Low Cost Pipe-crawling Pneumatic Robot

2002 ◽  
Vol 14 (4) ◽  
pp. 400-407 ◽  
Author(s):  
Andrea Manuello Bertetto ◽  
◽  
Maurizio Ruggiu
Keyword(s):  
Low Cost ◽  
Summation Method ◽  
Robot Dynamics ◽  
Inspection Robot ◽  
Robot Locomotion ◽  
Gait Kinematics ◽  
Significant Acceleration ◽  
Pipeline Networks ◽  
Assumed Mode ◽  
Mode Summation Method

A pipes inspection robot prototype was built and a mathematical modeling of its dynamics was developed. In order to pass over complicated pipeline networks, the robot was constructed with a flexible rubber structure moved by pneumatics power The robot locomotion was inspired by the inch-worm gait kinematics. Because of significant acceleration values revealed during the robot gait, the robot dynamics was mathematically formulated either by a single degree of freedom model or by the assumed mode summation method. A set of experiments were conducted for obtaining all the parameters required for models formulation. Finally the models were validated by comparing the numerical and experimental robot gait with time.

scholarly journals Next-Generation Low-Cost Motion Capture Systems Can Provide Comparable Spatial Accuracy to High-End Systems

2013 ◽  
Vol 29 (1) ◽  
pp. 112-117 ◽  
Author(s):  
Dominic Thewlis ◽  
Chris Bishop ◽  
Nathan Daniell ◽  
Gunther Paul
Keyword(s):  
Motion Capture ◽  
Low Cost ◽  
Three Dimensional ◽  
Gait Kinematics ◽  
Occupational Tasks ◽  
Soft Tissue Artifact ◽  
New Generation ◽  
The Impact ◽  
Linear Accuracy ◽  
Motion Capture Systems

The objective quantification of three-dimensional kinematics during different functional and occupational tasks is now more in demand than ever. The introduction of new generation of low-cost passive motion capture systems from a number of manufacturers has made this technology accessible for teaching, clinical practice and in small/medium industry. Despite the attractive nature of these systems, their accuracy remains unproved in independent tests. We assessed static linear accuracy, dynamic linear accuracy and compared gait kinematics from a Vicon MX-f20 system to a Natural Point OptiTrack system. In all experiments data were sampled simultaneously. We identified both systems perform excellently in linear accuracy tests with absolute errors not exceeding 1%. In gait data there was again strong agreement between the two systems in sagittal and coronal plane kinematics. Transverse plane kinematics differed by up to 3° at the knee and hip, which we attributed to the impact of soft tissue artifact accelerations on the data. We suggest that low-cost systems are comparably accurate to their high-end competitors and offer a platform with accuracy acceptable in research for laboratories with a limited budget.

Determination of Dynamic Parameters for Underwater Robots with Crawler Drives

2016 ◽  
Vol 817 ◽  
pp. 130-139 ◽  
Author(s):  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Dynamic Equation ◽  
Hydrodynamic Resistance ◽  
Robot Dynamics ◽  
Type Ii ◽  
Lagrange Equations ◽  
Underwater Robots ◽  
Cross Sectional ◽  
Inspection Robot ◽  
Sectional Surface

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater inspection robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software and MES modules. The robot dynamics are described by means of type II Lagrange equations for a non-holonomic system. The details of the kinetic and dynamic equation derivation are highly complex and exceed the scope of this paper. In this paper, the authors concentrate on the methods of determining such dynamic equation parameters as: hydrodynamic resistance factor, precise robot volume and weight, frontal cross-sectional surface and mass moments of inertia.

scholarly journals ZERO-POINT ENERGY OF A DILUTE DIELECTRIC BALL IN THE MODE SUMMATION METHOD

2001 ◽  
Vol 16 (30) ◽  
pp. 1983-1995 ◽  
Author(s):  
G. LAMBIASE ◽  
G. SCARPETTA ◽  
V. V. NESTERENKO
Keyword(s):  
Vacuum Energy ◽  
Bessel Functions ◽  
Zero Point ◽  
Casimir Energy ◽  
Addition Theorem ◽  
Summation Method ◽  
Point Energy ◽  
Mode Summation Method ◽  
Clear Method

In the (ε1-ε2)2-approximation the Casimir energy of a dilute dielectric ball is derived using a simple and clear method of the mode summation. The addition theorem for the Bessel functions enables one to present in a closed form the sum over the angular momentum before the integration over the imaginary frequencies. The linear in (ε1-ε2)2 contribution into the vacuum energy is removed by an appropriate subtraction. The role of the contact terms used in other approaches to this problem is elucidated.

The System for Wireless Communication in the Group of Cooperating Mobile Robots

2015 ◽  
Vol 220-221 ◽  
pp. 168-174
Author(s):  
Piotr Garbacz ◽  
Jordan Mężyk
Keyword(s):  
Wireless Communication ◽  
Mobile Robots ◽  
Low Cost ◽  
Access Point ◽  
Video Stream ◽  
Full Duplex ◽  
Fast Method ◽  
Inspection Robot ◽  
Sustainable Technologies ◽  
Characteristic Features

