Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1015

Search results for: Robotic hand

1015 UTHM Hand: Mechanics Behind The Dexterous Anthropomorphic Hand

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

Abstract:

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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1014 Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation

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

Abstract:

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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1013 Development of UiTM Robotic Prosthetic Hand

Authors: M. Amlie A. Kasim, Ahsana Aqilah, Ahmed Jaffar, Cheng Yee Low, Roseleena Jaafar, M. Saiful Bahari, Armansyah

Abstract:

The study of human hand morphology reveals that developing an artificial hand with the capabilities of human hand is an extremely challenging task. This paper presents the development of a robotic prosthetic hand focusing on the improvement of a tendon driven mechanism towards a biomimetic prosthetic hand. The design of this prosthesis hand is geared towards achieving high level of dexterity and anthropomorphism by means of a new hybrid mechanism that integrates a miniature motor driven actuation mechanism, a Shape Memory Alloy actuated mechanism and a passive mechanical linkage. The synergy of these actuators enables the flexion-extension movement at each of the finger joints within a limited size, shape and weight constraints. Tactile sensors are integrated on the finger tips and the finger phalanges area. This prosthesis hand is developed with an exact size ratio that mimics a biological hand. Its behavior resembles the human counterpart in terms of working envelope, speed and torque, and thus resembles both the key physical features and the grasping functionality of an adult hand.

Keywords: Prosthetic hand, Biomimetic actuation, Shape Memory Alloy, Tactile sensing.

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1012 Tele-Operated Anthropomorphic Arm and Hand Design

Authors: Namal A. Senanayake, Khoo B. How, Quah W. Wai

Abstract:

In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. The circuit board enables user to completely control the robotic arm and moreover, enables feedbacks from user. The control circuit board uses a powerful integrated microcontroller, a PIC (Programmable Interface Controller). The PIC is firstly programmed using BASIC (Beginner-s All-purpose Symbolic Instruction Code) and it is used as the 'brain' of the robot. In addition a user friendly Graphical User Interface (GUI) is developed as the serial servo interface software using Microsoft-s Visual Basic 6. The second part of the project is to use speech recognition control on the robotic arm. A speech recognition circuit board is constructed with onboard components such as PIC and other integrated circuits. It replaces the computers- Graphical User Interface. The robotic arm is able to receive instructions as spoken commands through a microphone and perform operations with respect to the commands such as picking and placing operations.

Keywords: Tele-operated Anthropomorphic Robotic Arm and Hand, Robot Motion System, Serial Servo Controller, Speech Recognition Controller.

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1011 Robotic Hands: Design Review and Proposal of New Design Process

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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1010 Measurement and Analysis of Human Hand Kinematics

Authors: Tamara Grujic, Mirjana Bonkovic

Abstract:

Measurements and quantitative analysis of kinematic parameters of human hand movements have an important role in different areas such as hand function rehabilitation, modeling of multi-digits robotic hands, and the development of machine-man interfaces. In this paper the assessment and evaluation of the reachto- grasp movement by using computerized and robot-assisted method is described. Experiment involved the measurements of hand positions of seven healthy subjects during grasping three objects of different shapes and sizes. Results showed that three dominant phases of reach-to-grasp movements could be clearly identified.

Keywords: Human hand, kinematics, reach-to-grasp movement.

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1009 A Robotic Rehabilitation Arm Driven by Somatosensory Brain-Computer Interface

Authors: Jiewei Li, Hongyan Cui, Chunqi Chang, Yong Hu

Abstract:

It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is a new modality BCI. The use of somatosensory stimulation is not only an input for BCI, but also a electrical stimulation for treatment of hemiparesis to strengthen the arm and improve its range of motion. A trial of this robotic rehabilitation arm was performed in a stroke patient with pure motor hemiparesis. The initial trial showed a promising result from the patient with great motivation and function improvement. It suggests that robotic rehabilitation arm driven by somatosensory BCI can enhance the rehabilitation performance and progress for hemiparetic patients after stroke.

Keywords: Robotic rehabilitation arm, brain computer interface (BCI), hemiparesis, stroke, somatosensory stimulation.

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1008 Neuron-Based Control Mechanisms for a Robotic Arm and Hand

Authors: Nishant Singh, Christian Huyck, Vaibhav Gandhi, Alexander Jones

Abstract:

A robotic arm and hand controlled by simulated neurons is presented. The robot makes use of a biological neuron simulator using a point neural model. The neurons and synapses are organised to create a finite state automaton including neural inputs from sensors, and outputs to effectors. The robot performs a simple pick-and-place task. This work is a proof of concept study for a longer term approach. It is hoped that further work will lead to more effective and flexible robots. As another benefit, it is hoped that further work will also lead to a better understanding of human and other animal neural processing, particularly for physical motion. This is a multidisciplinary approach combining cognitive neuroscience, robotics, and psychology.

