Problems of robotic systems testing for moving on space objects

2021 ◽  
Vol 9 (3) ◽  
pp. 180-185
Author(s):  
Pavel Anan’ev ◽  
Anna Plotnikova ◽  
Alexandr Timofeev ◽  
Roman Mesсheryakov ◽  
Konstantin Belyakov
Keyword(s):  
Key Words ◽  
Physical Modeling ◽  
Granulometric Composition ◽  
Robotic System ◽  
Full Scale ◽  
Robotic Systems ◽  
Electromagnetic Properties ◽  
The Moon ◽  
Cosmic Body ◽  
Space Objects

The article discusses the issues of providing full-scale testing of machines and spacecraft. The authors consider the surface of a cosmic body and propose the creation of an analogue of the regolith of the Moon and Mars. It is noted that it is necessary to observe not only the physicochemical and granulometric composition of the analogue, but also its electromagnetic charge, which will allow testing robotic systems more fully. Conclusions and description of the process of regolith creation and its properties are given. Key words Robotic system, space, regolith, electromagnetic properties, physical modeling.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

scholarly journals Field verification of a new asphalt compactor, AMIR

1991 ◽  
Vol 18 (3) ◽  
pp. 465-471 ◽  
Author(s):  
Otto J. Svec ◽  
A. O. Abd El Halim
Keyword(s):  
Key Words ◽  
Laboratory Testing ◽  
Research Council ◽  
Joint Venture ◽  
National Research Council ◽  
Field Trials ◽  
Full Scale ◽  
Field Verification ◽  
Asphalt Mix

A prototype of a new asphalt compactor termed "asphalt multi-integrated roller (AMIR)" was built as a joint venture between the National Research Council of Canada (NRC) and a Canadian manufacturer, Lovat Tunnel Equipment, Inc. The purpose of this project was to prove this new compaction concept in a full-scale environment. This paper describes one of the field trials carried out on the campus of the NRC and reports the results quantifying the quality of the AMIR compaction. Key words: compactor, asphalt mix, field trials, laboratory testing.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

scholarly journals Robotic System for Physical Training of Older Adults

2020 ◽  
Author(s):  
Omri Avioz-Sarig ◽  
Samuel Olatunji ◽  
Vardit Sarne-Fleischmann ◽  
Yael Edan
Keyword(s):  
Older Adults ◽  
Experimental Studies ◽  
Life Quality ◽  
Humanoid Robots ◽  
Robotic System ◽  
User Preferences ◽  
Robotic Systems ◽  
Intention To Use ◽  
Physical Exercises ◽  
Python Programming

Abstract Physical exercise has many physical, psychological and social health benefits leading to improved life quality. This paper presents a robotic system developed as a personal coach for older adults aiming to motivate older adults to participate in physical activities. The robot instructs the participants, demonstrates the exercises and provides real-time corrective and positive feedback according to the participant’s performance as monitored by an RGB-D camera. Two robotic systems based on two different humanoid robots (Nao, toy-like and Poppy, mechanical-like) were developed and implemented using the Python programming language. Experimental studies with 32 older adults were conducted, to determine the preferable mode and timing of the feedback provided to the user to accommodate user preferences, motivate the users and improve their interaction with the system. Additionally, user preferences with regards to the two different humanoid robots used were explored. The results revealed that the system motivated the older adults to engage more in physical exercises. The type and timing of feedback influenced this engagement. Most of these older adults also perceived the system as very useful, easy to use, had a positive attitude towards the system and noted their intention to use it. Most users preferred the more mechanical looking robot (Poppy) over the toy-like robot (Nao).

Full-Scale Physical Modeling of Stand-Alone Screens for Thermal Projects

2020 ◽  
Author(s):  
Vahidoddin Fattahpour ◽  
Morteza Roostaei ◽  
Mohammad Soroush ◽  
Seyed Abolhassan Hosseini ◽  
Kelly Berner ◽  
...  
Keyword(s):  
Physical Modeling ◽  
Full Scale

A Cyclogram of an Energy Efficient Step of a Mobile Robotic System with Wheel-Walking Propulsion

2020 ◽  
pp. 10-16
Author(s):  
M.M. Zhileykin
Keyword(s):  
Energy Efficiency ◽  
Bearing Capacity ◽  
Energy Efficient ◽  
Robotic System ◽  
Mobile Systems ◽  
Robotic Systems ◽  
Wide Range ◽  
Support Surfaces

Mobile robotic systems are employed to perform a wide range of transportation and technological tasks. One of the main requirements to these systems is their high capability to traverse complex terrains and surfaces. Future applications of wheel-walking mobile systems largely define the problem of their energy efficiency. This paper presents a mobile robotic system with wheel-walking propulsion that can increase the system’s traverse capability on support surfaces with low bearing properties due to a new chassis layout and algorithms controlling the walking module. A cyclogram of the energy efficient step of the mobile robotic system with wheel-walking propulsion is developed, which provides high indicators of traverse capability on support bases with low bearing capacity.

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