Search results for: Robot programming

Authors: Tadayoshi Horita, Masakazu Akiba, Mina Terauchi, Tsuneo Kanno

Abstract:

This paper gives a consideration of the achievement of productive level parallel programming skills, based on the data of the graduation studies in the Polytechnic University of Japan. The data show that most students can achieve only parallel programming skills during the graduation study (about 600 to 700 hours), if the programming environment is limited to GPGPUs. However, the data also show that it is a very high level task that a student achieves productive level parallel programming skills during only the graduation study. In addition, it shows that the parallel programming environments for GPGPU, such as CUDA and OpenCL, may be more suitable for parallel computing education than other environments such as MPI on a cluster system and Cell.B.E. These results must be useful for the areas of not only software developments, but also hardware product developments using computer technologies.

Keywords: Parallel computing, programming education, GPU, GPGPU, CUDA, OpenCL, MPI, Cell.B.E.

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Authors: Qasim M. Kriri

Abstract:

Few Saudi Arabia production companies face financial profit issues until this moment. This work presents a linear integer programming model that solves a production problem of a Saudi Food Company in Saudi Arabia. An optimal solution to the above-mentioned problem is a Linear Programming solution. In this regard, the main purpose of this project is to maximize profit. Linear Programming Technique has been used to derive the maximum profit from production of natural juice at Saudi Food Co. The operations of production of the company were formulated and optimal results are found out by using Lindo Software that employed Sensitivity Analysis and Parametric linear programming in order develop Linear Programming. In addition, the parameter values are increased, then the values of the objective function will be increased.

Keywords: Parameter linear programming, objective function, sensitivity analysis, optimize profit.

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Authors: Al-Amin Bhuiyan, Chang Hong Liu

Abstract:

This paper addresses the development of an intelligent vision system for human-robot interaction. The two novel contributions of this paper are 1) Detection of human faces and 2) Localizing the eye. The method is based on visual attributes of human skin colors and geometrical analysis of face skeleton. This paper introduces a spatial domain filtering method named ?Fuzzily skewed filter' which incorporates Fuzzy rules for deciding the gray level of pixels in the image in their neighborhoods and takes advantages of both the median and averaging filters. The effectiveness of the method has been justified over implementing the eye tracking commands to an entertainment robot, named ''AIBO''.

Keywords: Fuzzily skewed filter, human-robot interface, rmscontrast, skin color segmentation.

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Authors: Taisuke Sakaki, Toshihiko Shimokawa, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee, Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi Sugyo

Abstract:

Recently attention has been focused on incomplete spinal cord injuries (SCI) to the central spine caused by pressure on parts of the white matter conduction pathway, such as the pyramidal tract. In this paper, we focus on a training robot designed to assist with primary walking-pattern training. The target patient for this training robot is relearning the basic functions of the usual walking pattern; it is meant especially for those with incomplete-type SCI to the central spine, who are capable of standing by themselves but not of performing walking motions. From the perspective of human engineering, we monitored the operator’s actions to the robot and investigated the movement of joints of the lower extremities, the circumference of the lower extremities, and exercise intensity with the machine. The concept of the device was to provide mild training without any sudden changes in heart rate or blood pressure, which will be particularly useful for the elderly and disabled. The mechanism of the robot is modified to be simple and lightweight with the expectation that it will be used at home.

Keywords: Training, rehabilitation, SCI patient, welfare, robot.

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Authors: Seung-Hun Kim, Changwoo Park

Abstract:

In this paper, we present a localization of a mobile robot with localization modules which have two ceiling-view cameras in indoor environments. We propose two kinds of localization method. The one is the localization in the local space; we use the line feature and the corner feature between the ceiling and wall. The other is the localization in the large space; we use the natural features such as bulbs, structures on the ceiling. These methods are installed on the embedded module able to mount on the robot. The embedded module has two cameras to be able to localize in both the local space and the large spaces. The experiment is practiced in our indoor test-bed and a government office. The proposed method is proved by the experimental results.

Keywords: Robot, Localization, Indoor, Ceiling vision, Local space, Large space, Complex space.

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Authors: G. Khamooshian

Abstract:

One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.

Keywords: 3-RRS, 6 linkage, parallel robot, control.