Keywords: Robot, neuron, cell assembly, spiking neuron, force sensitive resistor.

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1007 Movement Optimization of Robotic Arm Movement Using Soft Computing

Authors: V. K. Banga

Abstract:

Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: Artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic.

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1006 Conceptual Design of a Wi-Fi and GPS Based Robotic Library Using an Intelligent System

Authors: M. S. Sreejith, Steffy Joy, Abhishesh Pal, Beom-Sahng Ryuh, V. R. Sanal Kumar

Abstract:

In this paper, an attempt has been made for the design of a robotic library using an intelligent system. The robot works on the ARM microprocessor, motor driver circuit with 5 degrees of freedom with Wi-Fi and GPS based communication protocol. The authenticity of the library books is controlled by RFID. The proposed robotic library system is facilitated with embedded system and ARM. In this library issuance system, the previous potential readers’ authentic review reports have been taken into consideration for recommending suitable books to the deserving new users and the issuance of books or periodicals is based on the users’ decision. We have conjectured that the Wi-Fi based robotic library management system would allow fast transaction of books issuance and it also produces quality readers.

Keywords: GPS based based robotic library, library management system, robotic library, Wi-Fi library.

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1005 A 2D-3D Hybrid Vision System for Robotic Manipulation of Randomly Oriented Objects

Authors: Moulay A. Akhloufi

Abstract:

This paper presents an new vision technique for robotic manipulation of randomly oriented objects in industrial applications. The proposed approach uses 2D and 3D vision for efficiently extracting the 3D pose of an object in the presence of multiple randomly positioned objects. 2D vision permits to quickly select the objects of interest for 3D processing with a new modified ICP algorithm (FaR-ICP), thus reducing significantly the processing time. The extracted 3D pose is then sent to the robot manipulator for picking. The tests show that the proposed system achieves high performances

Keywords: 3D vision, Hand-Eye calibration, robot visual servoing, random bin picking.

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1004 Scorbot-ER 4U Using Forward Kinematics Modelling and Analysis

Authors: D. Maneetham, L. Sivhour

Abstract:

Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: Forward kinematics, D-H model, robotic toolbox, PC-and EtherCAT based control.

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1003 Robotic Arm Control with Neural Networks Using Genetic Algorithm Optimization Approach

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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1002 Control of an Asymmetrical Design of a Pneumatically Actuated Ambidextrous Robot Hand

Authors: Emre Akyürek, Anthony Huynh, Tatiana Kalganova

Abstract:

The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.

Keywords: Ambidextrous hand, intelligent algorithms, nonlinear actuators, pneumatic muscles, robotics, sliding control.

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1001 Users’ Preferences for Map Navigation Gestures

Authors: Y. Y. Pang, N. A. Ismail

Abstract:

Map is a powerful and convenient tool in helping us to navigate to different places, but the use of indirect devices often makes its usage cumbersome. This study intends to propose a new map navigation dialogue that uses hand gesture. A set of dialogue was developed from users’ perspective to provide users complete freedom for panning, zooming, rotate, tilt and find direction operations. A participatory design experiment was involved here where one hand gesture and two hand gesture dialogues had been analysed in the forms of hand gestures to develop a set of usable dialogues. The major finding was that users prefer one-hand gesture compared to two-hand gesture in map navigation.

Keywords: Hand gesture, map navigation, participatory design, intuitive interaction.

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1000 On Climbing Winding Stairs for a Robotic Wheelchair

Authors: Chun-Ta Chen, Te-Tan Liao, Hoang-Vuong Pham

Abstract:

In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety. Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs. Since the robotic wheelchair must climb a winding staircase stably, the winding trajectory becomes a constraint equation to be followed, and the Baumgarte-s method is used to solve for the constrained dynamics equations. Experimental results validate the behavior of the prototype as it climbs a winding stair.

Keywords: Climb, robotic wheelchair, skid-steering, windingstair .

