of the impact of those principles on public sector budgeting.

Keywords: Annulaity, Balanced Budget, Budget Unity, Budgetary Principles, OECD’s Principles on Budgetary Governance, Open Budget Index, Public Expenditure and Financial Accountability, Universality.

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Authors: Wookyong Kwon, Sangmoon Lee

Abstract:

In this paper, a sampled-data model predictive tracking control method is presented for mobile robots which is modeled as constrained continuous-time linear parameter varying (LPV) systems. The presented sampled-data predictive controller is designed by linear matrix inequality approach. Based on the input delay approach, a controller design condition is derived by constructing a new Lyapunov function. Finally, a numerical example is given to demonstrate the effectiveness of the presented method.

Keywords: Model predictive control, sampled-data control, linear parameter varying systems, LPV.

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Authors: Hesheng Wang, Haoyu Wang, Chungang Zhuang

Abstract:

Estimating the 6D pose of objects is a core step for robot bin-picking tasks. The problem is that various objects are usually randomly stacked with heavy occlusion in real applications. In this work, we propose a method to regress 6D poses by predicting three points for each object in the 3D point cloud through deep learning. To solve the ambiguity of symmetric pose, we propose a labeling method to help the network converge better. Based on the predicted pose, an iterative method is employed for pose optimization. In real-world experiments, our method outperforms the classical approach in both precision and recall.

Keywords: Pose estimation, deep learning, point cloud, bin-picking, 3D computer vision.

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Authors: Chung-Seong Hong, Hyung-Sun Kim, Joonmyun Cho, Hyun Kyu Cho, Hyun-Chan Lee

Abstract:

To realize the vision of ubiquitous computing, it is important to develop a context-aware infrastructure which can help ubiquitous agents, services, and devices become aware of their contexts because such computational entities need to adapt themselves to changing situations. A context-aware infrastructure manages the context model representing contextual information and provides appropriate information. In this paper, we introduce Context-Aware Middleware for URC System (hereafter CAMUS) as a context-aware infrastructure for a network-based intelligent robot system and discuss the ontology-based context modeling and reasoning approach which is used in that infrastructure.

Keywords: CAMUS, Context-Aware, Context Model, Ontology.

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Authors: Anis Fatmi, Amur Al Yahmadi, Lazhar Khriji, Nouri Masmoudi

Abstract:

One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.

Keywords: Behavior based navigation, context based coordination, fuzzy logic, mobile robots.

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Authors: Cyril Brom, Zuzana Vlckova

Abstract:

IVE toolkit has been created for facilitating research,education and development in the field of virtual storytelling and computer games. Primarily, the toolkit is intended for modelling action selection mechanisms of virtual humans, investigating level-of-detail AI techniques for large virtual environments, and for exploring joint behaviour and role-passing technique (Sec. V). Additionally, the toolkit can be used as an AI middleware without any changes. The main facility of IVE is that it serves for prototyping both the AI and virtual worlds themselves. The purpose of this paper is to describe IVE's features in general and to present our current work - including an educational game - on this platform.

Keywords: AI middleware, simulation, virtual world.

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Authors: Edwaldo R. B. Monteiro, Patricia D. M. Plentz, Edson R. De Pieri

Abstract:

Mobile robotics is gaining an increasingly important role in modern society. Several potentially dangerous or laborious tasks for human are assigned to mobile robots, which are increasingly capable. Many of these tasks need to be performed within a specified period, i.e, meet a deadline. Missing the deadline can result in financial and/or material losses. Mechanisms for predicting the missing of deadlines are fundamental because corrective actions can be taken to avoid or minimize the losses resulting from missing the deadline. In this work we propose a simple but reliable deadline missing prediction mechanism for mobile robots through the use of historical data and we use the Pioneer 3-DX robot for experiments and simulations, one of the most popular robots in academia.

Keywords: Deadline missing, historical data, mobile robots, prediction mechanism.

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Authors: Mohamed Amine Ben Abdallah, Imed Khemili, Nizar Aifaoui

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This work denotes an insight into dynamic synthesis of multibody systems. A set of mechanism parameters design variable are synthetized based on a desired mechanism response, such as, velocity, acceleration and bodies deformations. Moreover, knowing the work space, for a robot, and mechanism response allow defining optimal parameters mechanism handling with the desired target response. To this end, evolutionary genetic algorithm has been deployed. A demonstrative example for imperfect mechanism has been treated, mainly, a slider crank mechanism with a flexible connecting rod. The transversal deflection of the connecting rod has been chosen as response to identify the mechanism design parameters.

Keywords: Dynamic response, flexible bodies, optimization, evolutionary genetic algorithm.

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Authors: Jean-Michel Sahut

Abstract:

Despite the strong and consistent increase in the use of electronic payment methods worldwide, the diffusion of electronic wallets is still far from widespread. Analysis of the failure of electronic wallet uptake has either focused on technical issues or chosen to analyse a specific scheme. This article proposes a joint approach to analysing key factors affecting the adoption of e-wallets by using the ‘Technology Acceptance Model” [1] which we have expanded to take into account the cost of using e-wallets. We use this model to analyse Monéo, the only French electronic wallet still in operation.