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Authors: Takayuki Shiina

Abstract:

Mathematical programming has been applied to various problems. For many actual problems, the assumption that the parameters involved are deterministic known data is often unjustified. In such cases, these data contain uncertainty and are thus represented as random variables, since they represent information about the future. Decision-making under uncertainty involves potential risk. Stochastic programming is a commonly used method for optimization under uncertainty. A stochastic programming problem with recourse is referred to as a two-stage stochastic problem. In this study, we consider a stochastic programming problem with simple integer recourse in which the value of the recourse variable is restricted to a multiple of a nonnegative integer. The algorithm of a dynamic slope scaling procedure for solving this problem is developed by using a property of the expected recourse function. Numerical experiments demonstrate that the proposed algorithm is quite efficient. The stochastic programming model defined in this paper is quite useful for a variety of design and operational problems.

Keywords: stochastic programming problem with recourse, simple integer recourse, dynamic slope scaling procedure

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Authors: Hamed Rafiei, Masoud Rabbani

Abstract:

This paper addresses one of the most important issues have been considered in hybrid MTS/MTO production environments. To cope with the problem, a mathematical programming model is applied from a tactical point of view. The model is converted to a fuzzy goal programming model, because a degree of uncertainty is involved in hybrid MTS/MTO context. Finally, application of the proposed model in an industrial center is reported and the results prove the validity of the model.

Keywords: Fuzzy sets theory, Hybrid MTS/MTO, Order penetration point, Quadratic programming.

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Authors: H. Siswoyo Jo, N. Mir-Nasiri, E. Jayamani

Abstract:

This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.

Keywords: Bipedal robot, Energy efficiency, Straight legged walking, Trajectory planning.

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Authors: Tunjo Perić, Franjo Bratić

Abstract:

In this paper, the goal programming methodology for solving multiple objective problem of the technological variants and production plan optimization has been applied. The optimization criteria are determined and the multiple objective linear programming model for solving a problem of the technological variants and production plan optimization is formed and solved. Then the obtained results are analysed. The obtained results point out to the possibility of efficient application of the goal programming methodology in solving the problem of the technological variants and production plan optimization. The paper points out on the advantages of the application of the goal programming methodology compare to the Surrogat Worth Trade-off method in solving this problem.

Keywords: Goal programming, multi objective programming, production plan, SWT method, technological variants.

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Authors: Jae-Kyung Lee, Nam-Joon Jung, Byung-Hak Cho

Abstract:

The line sleeves on power transmission line connects two conductors while the transmission line is constructing. However, the line sleeves sometimes cause transmission line break down, because the line sleeves are deteriorated and decayed by acid rain. When the transmission line is broken, the economical loss is huge. Therefore the line sleeves on power transmission lines should be inspected periodically to prevent power failure. In this paper, Korea Electric Power Research Institute reviewed several robots to inspect line status and proposes a robot to inspect line sleeve by measuring magnetic field on line sleeve. The developed inspection tool can reliable to move along transmission line and overcome several obstacles on transmission line. The developed system is also applied on power transmission line and verified the efficiency of the robot.

Keywords: Transmission line inspection, line sleeve, transmission line inspection robot, line sleeve inspection

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Authors: Lidia N. Hernández-Piña, Carlos R. Jaimez-González

Abstract:

Interoperability in distributed systems is an important feature that refers to the communication of two applications written in different programming languages. This paper presents a serializer and a de-serializer of PHP objects to and from XML, which is an independent library written in the PHP programming language. The XML generated by this serializer is independent of the programming language, and can be used by other existing Web Objects in XML (WOX) serializers and de-serializers, which allow interoperability with other object-oriented programming languages.

Keywords: Interoperability, PHP object serialization, PHP to XML, web objects in XML, WOX.

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Authors: K. T. Sun, Y. H. Tai, H. W. Yang, H. T. Lin

Abstract:

This paper presented the technique of robot control by event-related potentials (ERPs) of brain waves. Based on the proposed technique, severe physical disabilities can free browse outside world. A specific component of ERPs, N2P3, was found and used to control the movement of robot and the view of camera on the designed brain-computer interface (BCI). Users only required watching the stimuli of attended button on the BCI, the evoked potentials of brain waves of the target button, N2P3, had the greatest amplitude among all control buttons. An experimental scene had been constructed that the robot required walking to a specific position and move the view of camera to see the instruction of the mission, and then completed the task. Twelve volunteers participated in this experiment, and experimental results showed that the correct rate of BCI control achieved 80% and the average of execution time was 353 seconds for completing the mission. Four main contributions included in this research: (1) find an efficient component of ERPs, N2P3, for BCI control, (2) embed robot's viewpoint image into user interface for robot control, (3) design an experimental scene and conduct the experiment, and (4) evaluate the performance of the proposed system for assessing the practicability.

