Search results for: robotic library

Authors: Amran Mohd Zaid, M. Atif Yaqub, Mohd Rizal Arshad, Md Saidin Wahab

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A multi fingered dexterous anthropomorphic hand is being developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise of five fingers (four fingers and one thumb) each having four degrees of freedom (DOF) which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose pneumatic muscles and springs will be used. The paper exemplifies the mechanical design for the robotic hand. It also describes different mechanical designs that have been developed before date.

Keywords: Robotic hand, Multi-fingered hand, dextrous hand, anthropomorphic hand, pneumatic muscles.

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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.

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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: 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.

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Authors: Sangsuree Vasupongayya, Kittisak Keawneam, Kittipong Sengloilaun, Patt Emmawat

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Library management systems are commonly used in all educational related institutes. Many commercial products are available. However, many institutions may not be able to afford the cost of using commercial products. Therefore, an alternative solution in such situations would be open source software. This paper is focusing on reviewing open source library management system packages currently available. The review will focus on the abilities to perform four basic components which are traditional services, interlibrary load management, managing electronic materials and basic common management system such as security, alert system and statistical reports. In addition, environment, basic requirement and supporting aspects of each open source package are also mentioned.

Keywords: open source, library management, review.

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

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

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

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Authors: Christopher Spiewak, M. R. Islam, Mohammad Arifur Rahaman, Mohammad H. Rahman, Roger Smith, Maarouf Saad

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For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.

Keywords: Biorobotics, rehabilitation, nonlinear control, robotic assistive device, exoskeleton.

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Authors: T. C. Kuo

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In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated.

Keywords: Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.

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Authors: S. S. Ngu, L. C. Kho, T. P. Tan, M. S. Osman

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This work deals with the design of the robotic assembly system for the roller clamps. The task is characterized by high speed, high yield and safety engagement. This paper describes the design of different parts of an automated high speed machine to assemble the parts of roller clamps. The roller clamp robotic assembly system performs various processes in the assembly line which include clamp body and roller feeding, inserting the roller into the clamp body, and dividing the rejected clamp and successfully assembled clamp into their own tray. The electrical/electronics design of the machine is discussed. The target is to design a cost effective, minimum maintenance and high speed machine for the industry applications.

Keywords: Machine design, assembly machine, roller clamp, industry applications.

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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: Byung Hoon Seo, Hyun Gyu Kim, Tae Won Seo

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Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

Keywords: Stair climbing robot, Optimal design, Taguchi methodology, Caterpillar, Kinematic parameters.

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Authors: Ibrahim F. Jasim, Najah F. Jasim

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The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities and friction torques modeled by LuGre friction model. Because of the existence of the unknown dead zone and friction torque at the actuations, unknown parameters and unmeasured states would appear to be part of the overall system dynamics that need for estimation. Unmeasured states observer, unknown parameters estimators, and robust adaptive control laws have been derived such that closed loop global stability is achieved. Simulation results have been performed to show the efficacy of the suggested approach.

Keywords: Adaptive Robust Control, Dead Zone, Friction Torques, Robotic Manipulators.

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Authors: Hassan M. Alkomy, Hesham A. Elkaranshawy, Ahmed S. Ashour, Khaled T. Mohamed

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For a rigid body sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found, which is termed: Painlevé paradox. Painlevé paradox is the reason of a wide range of bouncing motion, observed during sliding of robotic manipulators on rough surfaces. In this research work, the existence of the paradox zone during the sliding motion of a two-link (P-R) robotic manipulator with a unilateral constraint is investigated. Parametric study is performed to investigate the effect of friction, link-length ratio, total height and link-mass ratio on the paradox zone.

Keywords: Dynamical system, friction, multibody system, Painlevé paradox, robotic systems, sliding robots, unilateral constraint.

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Authors: M. Ovinis, D. Kerr, K. Bouazza-Marouf, M. Vloeberghs

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The use of machine vision to inspect the outcome of surgical tasks is investigated, with the aim of incorporating this approach in robotic surgery systems. Machine vision is a non-contact form of inspection i.e. no part of the vision system is in direct contact with the patient, and is therefore well suited for surgery where sterility is an important consideration,. As a proof-of-concept, three primary surgical tasks for a common neurosurgical procedure were inspected using machine vision. Experiments were performed on cadaveric pig heads to simulate the two possible outcomes i.e. satisfactory or unsatisfactory, for tasks involved in making a burr hole, namely incision, retraction, and drilling. We identify low level image features to distinguish the two outcomes, as well as report on results that validate our proposed approach. The potential of using machine vision in a surgical environment, and the challenges that must be addressed, are identified and discussed.