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999 Design and Development of a 3D Printed Myoelectric-Controlled Prosthesis Hand Using sEMG Sensor

Authors: Sher Shermin Azmiri Khan, Syeda Jannatul Ferdous, Sushmita Chakraborty

Abstract:

Over the last decades, biomedical engineering prosthetics become one of the most essential grounds. Prosthetic hands are rapidly evolving. Therefore, for designing prosthetic components, it is essential to improve quality such as make it affordable and improve patient comfort and mobility by making them lightweight and easy to wear. In this paper, we proposed a myoelectric controlled prosthesis hand. We can fabricate and manufacture customized cost-effective, small volumes of 3D printed hand which is interesting. The total weight of an adult hand is about 1000 gm including a battery. The prosthetic hand is built up with low-cost materials and techniques, the cost of manufacturing will be approximately US$145. The hand can grip objects of different shapes and sizes. The 3D printed hand can rotate its wrist like a human hand. The prosthetic hand is capable of showing some types of human gestures.

Keywords: Prosthetic Hand, sEMG, 3D printing, Arduino.

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998 Hand Vein Image Enhancement With Radon Like Features Descriptor

Authors: Randa Boukhris Trabelsi, Alima Damak Masmoudi, Dorra Sellami Masmoudi

Abstract:

Nowadays, hand vein recognition has attracted more attentions in identification biometrics systems. Generally, hand vein image is acquired with low contrast and irregular illumination. Accordingly, if you have a good preprocessing of hand vein image, we can easy extracted the feature extraction even with simple binarization. In this paper, a proposed approach is processed to improve the quality of hand vein image. First, a brief survey on existing methods of enhancement is investigated. Then a Radon Like features method is applied to preprocessing hand vein image. Finally, experiments results show that the proposed method give the better effective and reliable in improving hand vein images.

Keywords: Hand Vein, Enhancement, Contrast, RLF, SDME

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997 Modeling and Simulation of Robotic Arm Movement using Soft Computing

Authors: V. K. Banga, Jasjit Kaur, R. Kumar, Y. Singh

Abstract:

In this research paper we have presented control architecture for robotic arm movement and trajectory planning using Fuzzy Logic (FL) and Genetic Algorithms (GAs). This architecture is used to compensate the uncertainties like; movement, friction and settling time in robotic arm movement. The genetic algorithms and fuzzy logic is used to meet the objective of optimal control movement of robotic arm. This proposed technique represents a general model for redundant structures and may extend to other structures. Results show optimal angular movement of joints as result of evolutionary process. This technique has edge over the other techniques as minimum mathematics complexity used.

Keywords: Kinematics, Genetic algorithms (GAs), Fuzzy logic(FL), Optimal control.

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996 Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network

Authors: Jolly Shah, S.S.Rattan, B.C.Nakra

Abstract:

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 2-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.

Keywords: Artificial Neural Network, Forward Kinematics, Inverse Kinematics, Robotic Manipulator

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995 Retraction Free Motion Approach and Its Application in Automated Robotic Edge Finishing and Inspection Processes

Authors: M. Nemer, E. I. Konukseven

Abstract:

In this paper, a motion generation algorithm for a six Degrees of Freedom (DoF) robotic hand in a static environment is presented. The purpose of developing this method is to be used in the path generation of the end-effector for edge finishing and inspection processes by utilizing the CAD model of the considered workpiece. Nonetheless, the proposed algorithm may be extended to be applicable for other similar manufacturing processes. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The proposed method significantly simplifies the given problem, resulting in a reduction in the CPU time needed to generate the path, and offers an efficient overall solution. The ABB IRB2000 robot is chosen for executing the generated tool path.

Keywords: Offline programming, CAD-based tools, edge deburring, edge scanning, path generation.

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994 Evaluation of Hand Grip Strength and EMG Signal on Visual Reaction

Authors: Sung-Wook Shin, Sung-Taek Chung

Abstract:

Hand grip strength has been utilized as an indicator to evaluate the motor ability of hands, responsible for performing multiple body functions. It is, however, difficult to evaluate other factors (other than hand muscular strength) utilizing the hand grip strength only. In this study, we analyzed the motor ability of hands using EMG and the hand grip strength, simultaneously in order to evaluate concentration, muscular strength reaction time, instantaneous muscular strength change, and agility in response to visual reaction. In results, the average time (and their standard deviations) of muscular strength reaction EMG signal and hand grip strength was found to be 209.6 ± 56.2 ms and 354.3 ± 54.6 ms, respectively. In addition, the onset time which represents acceleration time to reach 90% of maximum hand grip strength, was 382.9 ± 129.9 ms.

Keywords: Hand grip strength, EMG, visual reaction, endurance.