Keywords: Brain-computer interface (BCI), event-related potentials (ERPs), robot control, severe physical disabilities.

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Authors: Pelaez Verdet, Antonio, Loscertales Sanchez, Pilar

Abstract:

One of the mayor problems of programming a cruise circuit is to decide which destinations to include and which don-t. Thus a decision problem emerges, that might be solved using a linear and goal programming approach. The problem becomes more complex if several boats in the fleet must be programmed in a limited schedule, trying their capacity matches best a seasonal demand and also attempting to minimize the operation costs. Moreover, the programmer of the company should consider the time of the passenger as a limited asset, and would like to maximize its usage. The aim of this work is to design a method in which, using linear and goal programming techniques, a model to design circuits for the cruise company decision maker can achieve an optimal solution within the fleet schedule.

Keywords: Itinerary design, cruise programming, goalprogramming, linear programming

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Authors: Majid Tolouei-Rad, Anurag Dhull

Abstract:

This paper describes various stages of design and prototyping of a modular robot for use in various industrial applications. The major goal of current research has been to design and make different robotic joints at low cost capable of being assembled together in any given order for achieving various robot configurations. Five different types of joins were designed and manufactured where extensive research has been carried out on the design of each joint in order to achieve optimal strength, size, modularity, and price. This paper presents various stages of research and development undertaken to engineer these joints that include material selection, manufacturing, and strength analysis. The outcome of this research addresses the birth of a new generation of modular industrial robots with a wider range of applications and greater efficiency.

Keywords: Actuator, control system, configuration, robot.

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Authors: S. Parasuraman, Ler Shiaw Pei

Abstract:

In this paper, the bio-mechanical analysis of human joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human arm which include the movement of each joint in shoulder, wrist, elbow and finger complexes. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human arm. In the simulation of Direct Kinematics, the human joint angles can be inserted, while the position and orientation of each finger tips (end-effector) are shown. Inverse Kinematics does the reverse of the Direct Kinematics. Based on previous materials obtained from kinematics analysis, the human manipulator joints can be designed to follow prescribed position trajectories.

Keywords: Kinematics, Human Joints, Robotics, Robot Dynamics, Manipulators.

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Authors: Mohamed T. Sorour, Mohamed A. Abdellatif, Ahmed A. Ramadan, Ahmed A. Abo-Ismail

Abstract:

This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor through a ball screw-nut mechanism. Four ultrasonic sensors are attached to the mobile platform and used to maintain a certain distance from the facing wall and to avoid collision with side walls. When settled on adjusted distance from the wall, the controller starts the painting process autonomously. Simplicity, relatively low weight and short painting time were considered in our design. Different modules constituting the robot have been separately tested then integrated. Experiments have shown successfulness of the robot in its intended tasks.

Keywords: Automated roller painting, Construction robots, Mobile robots, service robots, two link planar manipulator

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Authors: Ethar H. Khalil, Bahaa I. Kazem

Abstract:

In this work a software simulation model has been proposed for two driven wheels mobile robot path planning; that can navigate in dynamic environment with static distributed obstacles. The work involves utilizing Bezier curve method in a proposed N order matrix form; for engineering the mobile robot path. The Bezier curve drawbacks in this field have been diagnosed. Two directions: Up and Right function has been proposed; Probability Recursive Function (PRF) to overcome those drawbacks. PRF functionality has been developed through a proposed; obstacle detection function, optimization function which has the capability of prediction the optimum path without comparison between all feasible paths, and N order Bezier curve function that ensures the drawing of the obtained path. The simulation results that have been taken showed; the mobile robot travels successfully from starting point and reaching its goal point. All obstacles that are located in its way have been avoided. This navigation is being done successfully using the proposed PRF techniques.

Keywords: Mobile robot, path planning, Bezier curve.