Keywords: Visual inspection, machine vision, robotic surgery.

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Authors: Dyah P. Srirahayu, Esti Putri Anugrah, Amelia Firdaus

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The existence of the current library has met the complex needs of users. However, human resources in the library are often a source of problems in service. This is influenced by the leadership style in each library. This study aims to analyze the impact of leadership style on innovative work behavior. The research method used is a quantitative approach to analyze using SPSS. The findings in this study illustrate that leadership style has an influence on innovative work behavior which is certainly influenced by various existing factors.

Keywords: Leadership, public libraries, innovative behavior, Transactional leadership.

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Authors: M.R. Safizadeh, M. Hussein, K. F. Samat, M.S. Che Kob, M.S. Yaacob, M.Z. Md Zain

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The aim of this paper is to present the kinematic analysis and mechanism design of an assistive robotic leg for hemiplegic and hemiparetic patients. In this work, the priority is to design and develop the lightweight, effective and single driver mechanism on the basis of experimental hip and knee angles- data for walking speed of 1 km/h. A mechanism of cam-follower with three links is suggested for this purpose. The kinematic analysis is carried out and analysed using commercialized MATLAB software based on the prototype-s links sizes and kinematic relationships. In order to verify the kinematic analysis of the prototype, kinematic analysis data are compared with the experimental data. A good agreement between them proves that the anthropomorphic design of the lower extremity exoskeleton follows the human walking gait.

Keywords: Kinematic analysis, assistive robotic leg, lower extremity exoskeleton, cam-follower mechanism.

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Authors: Rike Brecht, Heidi Krömker, Adrian Kühlewind

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This paper presents a digital engineering library – the Digital Mechanism and Gear Library, DMG-Lib – providing a multimedia collection of e-books, pictures, videos and animations in the domain of mechanisms and machines. The specific characteristic about DMG-Lib is the enrichment and cross-linking of the different sources. DMG-Lib e-books not only present pages as pixel images but also selected figures augmented with interactive animations. The presentation of animations in e-books increases the clearness of the information. To present the multimedia e-books and make them available in the DMG-Lib internet portal a special e-book reader called StreamBook was developed for optimal presentation of digitized books and to enable reading the e-books as well as working efficiently and individually with the enriched information. The objective is to support different user tasks ranging from information retrieval to development and design of mechanisms.

Keywords: E-books, digital library, multimedia, enrichment and cross-linking

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Authors: Jaouad Oukrich, Belaid Bouikhalene, Noureddine Askour

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This paper deals with the problem of management of information resources in libraries of the public institution Sultan Moulay Slimane University (SMSU) in order to analyze the satisfaction of the readers, and allow university leaders to make better strategic and instant decisions. For this, the integration of an integrated management decision library system is a priority program of higher education, as part of the Digital Morocco, which has a proactive policy to develop the use of new technologies information and communication in higher institutions. This operational information system can provide better services to the students and for the leaders. Our approach is to integrate the tools of business intelligence (BI) in the library management by using power BI.

Keywords: PMB, integrated library management system, ILMS, document, SMSU, power BI, satisfaction.

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Authors: A. Emre Ozturk, Ergun Ercelebi

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Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper.

Keywords: 3D Laser Scanner, embedded systems.

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Authors: R. Pournaghi

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Taking into account the significance of measuring the daily use of the study space in the libraries in order to develop and reorganize the space for enhancing the efficiency of the study space, the current study aimed to apply GIS in analyzing the study halls of the Central Library and Document Center of Tehran University in order to determine how study desks and chairs were used by the students. The study used a combination of survey-descriptive and system design method. In order to gather the required data, surveydescriptive method was used. For implementing and entering data into ArcGIS and analyzing the data and displaying the results on the maps of the study halls of the library, system design method was utilized. The design of the spatial database of the use of the study halls was measured through the extent of occupancy of the space by the library users and the maps of the study halls of the central library of Tehran University as the case study. The results showed that Abooreyhan hall had the highest rate of occupancy of the desks and chairs compared to the other halls. The Hall of Science and Technology, with an average occupancy rate of 0.39 for the tables represented the lowest number of users and Rashid al-Dins hall, and Science and Technology hall with an average occupancy rate (0.40) had the lowest number of users for seats. In this study, the comparison of the space occupied at different periods in the morning, evenings, afternoons, and several months was performed through GIS. This system analyzed the space relationships effectively and efficiently. The output of this study would be used by administrators and librarians to determine the exact extent of use of the equipment of the study halls and librarians can use the output map to design the space more efficiently at the library.

