Search results for: Robot Localization.

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: A. Pajaziti, H. Cana

Abstract:

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

Keywords: Robotic Arm, Neural Network, Genetic Algorithm, Optimization.

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Authors: Gholamreza Ghodrati Amiri, Mojtaba Jafarian Abyaneh, Ali Zare Hosseinzadeh

Abstract:

This paper presents an effective model updating strategy for damage localization and quantification in frames by defining damage detection problem as an optimization issue. A generalized version of the Modal Residual Force (MRF) is employed for presenting a new damage-sensitive cost function. Then, Grey Wolf Optimization (GWO) algorithm is utilized for solving suggested inverse problem and the global extremums are reported as damage detection results. The applicability of the presented method is investigated by studying different damage patterns on the benchmark problem of the IASC-ASCE, as well as a planar shear frame structure. The obtained results emphasize good performance of the method not only in free-noise cases, but also when the input data are contaminated with different levels of noises.

Keywords: Frame, grey wolf optimization algorithm, modal residual force, structural damage detection.

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Authors: Carsten Röcker

Abstract:

This paper provides an introduction into the evolution of information and communication technology and illustrates its usage in the work domain. The paper is sub-divided into two parts. The first part gives an overview over the different phases of information processing in the work domain. It starts by charting the past and present usage of computers in work environments and shows current technological trends, which are likely to influence future business applications. The second part starts by briefly describing, how the usage of computers changed business processes in the past, and presents first Ambient Intelligence applications based on identification and localization information, which are already used in the production and retail sector. Based on current systems and prototype applications, the paper gives an outlook of how Ambient Intelligence technologies could change business processes in the future.

Keywords: Ambient Intelligence, Ubiquitous Computing, Business Applications, Radio Frequency Identification (RFID).

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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: Carsten Röcker

Abstract:

This paper provides an introduction into the evolution of information and communication technology and illustrates its usage in the work domain. The paper is sub-divided into two parts. The first part gives an overview over the different phases of information processing in the work domain. It starts by charting the past and present usage of computers in work environments and shows current technological trends, which are likely to influence future business applications. The second part starts by briefly describing, how the usage of computers changed business processes in the past, and presents first Ambient Intelligence applications based on identification and localization information, which are already used in the production and retail sector. Based on current systems and prototype applications, the paper gives an outlook of how Ambient Intelligence technologies could change business processes in the future.

Keywords: Ambient Intelligence, Ubiquitous Computing, Business Applications, Radio Frequency Identification (RFID)

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Authors: V. Girondel, L. Bonnaud, A. Caplier, M. Rombaut

Abstract:

This paper presents various classifiers results from a system that can automatically recognize four different static human body postures in video sequences. The considered postures are standing, sitting, squatting, and lying. The three classifiers considered are a naïve one and two based on the belief theory. The belief theory-based classifiers use either a classic or restricted plausibility criterion to make a decision after data fusion. The data come from the people 2D segmentation and from their face localization. Measurements consist in distances relative to a reference posture. The efficiency and the limits of the different classifiers on the recognition system are highlighted thanks to the analysis of a great number of results. This system allows real-time processing.

Keywords: Belief theory, classifiers comparison, data fusion, human motion analysis, real-time processing, static posture recognition.

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Authors: Isao Tomita

Abstract:

Electrical conduction in a quasi-one-dimensional polycrystalline metallic ring with a long electron phase coherence length realized at low temperature is investigated. In this situation, the wave nature of electrons is important in the ring, where the electrical current I can be induced by a vector potential that arises from a static magnetic field applied perpendicularly to the ring’s area. It is shown that if the average grain size of the polycrystalline ring becomes large (or comparable to the Fermi wavelength), the electrical current I increases to ~I0, where I0 is a current in a disorder-free ring. The cause of this increasing effect is examined, and this takes place if the electron localization length in the polycrystalline potential increases with increasing grain size, which gives rise to coherent connection of tails of a localized electron wave function in the ring and thus provides highly coherent electrical conduction.

Keywords: Electrical Conduction, Electron Phase Coherence, Polycrystalline Metal, Magnetic Field.