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

Abstract:

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: Takayuki Shiina

Abstract:

We consider power system expansion planning under uncertainty. In our approach, integer programming and stochastic programming provide a basic framework. We develop a multistage stochastic programming model in which some of the variables are restricted to integer values. By utilizing the special property of the problem, called block separable recourse, the problem is transformed into a two-stage stochastic program with recourse. The electric power capacity expansion problem is reformulated as the problem with first stage integer variables and continuous second stage variables. The L-shaped algorithm to solve the problem is proposed.

Keywords: electric power capacity expansion problem, integerprogramming, L-shaped method, stochastic programming

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Authors: Toyomi Fujita

Abstract:

This paper presents a sensing system for 3D sensing and mapping by a tracked mobile robot with an arm-type sensor movable unit and a laser range finder (LRF). The arm-type sensor movable unit is mounted on the robot and the LRF is installed at the end of the unit. This system enables the sensor to change position and orientation so that it avoids occlusions according to terrain by this mechanism. This sensing system is also able to change the height of the LRF by keeping its orientation flat for efficient sensing. In this kind of mapping, it may be difficult for moving robot to apply mapping algorithms such as the iterative closest point (ICP) because sets of the 2D data at each sensor height may be distant in a common surface. In order for this kind of mapping, the authors therefore applied interpolation to generate plausible model data for ICP. The results of several experiments provided validity of these kinds of sensing and mapping in this sensing system.

Keywords: Laser Range Finder, Arm-Type Sensor Movable Unit, Tracked Mobile Robot, 3D Mapping.

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Authors: Mkhinini Maher, Knani Jilani

Abstract:

We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented.

The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement.

Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.

Keywords: Mobile robot, actuation, redundancy, omnidirectional, inverse pseudo Moore-Penrose, reductive control.

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Authors: Tsubasa Seto, Kentaro Nagata, Kazushige Magatani

Abstract:

SEMG (Surface Electromyogram) is one of the bio-signals and is generated from the muscle. And there are many research results that use forearm EMG to detect hand motions. In this paper, we will talk about our developed the robot hand system that can control grasping power by SEMG. In our system, we suppose that muscle power is proportional to the amplitude of SEMG. The power is estimated and the grip power of a robot hand is able to be controlled using estimated muscle power in our system. In addition, to perform a more precise control can be considered to build a closed loop feedback system as an object to a subject to pressure from the edge of hand. Our objectives of this study are the development of a method that makes perfect detection of the hand grip force possible using SEMG patterns, and applying this method to the man-machine interface.

Keywords: SEMG, multi electrode, robot hand, power control

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Authors: Jozsef Katona, Attila Kovari, Tibor Ujbanyi, Gergely Sziladi

Abstract:

By the development of IT systems, human-computer interaction is also developing even faster and newer communication methods become available in human-machine interaction. In this article, the application of a hand gesture controlled human-computer interface is being introduced through the example of a mobile robot. The control of the mobile robot is implemented in a realistic virtual environment that is advantageous regarding the aspect of different tests, parallel examinations, so the purchase of expensive equipment is unnecessary. The usability of the implemented hand gesture control has been evaluated by test subjects. According to the opinion of the testing subjects, the system can be well used, and its application would be recommended on other application fields too.

Keywords: Human-machine interface, hand control, mobile robot, virtual environment.

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Authors: Doraid Dalalah

Abstract:

A topologically oriented neural network is very efficient for real-time path planning for a mobile robot in changing environments. When using a recurrent neural network for this purpose and with the combination of the partial differential equation of heat transfer and the distributed potential concept of the network, the problem of obstacle avoidance of trajectory planning for a moving robot can be efficiently solved. The related dimensional network represents the state variables and the topology of the robot's working space. In this paper two approaches to problem solution are proposed. The first approach relies on the potential distribution of attraction distributed around the moving target, acting as a unique local extreme in the net, with the gradient of the state variables directing the current flow toward the source of the potential heat. The second approach considers two attractive and repulsive potential sources to decrease the time of potential distribution. Computer simulations have been carried out to interrogate the performance of the proposed approaches.

Keywords: Mobile robot, Path Planning, Mesh, Potential field.