Keywords: Geospatial Information System, Spatial analysis, Reading Room, Academic libraries, Library’s User, Central Library of Tehran University.

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Authors: Ege Can Onal, Enver Ersen, Meltem Elitas

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Laparoscopy is a surgical operation, well known as keyhole surgery. The operation is performed through small holes, hence, scars of a patient become much smaller, patients can recover in a short time and the hospital stay becomes shorter in comparison to an open surgery. Several tools are used at laparoscopic operations; among them, the laparoscope has a crucial role. It provides the vision during the operation, which will be the main focus in here. Since the operation area is very small, motion of the surgical tools might be limited in laparoscopic operations compared to traditional surgeries. To overcome this limitation, most of the laparoscopic tools have become more precise, dexterous, multi-functional or automated. Here, we present a robotic-assisted laparoscope that is controlled with pedals directly by a surgeon. Thus, the movement of the laparoscope might be controlled better, so there will not be a need to calibrate the camera during the operation. The need for an assistant that controls the movement of the laparoscope will be eliminated. The duration of the laparoscopic operation might be shorter since the surgeon will directly operate the camera.

Keywords: Laparoscope, laparoscopy, low-cost, minimally invasive surgery, robotic-assisted surgery.

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Authors: Brahim Belattar, Abdelhabib Bourouis

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This paper describes important features of JAPROSIM, a free and open source simulation library implemented in Java programming language. It provides a framework for building discrete event simulation models. The process interaction world view adopted by JAPROSIM is discussed. We present the architecture and major components of the simulation library. A pedagogical example is given in order to illustrate how to use JAPROSIM for building discrete event simulation models. Further motivations are discussed and suggestions for improving our work are given.

Keywords: Discrete Event Simulation, Object-Oriented Simulation, JAPROSIM, Process Interaction Worldview, Java-based modeling and simulation.

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Authors: Syamsul Syafiq, Maslina Daud, Hafizah Hasan, Ahmad Zairi, Shazil Imri, Ezaini Akmar, Norbazilah Rahim

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Over recent years, web development has changed significantly. Driven largely by the rise of trends like mobiles, the world of development is rapidly evolving. The rise of the Internet makes web applications crucial nowadays. The web application has been an interface for a company and one of the ways they present their portfolio to the client. On the other hand, the web has become part of the file management system which takes over the role of paper. Due to high demand in web applications, developers are required to develop a web application that are cost-effective, secure and well coded. A framework has been proposed to develop an application rather than using library style development. The framework is helping the developer in creating the structure of a web automatically. This paper will compare the advantages and disadvantages of web development using framework against library-style development. This comparison is based on a previous research paper focusing on two main indicators, which are the impact to management and impact to the developer.

Keywords: Framework, library Style development, web application development, traditional web, static web, dynamic web.

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Authors: N. Asadi, M. Jackson

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Today, the central role of industrial robots in automation in general and in material handling in particular is crystal clear. Based on the current status of Photovoltaics and by focusing on lightweight material handling, PV industry has turned into a potential candidate for introducing a fresh “pick and place" robot technology. Thus, to examine the industry needs in this regard, firstly the best suited applications for such robotic automation,and then the essential prerequisites in PV industry should be identified. The objective of this paper is to present holistic views on the industry trends, general automation status and existing challenges facing lightweight robotic material handling in PV Silicon Wafer and Thin Film technologies. The results of this study show that currently no uniform pick and place solution prevails among PV Silicon Wafer manufacturers and the industry calls for a new robot solution to satisfy its needs in new directions.

Keywords: Automation, Material handling, Photovoltaic, Robot.