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Authors: Tudor Deaconescu, Andrea Deaconescu

Abstract:

Deployment of pneumatic muscles in various industrial applications is still in its early days, considering the relative newness of these components. The field of robotics holds particular future potential for pneumatic muscles, especially in view of their specific behaviour known as compliance. The paper presents and discusses an innovative constructive solution for a gripper system mountable on an industrial robot, based on actuation by a linear pneumatic muscle and transmission of motion by gear and rack mechanism. The structural, operational and constructive models of the new gripper are presented, along with some of the experimental results obtained subsequently to the testing of a prototype. Further presented are two control variants of the gripper system, one by means of a 3/2-way fast-switching solenoid valve, the other by means of a proportional pressure regulator. Advantages and disadvantages are discussed for both variants.

Keywords: Gripper system, pneumatic muscle, structural modeling.

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Authors: Juárez-Luna Gelacio, Ayala Gustavo, Retama-Velasco Jaime

Abstract:

This paper shows the advantages of the material failure process simulation by improve finite elements with embedded discontinuities, using a new definition of traction vector, dependent on the discontinuity length and the angle. Particularly, two families of this kind of elements are compared: kinematically optimal symmetric and statically and kinematically optimal non-symmetric. The constitutive model to describe the behavior of the material in the symmetric formulation is a traction-displacement jump relationship equipped with softening after reaching the failure surface.

To show the validity of this symmetric formulation, representative numerical examples illustrating the performance of the proposed formulation are presented. It is shown that the non-symmetric family may over or underestimate the energy required to create a discontinuity, as this effect is related with the total length of the discontinuity, fact that is not noticed when the discontinuity path is a straight line.

Keywords: Variational formulation, strong discontinuity, embedded discontinuities, strain localization.

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Authors: M. Guillard, M. Philippe, F. Laurent, J. Martinerie, J. P. Lachaux, G. Florence

Abstract:

One approach to assess neural networks underlying the cognitive processes is to study Electroencephalography (EEG). It is relevant to detect various mental states and characterize the physiological changes that help to discriminate two situations. That is why an EEG (amplitude, synchrony) classification procedure is described, validated. The two situations are "eyes closed" and "eyes opened" in order to study the "alpha blocking response" phenomenon in the occipital area. The good classification rate between the two situations is 92.1 % (SD = 3.5%) The spatial distribution of a part of amplitude features that helps to discriminate the two situations are located in the occipital regions that permit to validate the localization method. Moreover amplitude features in frontal areas, "short distant" synchrony in frontal areas and "long distant" synchrony between frontal and occipital area also help to discriminate between the two situations. This procedure will be used for mental fatigue detection.

Keywords: Classification, EEG Synchrony, alpha, resting situation.

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Authors: Taegyoo Woo, Jong Kang Park, Jong Tae Kim

Abstract:

Visible Light Communication (VLC) provides wireless communication features in illumination systems. One of the key applications is to recognize the user location by indoor illuminators such as light emitting diodes. For localization of individual receivers in these systems, we usually assume that receivers and transmitters are placed in parallel. However, it is difficult to satisfy this assumption because the receivers move randomly in real case. It is necessary to analyze the case when transmitter is not placed perfectly parallel to receiver. It is also important to identify changes on optical gain by the tilted angles and distances of them against the illuminators. In this paper, we simulate optical gain for various cases where the tilt of the receiver and the distance change. Then, we identified changing patterns of optical gains according to tilted angles of a receiver and distance. These results can help many VLC applications understand the extent of the location errors with regard to optical gains of the receivers and identify the root cause.

Keywords: Visible light communication, optical channel, indoor positioning, Lambertian radiation.

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Authors: A. Naga Rajesh, S. Chandralingam, T. Anjaneyulu, K. Satyanarayana

Abstract:

Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.

Keywords: Electrooculography, Microcontroller, Motors, Wheelchair.