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Authors: Seung You Na, Daejung Shin, Jin Young Kim, Bae-Ho Lee, Ji-Sung Lee

Abstract:

There has been a growing interest in the field of bio-mimetic robots that resemble the shape of an insect or an aquatic animal, among many others. One bio-mimetic robot serves the purpose of exploring pipelines, spotting any troubled areas or malfunctions and reporting its data. Moreover, the robot is able to prepare for and react to any abnormal routes in the pipeline. In order to move effectively inside a pipeline, the robot-s movement will resemble that of a lizard. When situated in massive pipelines with complex routes, the robot places fixed sensors in several important spots in order to complete its monitoring. This monitoring task is to prevent a major system failure by preemptively recognizing any minor or partial malfunctions. Areas uncovered by fixed sensors are usually impossible to provide real-time observation and examination, and thus are dependant on periodical offline monitoring. This paper provides the Monitoring System that is able to monitor the entire area of pipelines–with and without fixed sensors–by using the bio-mimetic robot.

Keywords: Bio-mimetic robots, Plant pipes monitoring, Mobileand active monitoring.

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Authors: S. W. Nawawi, M. N. Ahmad, J. H. S. Osman

Abstract:

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.

Keywords: Embedded System, Two-wheeled Inverted Pendulum Mobile Robot.

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Authors: Boguslaw Schreyer

Abstract:

The paper investigates the application of the Kohonen’s Self-Organizing Map (SOM) to the wheeled robot starting and braking dynamic states. In securing wheeled robot stability as well as minimum starting and braking time, it is important to ensure correct torque distribution as well as proper slope of braking and driving moments. In this paper, a correct movement distribution has been formulated, securing optimum adhesion coefficient and good transversal stability of a wheeled robot. A neural tuner has been proposed to secure the above properties, although most of the attention is attached to the SOM network application. If the delay of the torque application or torque release is not negligible, it is important to change the rising and falling slopes of the torque. The road/surface condition is also paramount in robot dynamic states control. As the road conditions may randomly change in time, application of the SOM network has been suggested in order to classify the actual road conditions.

Keywords: SOM network, torque distribution, torque slope, wheeled robots.

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Authors: C. Ardil

Abstract:

In this paper, the comparison of composite programming and compromise programming for the aircraft selection problem is discussed using the multiple criteria decision analysis method. The decision making process requires the prior definition and fulfillment of certain factors, especially when it comes to complex areas such as aircraft selection problems. The proposed technique gives more efficient results by extending the composite programming and compromise programming, which are widely used in modeling multiple criteria decisions. The proposed model is applied to a practical decision problem for evaluating and selecting aircraft problems.A selection of aircraft was made based on the proposed approach developed in the field of multiple criteria decision making. The model presented is solved by using the following methods: composite programming, and compromise programming. The importance values of the weight coefficients of the criteria are calculated using the mean weight method. The evaluation and ranking of aircraft are carried out using the composite programming and compromise programming methods. In order to determine the stability of the model and the ability to apply the developed composite programming and compromise programming approach, the paper analyzes its sensitivity, which involves changing the value of the coefficient λ and q in the first part. The second part of the sensitivity analysis relates to the application of different multiple criteria decision making methods, composite programming and compromise programming. In addition, in the third part of the sensitivity analysis, the Spearman correlation coefficient of the ranks obtained was calculated which confirms the applicability of all the proposed approaches.

Keywords: composite programming, compromise programming, additive weighted model, multiplicative weighted model, multiple criteria decision making analysis, MCDMA, aircraft selection

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Authors: António J. R. Neves, Rui Garcia, Paulo Dias, Alina Trifan

Abstract:

With the aging of the world population and the continuous growth in technology, service robots are more and more explored nowadays as alternatives to healthcare givers or personal assistants for the elderly or disabled people. Any service robot should be capable of interacting with the human companion, receive commands, navigate through the environment, either known or unknown, and recognize objects. This paper proposes an approach for object recognition based on the use of depth information and color images for a service robot. We present a study on two of the most used methods for object detection, where 3D data is used to detect the position of objects to classify that are found on horizontal surfaces. Since most of the objects of interest accessible for service robots are on these surfaces, the proposed 3D segmentation reduces the processing time and simplifies the scene for object recognition. The first approach for object recognition is based on color histograms, while the second is based on the use of the SIFT and SURF feature descriptors. We present comparative experimental results obtained with a real service robot.

Keywords: Service Robot, Object Recognition, 3D Sensors, Plane Segmentation.

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