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993 The Robot Hand System that can Control Grasping Power by SEMG

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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992 Design Development, Fabrication, and Preliminary Specifications of Multi-Fingered Prosthetic Hand

Authors: Mogeeb A. El-Sheikh

Abstract:

The study has developed the previous design of an artificial anthropomorphic humanoid hand and accustomed it as a prosthetic hand. The main specifications of this design are determined. The development of our previous design involves the main artificial hand’s parts and subassemblies, palm, fingers, and thumb. In addition, the study presents an adaptable socket design for a transradial amputee. This hand has 3 fingers and thumb. It is more reliable, cosmetics, modularity, and ease of assembly. Its size and weight are almost as a natural hand. The socket cavity has the capability for different sizes of a transradial amputee. The study implements the developed design by using rapid prototype and specifies its main specifications by using a data glove and finite element method.

Keywords: Adaptable socket, prosthetic hand, transradial amputee.

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991 Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control

Authors: T. C. Kuo, Y. J. Huang, B. W. Hong

Abstract:

This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.

Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov theorem, robustness.

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990 Biometric Authentication Using Fast Correlation of Near Infrared Hand Vein Patterns

Authors: Mohamed Shahin, Ahmed Badawi, Mohamed Kamel

Abstract:

This paper presents a hand vein authentication system using fast spatial correlation of hand vein patterns. In order to evaluate the system performance, a prototype was designed and a dataset of 50 persons of different ages above 16 and of different gender, each has 10 images per person was acquired at different intervals, 5 images for left hand and 5 images for right hand. In verification testing analysis, we used 3 images to represent the templates and 2 images for testing. Each of the 2 images is matched with the existing 3 templates. FAR of 0.02% and FRR of 3.00 % were reported at threshold 80. The system efficiency at this threshold was found to be 99.95%. The system can operate at a 97% genuine acceptance rate and 99.98 % genuine reject rate, at corresponding threshold of 80. The EER was reported as 0.25 % at threshold 77. We verified that no similarity exists between right and left hand vein patterns for the same person over the acquired dataset sample. Finally, this distinct 100 hand vein patterns dataset sample can be accessed by researchers and students upon request for testing other methods of hand veins matching.

Keywords: Biometrics, Verification, Hand Veins, PatternsSimilarity, Statistical Performance.

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989 Formulation, Analysis and Validation of Takagi-Sugeno Fuzzy Modeling For Robotic Monipulators

Authors: Rafael Jorge Menezes Santos, Ginalber Luiz de Oliveira Serra, Carlos César Teixeira Ferreira

Abstract:

This paper proposes a methodology for analysis of the dynamic behavior of a robotic manipulator in continuous time. Initially this system (nonlinear system) will be decomposed into linear submodels and analyzed in the context of the Linear and Parameter Varying (LPV) Systems. The obtained linear submodels, which represent the local dynamic behavior of the robotic manipulator in some operating points were grouped in a Takagi-Sugeno fuzzy structure. The obtained fuzzy model was analyzed and validated through analog simulation, as universal approximator of the robotic manipulator.

Keywords: modeling of nonlinear dynamic systems, Takagi- Sugeno fuzzy model, Linear and Parameter Varying (LPV) System.

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988 Communicative and Artistic Machines: A Survey of Models and Experiments on Artificial Agents

Authors: Artur Matuck, Guilherme F. Nobre

Abstract:

Machines can be either tool, media, or social agents. Advances in technology have been delivering machines capable of autonomous expression, both through communication and art. This paper deals with models (theoretical approach) and experiments (applied approach) related to artificial agents. On one hand it traces how social sciences' scholars have worked with topics such as text automatization, man-machine writing cooperation, and communication. On the other hand it covers how computer sciences' scholars have built communicative and artistic machines, including the programming of creativity. The aim is to present a brief survey on artificially intelligent communicators and artificially creative writers, and provide the basis to understand the meta-authorship and also to new and further man-machine co-authorship.

Keywords: Artificial communication, artificial creativity, artificial writers, meta-authorship, robotic art.

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987 Vision Based Robotic Interception in Industrial Manipulation Tasks

Authors: Ahmet Denker, Tuğrul Adıgüzel

Abstract:

In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.

Keywords: robotics, robot vision, rendezvous planning, self organizingmaps.

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986 A Robotic Cube to Preschool Children for Acquiring the Mathematical and Colours Concepts

Authors: Ahmed Amin Mousa, Tamer M. Ismail, M. Abd El Salam

Abstract:

This work presents a robot called Conceptual Robotic Cube, CR-Cube. The robot can be used as an educational tool for children from the age of three. It has a cube shape attached with a camera colours sensor. In addition, it contains four wheels to move smoothly. The researchers prepared a questionnaire to measure the efficiency of the robot. The design and the questionnaire was presented to 11 experts who agreed that the robot is appropriate for learning numbering and colours for preschool children.

Keywords: CR-Cube, robotic cube, conceptual robot, conceptual cube, colour concept, early childhood education.

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