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Authors: Jafar Ahmadi, Nafiseh Noormohammadi, Sedigheh Fabriki Ourang

Abstract:

GRF, Growth regulating factor, genes encode a novel class of plant-specific transcription factors. The GRF proteins play a role in the regulation of cell numbers in young and growing tissues and may act as transcription activations in growth and development of plants. Identification of GRF genes and their expression are important in plants to performance of the growth and development of various organs. In this study, to better understanding the structural and functional differences of GRFs family, 45 GRF proteins sequences in A. thaliana, Z. mays, O. sativa, B. napus, B. rapa, H. vulgare and S. bicolor, have been collected and analyzed through bioinformatics data mining. As a result, in secondary structure of GRFs, the number of alpha helices was more than beta sheets and in all of them QLQ domains were completely in the biggest alpha helix. In all GRFs, QLQ and WRC domains were completely protected except in AtGRF9. These proteins have no trans-membrane domain and due to have nuclear localization signals act in nuclear and they are component of unstable proteins in the test tube.

Keywords: Domain, Gene Family, GRF, Motif.

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Authors: Risdiana, D. Suhendar, S. Pratiwi, W. A. Somantri, T. Saragi

Abstract:

The effect of partially substitution of magnetic impurity Fe for Cu to the magnetic and transport properties in electron-doped superconducting cuprates of Eu1.85+yCe0.15-yCu1-yFeyO4+α-δ (ECCFO) with y = 0, 0.010, 0.020, and 0.050 has been studied, in order to investigate the mechanism of magnetic and transport properties of ECCFO in normal-state. Magnetic properties are investigated by DC magnetic-susceptibility measurements that carried out at low temperatures down to 2 K using a standard SQUID magnetometer in a magnetic field of 5 Oe on field cooling. Transport properties addressed to electron mobility, are extracted from radius of electron localization calculated from temperature dependence of resistivity. For y = 0, temperature dependence of dc magnetic-susceptibility (χ) indicated the change of magnetic behavior from paramagnetic to diamagnetic below 15 K. Above 15 K, all samples show paramagnetic behavior with the values of magnetic moment in every volume unit increased with increasing y. Electron mobility decreased with increasing y.

Keywords: DC magnetic-susceptibility, electron mobility, Eu1.85+yCe0.15-yCu1-yFeyO4+α-δ, normal state.

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Authors: Jimmy W. Soto Martell, Giuseppina Gini

Abstract:

In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design approach, involving cutting edge technologies in motion capture. After an initial description of the capabilities and complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the mechanical and kinematical structure of some important works carried out all around the world in the last three decades and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an experimental setup for the first stage using recent developments in human body motion capture systems that might lead to lighter and always more dexterous robotic hands.

Keywords: Dexterous manipulation, grasp, multifingered endeffector, robotic hand.

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Authors: Muhammad Shafi, Paul W. H. Chung

Abstract:

This paper proposes a hybrid method for eyes localization in facial images. The novelty is in combining techniques that utilise colour, edge and illumination cues to improve accuracy. The method is based on the observation that eye regions have dark colour, high density of edges and low illumination as compared to other parts of face. The first step in the method is to extract connected regions from facial images using colour, edge density and illumination cues separately. Some of the regions are then removed by applying rules that are based on the general geometry and shape of eyes. The remaining connected regions obtained through these three cues are then combined in a systematic way to enhance the identification of the candidate regions for the eyes. The geometry and shape based rules are then applied again to further remove the false eye regions. The proposed method was tested using images from the PICS facial images database. The proposed method has 93.7% and 87% accuracies for initial blobs extraction and final eye detection respectively.

Keywords: Erosion, dilation, Edge-density

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Authors: K. Daud, A. F. Abidin, N. Hamzah, H. S. Nagindar Singh

Abstract:

This paper produces a new approach for power quality analysis using a windowing technique based on Continuous S-transform (CST). This half-cycle window technique approach can detect almost correctly for initial detection of disturbances i.e. voltage sags, swells, and transients. Samples in half cycle window has been analyzed based continuous S-transform for entire disturbance waveform. The modified parameter has been produced by MATLAB programming m-file based on continuous s-transform. CST has better time frequency and localization property than traditional and also has ability to detect the disturbance under noisy condition correctly. The excellent time-frequency resolution characteristic of the CST makes it the most an attractive candidate for analysis of power system disturbances signals.