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Authors: Jutharat Sunprasert, Ekapong Hirunsirisawat, Narongrit Waraporn, Somporn Peansukmanee

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Metal Ship and Robotic Car is one of the hands-on activities in the course, the Fundamental of Engineering that can be divided into three parts. The first part, the metal ships, was made by using engineering drawings, physics and mathematics knowledge. The second part is where the students learned how to construct a robotic car and control it using computer programming. In the last part, the students had to combine the workings of these two objects in the final testing. This aim of study was to investigate the effectiveness of hands-on activity by integrating Science, Technology, Engineering and Mathematics (STEM) concepts to develop scientific and engineering skills. The results showed that the majority of students felt this hands-on activity lead to an increased confidence level in the integration of STEM. Moreover, 48% of all students engaged well with the STEM concepts. Students could obtain the knowledge of STEM through hands-on activities with the topics science and mathematics, engineering drawing, engineering workshop and computer programming; most students agree and strongly agree with this learning process. This indicated that the hands-on activity: “Metal Ship and Robotic Car” is a useful tool to integrate each aspect of STEM. Furthermore, hands-on activities positively influence a student’s interest which leads to increased learning achievement and also in developing scientific and engineering skills.

Keywords: Hands-on activity, STEM education, computer programming, metal work.

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Authors: A. Bagherzadhalimi, E. Di Maria

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The feedbacks obtained regarding the sense of presence from pilot users operating a Mobile Robotic presence (MRP) system to visit a simulated museum are reported in this paper. The aim is to investigate how much the perception of system’s usefulness and ease of use is affected by operators’ sense of social telepresence (presence) in the remote location. Therefore, scenarios of visiting a museum are simulated and the user operators are supposed to perform some regular tasks inside the remote environment including interaction with local users, navigation and visiting the artworks. Participants were divided into two groups, those who had previous experience of operation and interaction with a MRP system and those who never had experience. Based on the results, both groups provided different feedbacks. Moreover, there was a significant association between user’s sense of presence and their perception of system usefulness and ease of use.

Keywords: Mobile Robotic Telepresence, Museum, Social Telepresence, Usability test.

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Authors: Vikas Pandey, T. L. Joshy, Vyshak Vijayan, N. Babu

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A new and cost effective robotic device was designed for remote tele surgery using dual tone multi frequency technology (DTMF). Tele system with Dual Tone Multiple Frequency has a large capability in sending and receiving of data in hardware and software. The robot consists of DC motors for arm movements and it is controlled manually through a mobile phone through DTMF Technology. The system enables the surgeon from base station to send commands through mobile phone to the patient’s robotic system which includes two robotic arms that translate the input into actual instrument manipulation. A mobile phone attached to the microcontroller 8051 which can activate robot through relays. The Remote robot-assisted tele surgery eliminates geographic constraints for getting surgical expertise where it is needed and allows an expert surgeon to teach or proctor the performance of surgical technique by real-time intervention.

Keywords: Robot, Microcontroller, DTMF, Tele surgery.

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Authors: Mihaela Popescu, Alexandru Bitoleanu

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This paper is focused on the reference current calculation in the compensation mode of the active DC traction substations. The so-called p-q theory of the instantaneous reactive power is used as theoretical foundation. The compensation goal of total compensation is taken into consideration for the operation under both sinusoidal and nonsinusoidal voltage conditions, through the two objectives of unity power factor and perfect harmonic cancelation. Four blocks of reference current generation implement the conceived algorithms and they are included in a specific Simulink library, which is useful in a DSP dSPACE-based platform working under Matlab/Simulink. The simulation results validate the correctness of the implementation and fulfillment of the compensation tasks.

Keywords: Active power filter, DC traction, p-q theory, Simulink library.

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Authors: Mehmet Yörükoğlu, Serhat Aydın

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Since the discovery of the manuscript, mechanical methods for storing, transferring and using the information have evolved into digital methods over the time. In this process, libraries that are the center of the information have also become digitized and become accessible from anywhere and at any time in the world by taking on a structure that has no physical boundaries. In this context, some criteria for information obtained from digital libraries have become more important for users. This paper evaluates the user criteria from different perspectives that make a digital library more useful. The Step-Wise Weight Assessment Ratio Analysis-Weighted Aggregated Sum Product Assessment (SWARA-WASPAS) method is used with flexibility and easy calculation steps for the evaluation of digital library criteria. Three different digital libraries are evaluated by information technology experts according to five conflicting main criteria, ‘interface design’, ‘effects on users’, ‘services’, ‘user engagement’ and ‘context’. Finally, alternatives are ranked in descending order.

Keywords: Digital library, multi criteria decision making, SWARA-WASPAS method.

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Authors: T.C. Manjunath,

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This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot's gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper is to design a continuous path trajectory model for the indigenously developed SCARA robot arm during its maneuvering from one point to another point (during pick and place operations) in a workspace avoiding all the obstacles in its path of motion.

Keywords: SCARA, Trajectory, Planning.

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