Keywords: Electronic wallet, adoption, ICT, TAM, Monéo, electronic payment.

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Authors: Jae Moon Lee

Abstract:

In general, algorithms to find continuous k-nearest neighbors have been researched on the location based services, monitoring periodically the moving objects such as vehicles and mobile phone. Those researches assume the environment that the number of query points is much less than that of moving objects and the query points are not moved but fixed. In gaming environments, this problem is when computing the next movement considering the neighbors such as flocking, crowd and robot simulations. In this case, every moving object becomes a query point so that the number of query point is same to that of moving objects and the query points are also moving. In this paper, we analyze the performance of the existing algorithms focused on location based services how they operate under gaming environments.

Keywords: Flocking behavior, heterogeneous agents, similarity, simulation.

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

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Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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Authors: Rui Wu, Tapani Ristaniemi

Abstract:

In this paper, we propose a new algorithm for joint time-delay and direction-of-arrival (DOA) estimation, here called two-dimensional code acquisition, in an asynchronous directsequence code-division multiple-access (DS-CDMA) array system. This algorithm depends on eigenvector-eigenvalue decomposition of sample correlation matrix, and requires to know desired user-s training sequence. The performance of the algorithm is analyzed both analytically and numerically in uncorrelated and coherent multipath environment. Numerical examples show that the algorithm is robust with unknown number of coherent signals.

Keywords: Two-Dimensional Code Acquisition, EV-t, DSCDMA

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Authors: Boukerch Haroun, Luo Qing Sheng, Li Hua Shi, Boukraa Sebti

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In this paper we present the design and the implementation of a target tracking system where the target is set to be a moving person in a video sequence. The system can be applied easily as a vision system for mobile robot. The system is composed of two major parts the first is the detection of the person in the video frame using the SVM learning machine based on the “HOG” descriptors. The second part is the tracking of a moving person it’s done by using a combination of the Kalman filter and a modified version of the Camshift tracking algorithm by adding the target motion feature to the color feature, the experimental results had shown that the new algorithm had overcame the traditional Camshift algorithm in robustness and in case of occlusion.

Keywords: Camshift Algorithm, Computer Vision, Kalman Filter, Object tracking.

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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 based based robotic library, library management system, robotic library, Wi-Fi library.

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Authors: Abolfazl Mohammadijoo

Abstract:

In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory.

Keywords: Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics.

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Authors: C. Schneider, M. M. Seizmeir, T. Suchanek, M. Hutter-Mironovová, M. Bdiwi, M. Putz

Abstract:

In this paper, a suitable measurement setup is presented to conduct force and pressure measurements for transient contact cases at the example of lathe machine tending. Empirical measurements were executed on a selected collaborative robot’s behavior regarding allowable operating speeds under consideration of sensor- and workpiece-specific factors. Comparisons between the theoretic calculations proposed in ISO/TS 15066 and the practical measurement results reveal a basis for future research. With the created database, preliminary risk assessment and economic assessment procedures of collaborative machine tending cells can be facilitated.

Keywords: biomechanical thresholds, collaborative robots, force and pressure measurements, machine tending, transient contact

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Authors: Jie Cai, David C. Levy

Abstract:

Electronic nose (array of chemical sensors) are widely used in food industry and pollution control. Also it could be used to locate or detect the direction of the source of emission odors. Usually this task is performed by electronic nose (ENose) cooperated with mobile vehicles, but when a source is instantaneous or surrounding is hard for vehicles to reach, problem occurs. Thus a method for stationary ENose to detect the direction of the source and locate the source will be required. A novel method which uses the ratio between the responses of different sensors as a discriminant to determine the direction of source in natural wind surroundings is presented in this paper. The result shows that the method is accurate and easily to be implemented. This method could be also used in movably, as an optimized algorithm for robot tracking source location.

Keywords: Electronic nose, Nature wind situation, Source direction detection.

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Authors: Z. Abdollahnejad, M. Kheradmand, F. Pacheco Torgal

Abstract:

The workability of hybrid alkaline cements is a field of knowledge that still needs further research efforts. This paper reports experimental results of 32 hybrid cement mixes regarding the joint effect of sodium hydroxide concentration, the use of a commercial superplasticizer and a biopolymer on the flow and compressive strength performance. The results show that the use of commercial admixtures led to a slightly increase in the flow of mortars with lower sodium hydroxide concentration.

Keywords: Waste reuse, fly ash, waste glass, hybrid cement, biopolymer, polycarboxylate, flow.

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Authors: Irfan Hussain, Adnan Masood, Javaid Iqbal, Umar S. Khan

Abstract:

Above Elbow Prosthesis is one of the most commonly amputated or missing limbs. The research is done for modelling techniques of upper limb prosthesis and design of high torque, light weight and compact in size elbow actuator. The purposed actuator consists of a DC motor, planetary gear set and a harmonic drive. The calculations show that the actuator is good enough to be used in real life powered prosthetic upper limb or rehabilitation exoskeleton.

Keywords: Above Elbow prosthesis, Harmonic drive, Planetarygear set, Sagittal Plane

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