Keywords: Power quality disturbances, initial detection, half cycle windowing, continuous S-transform.

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Authors: P. H. Le, J. Molina, S. Hirai

Abstract:

In this work, we propose the application of Japanese “Origami” art for a floating function of a small aerial vehicle such as a hexarotor. A preliminary experiment was conducted using Origami magic balls mounted under a hexarotor. This magic ball can expand and shrink using an air pump during free flying. Using this interesting and functional concept, it promises to reduce the resistance of wind as well as reduce the energy consumption when the Origami balls are deflated. This approach can be particularly useful in rescue emergency situations. Furthermore, there are many unexpected reasons that may cause the multi-rotor has to land on the surface of water due to problems with the communication between the aircraft and the ground station. In addition, a complementary experiment was designed to prove that the hexarotor can fly maintaining the stability and also, takes off and lands on the surface of water using air balloons.

Keywords: Helicopter, Japanese Origami ball, Floating, Aerial Robots, Rescue.

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

Abstract:

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: Negar Riazifar, Mehran Yazdi

Abstract:

Discrete Wavelet Transform (DWT) has demonstrated far superior to previous Discrete Cosine Transform (DCT) and standard JPEG in natural as well as medical image compression. Due to its localization properties both in special and transform domain, the quantization error introduced in DWT does not propagate globally as in DCT. Moreover, DWT is a global approach that avoids block artifacts as in the JPEG. However, recent reports on natural image compression have shown the superior performance of contourlet transform, a new extension to the wavelet transform in two dimensions using nonseparable and directional filter banks, compared to DWT. It is mostly due to the optimality of contourlet in representing the edges when they are smooth curves. In this work, we investigate this fact for medical images, especially for CT images, which has not been reported yet. To do that, we propose a compression scheme in transform domain and compare the performance of both DWT and contourlet transform in PSNR for different compression ratios (CR) using this scheme. The results obtained using different type of computed tomography images show that the DWT has still good performance at lower CR but contourlet transform performs better at higher CR.

Keywords: Computed Tomography (CT), DWT, Discrete Contourlet Transform, Image Compression.

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Authors: Mircea Ivanescu, Nirvana Popescu, Decebal Popescu, Dorin Popescu

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This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.

Keywords: Distributed model, flexible manipulator, observer, robot control.

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Authors: Yuanqing Li, Changyi Lei, Zhaopeng Xue, Zhuo Zheng, Yanbo Long

Abstract:

In agricultural production and breeding, implementing automatic picking robot in orchard farming to reduce human labour and error is challenging. The core function of it is automatic identification based on machine vision. This paper focuses on apple detection and counting in orchards and implements several deep learning methods. Extensive datasets are used and a semi-automatic annotation method is proposed. The proposed deep learning models are in state-of-the-art YOLO family. In view of the essence of the models with various backbones, a multi-dimensional comparison in details is made in terms of counting accuracy, mAP and model memory, laying the foundation for realising automatic precision agriculture.

Keywords: Agricultural object detection, Deep learning, machine vision, YOLO family.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

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In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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Authors: Jean-Pierre Dubois, Jihad S. Daba, M. Nader, C. El Ferkh

Abstract:

GSM has undoubtedly become the most widespread cellular technology and has established itself as one of the most promising technology in wireless communication. The next generation of mobile telephones had also become more powerful and innovative in a way that new services related to the user-s location will arise. Other than the 911 requirements for emergency location initiated by the Federal Communication Commission (FCC) of the United States, GSM positioning can be highly integrated in cellular communication technology for commercial use. However, GSM positioning is facing many challenges. Issues like accuracy, availability, reliability and suitable cost render the development and implementation of GSM positioning a challenging task. In this paper, we investigate the optimal mobile position tracking means. We employ an innovative scheme by integrating the Kalman filter in the localization process especially that it has great tracking characteristics. When tracking in two dimensions, Kalman filter is very powerful due to its reliable performance as it supports estimation of past, present, and future states, even when performing in unknown environments. We show that enhanced position tracking results is achieved when implementing the Kalman filter for GSM tracking.