The Institute for Sustainable Technologies – NRI in Radom, together with Silesian University in Gliwice, have developed a group of mobile robots [1] intended for support of rescue actions. The group consists of two big robots: Explorer for exploring the environment and Transporter for transporting the number of small robots – Pathfinder (Fig. 1). The Explorer robot is capable of monitoring the environment in terms of temperature measurement, measuring the concentration of gases in the atmosphere and collecting the samples of soil. The Transporter is capable of transporting small robots and picking small objects as it is equipped with a container and a robotic arm and its purpose is to move small robots as close to the hazardous place as possible. Small robots called Pathfinder are intended to penetrate the area such as the room on fire and find potential victims or just allow the reconnaissance. All robots are equipped with one or more cameras and audio system for duplex communication. All the functions require the reliable and fast method of communication with enough bandwidth for the transmission of full duplex audio stream next to the simplex video stream and duplex control data stream.In the first part, the paper presents the brief overview of the market-available technologies for wireless communication; the second part presents the practical comparison test of selected products; and finally the last part of the paper describes the selected solution together with discussion on its capabilities.Fig. 1. Two of the group of four robots: small inspection robot and big transporter robotOne of the characteristic features of the designed group of robots is its low cost of production and maintenance, therefore the components used in the robot system could only be standard available constructions, but as the tests show, it is sufficient to fulfill the minimal requirement of range of at least fifty meters inside the typical building. Out of the considered communication equipment one of the commercially available Wi-Fi access point showed to be appropriate for the proposed application.

A Tunable Vibration Absorber Design to Suppress Chatter in Boring Manufacturing Process

2007 ◽  
Author(s):  
H. Moradi ◽  
F. Bakhtiari-Nejad ◽  
M. R. Movahhedi
Keyword(s):  
Transmission Lines ◽  
Gas Turbines ◽  
Block Diagram ◽  
Summation Method ◽  
Vibration Absorber ◽  
Vibration Absorbers ◽  
Electrical Transmission ◽  
Dynamic Vibration Absorbers ◽  
Euler Bernoulli Beam ◽  
Mode Summation Method

Dynamic vibration absorbers are used to reduce the undesirable vibrations in many applications such as electrical transmission lines, helicopters, gas turbines, engines, bridges and etc. One type of these absorbers is tunable vibration absorber (TVA) which can act as a semi-active controller. In this paper, by applying a (TVA), chatter vibration is suppressed during boring process in which boring bar is modeled as a cantilever Euler-Bernoulli beam. The optimum specifications of absorber such as spring stiffness, absorber mass and its position can be determined by developing an algorithm based upon mode summation method. Finally, using the SIMULINK Toolbox of MATLAB, the analog simulated block diagram of the problem is developed. The advantage of this simulation is that, one can analyze the effect of other types of excitations such as step, ramp, etc on the absorbed system.

A small low-cost low-weight inspection robot with passive-type locomotion

2004 ◽  
Vol 11 (4) ◽  
pp. 339-348 ◽  
Author(s):  
Domenico Longo ◽  
Giovanni Muscato
Keyword(s):  
Low Cost ◽  
Inspection Robot ◽  
Low Weight

scholarly journals A low-cost 2-D video system can accurately and reliably assess adaptive gait kinematics in healthy and low vision subjects

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
Tjerk Zult ◽  
Jonathan Allsop ◽  
Juan Tabernero ◽  
Shahina Pardhan
Keyword(s):  
Motion Capture ◽  
Vision Loss ◽  
Low Vision ◽  
Low Cost ◽  
Motion Capture System ◽  
Foot Placement ◽  
Video System ◽  
Gait Kinematics ◽  
Two Systems ◽  
Adaptive Gait

Abstract3-D gait analysis is the gold standard but many healthcare clinics and research institutes would benefit from a system that is inexpensive and simple but just as accurate. The present study examines whether a low-cost 2-D motion capture system can accurately and reliably assess adaptive gait kinematics in subjects with central vision loss, older controls, and younger controls. Subjects were requested to walk up and step over a 10 cm high obstacle that was positioned in the middle of a 4.5 m walkway. Four trials were simultaneously recorded with the Vicon motion capture system (3-D system) and a video camera that was positioned perpendicular to the obstacle (2-D system). The kinematic parameters (crossing height, crossing velocity, foot placement, single support time) were calculated offline. Strong Pearson’s correlations were found between the two systems for all parameters (average r = 0.944, all p < 0.001). Bland-Altman analysis showed that the agreement between the two systems was good in all three groups after correcting for systematic biases related to the 2-D marker positions. The test-retest reliability for both systems was high (average ICC = 0.959). These results show that a low-cost 2-D video system can reliably and accurately assess adaptive gait kinematics in healthy and low vision subjects.

scholarly journals Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India

2015 ◽  
Author(s):  
V. N. Murthy Arelekatti ◽  
Amos G. Winter
Keyword(s):  
Early Stage ◽  
Low Cost ◽  
Metabolic Cost ◽  
Functional Requirements ◽  
Transfemoral Amputation ◽  
Prosthetic Knee ◽  
Gait Kinematics ◽  
Flexion Extension ◽  
Economic Constraints ◽  
Kinetics Of

An estimated 230,000 above-knee amputees in India are currently in need of prosthetic care, a majority of them facing severe socio-economic constraints. However, only few passive prosthetic knee devices in the market have been designed for facilitation of normative gait kinematics and for meeting the specific daily life needs of above-knee amputees in the developing world. Based on the results of our past studies, this paper establishes a framework for the design of a low-cost prosthetic knee device, which aims to facilitate able-bodied kinematics at a low metabolic cost. Based on an exhaustive set of functional requirements, we present a prototype mechanism design for the low-cost prosthetic knee. The mechanism is implemented using an early stance lock for stability and two friction dampers for achieving able-bodied kinematics and kinetics of walking. For early-stage validation of the prosthesis design, we carry out a preliminary field trial on four above-knee amputees in India and collect qualitative user feedback. Future iterations of the mechanism prototype will incorporate an additional spring component for enabling early stance flexion-extension.

Sign in / Sign up

Export Citation Format

Share Document