Keywords: Cellular communication, estimation, GSM, Kalman filter, positioning

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Authors: Riku Hayashida, Tomoaki Hashimoto

Abstract:

This paper provides a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. Underwater robots are expected to be used for various work assignments. The large variety of applications of underwater robots motivates researchers to develop control systems and technologies for underwater robots. Several control methods have been proposed so far for the stabilization of nominal system model of underwater robots with no parameter uncertainty. Parameter uncertainties are considered to be obstacles in implementation of the such nominal control methods for underwater robots. The objective of this study is to establish a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: Robust control, stabilization method, underwater robot, parameter uncertainty.

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Authors: M. Hamad Hassan, S.A.M. Gilani

Abstract:

In this paper, a semi-fragile watermarking scheme is proposed for color image authentication. In this particular scheme, the color image is first transformed from RGB to YST color space, suitable for watermarking the color media. Each channel is divided into 4×4 non-overlapping blocks and its each 2×2 sub-block is selected. The embedding space is created by setting the two LSBs of selected sub-block to zero, which will hold the authentication and recovery information. For verification of work authentication and parity bits denoted by 'a' & 'p' are computed for each 2×2 subblock. For recovery, intensity mean of each 2×2 sub-block is computed and encoded upto six to eight bits depending upon the channel selection. The size of sub-block is important for correct localization and fast computation. For watermark distribution 2DTorus Automorphism is implemented using a private key to have a secure mapping of blocks. The perceptibility of watermarked image is quite reasonable both subjectively and objectively. Our scheme is oblivious, correctly localizes the tampering and able to recovery the original work with probability of near one.

Keywords: Image Authentication, YST Color Space, Intensity Mean, LSBs, PSNR.

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Authors: Megumi Shibuya, Tomohiko Ogishi

Abstract:

Recently, content delivery services have grown rapidly over the Internet. For ASPs (Application Service Provider) providing content delivery services, P2P architecture is beneficial to reduce outgoing traffic from content servers. On the other hand, ISPs are suffering from the increase in P2P traffic. The P2P traffic is unnecessarily redundant because the same content or the same fractions of content are transferred through an inter-ISP link several times. Subscriber ISPs have to pay a transit fee to upstream ISPs based on the volume of inter-ISP traffic. In order to solve such problems, several works have been done for the purpose of P2P traffic reduction. However, these existing works cannot control the traffic volume of a certain link. In order to solve such an ISP-s operational requirement, we propose a method to control traffic volume for a link within a preconfigured upper bound value. We evaluated that the proposed method works well by conducting a simulation on a 1,000-user scale. We confirm that the traffic volume could be controlled at a lower level than the upper bound for all evaluated conditions. Moreover, our method could control the traffic volume at 98.95% link usage against the target value.

Keywords: P2P, traffic control, traffic localization, ALTO.

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Authors: Rung-Shiang Cheng, Wei-Jun Hong, Jheng-Syun Wang, Kawuu W. Lin

Abstract:

Users rely increasingly on Location-Based Services (LBS) and automated navigation/guidance systems nowadays. However, while such services are easily implemented in outdoor environments using Global Positioning System (GPS) technology, a requirement still exists for accurate localization and guidance schemes in indoor settings. Accordingly, the present study presents a methodology based on GPS, Bluetooth Low Energy (BLE) beacons, and Near Field Communication (NFC) technology. Through establishing graphic information and the design of algorithm, this study develops a guidance system for indoor and outdoor on smartphones, with aim to provide users a smart life through this system. The presented system is implemented on a smartphone and evaluated on a student campus environment. The experimental results confirm the ability of the presented app to switch automatically from an outdoor mode to an indoor mode and to guide the user to the requested target destination via the shortest possible route.

Keywords: Beacon, BLE, Dijkstra algorithm, indoor, GPS, near field communication technology.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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