scholarly journals Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2181 ◽  
Author(s):  
Andrés Martín-Barrio ◽  
Juan Jesús Roldán-Gómez ◽  
Iván Rodríguez ◽  
Jaime del Cerro ◽  
Antonio Barrientos
Keyword(s):  
Degrees Of Freedom ◽  
Mixed Reality ◽  
Control Strategies ◽  
Redundant Robots ◽  
Spatial Understanding ◽  
Custom Made ◽  
Inspection Tasks ◽  
High Level ◽  
And Control ◽  
Immersive Technologies

Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.

Prototyping an autonomous delivery vehicle

2018 ◽  
Vol 66 (2) ◽  
pp. 160-182
Author(s):  
Benjamin C. Heinrich ◽  
Thorsten Luettel ◽  
Dennis Fassbender ◽  
Patrick Burger ◽  
Felix Ebert ◽  
...  
Keyword(s):  
Test Facility ◽  
Sensor Calibration ◽  
Software Components ◽  
Delivery Vehicle ◽  
Planning And Control ◽  
Custom Made ◽  
Position And Orientation ◽  
High Level ◽  
Control Modules ◽  
And Control

AbstractIn this paper, we describe the hardware and software components of a fully autonomous prototype delivery vehicle. Equipped with a robotic arm, the demonstrator is capable of delivering packages and picking up new ones by interacting with custom-made delivery boxes. As highly accurate positioning w. r. t. a box is required for successful handover of packages, we track the pose (position and orientation) of the box using a high-resolution on-board camera. The resulting estimate is relayed to our planning and control modules, which ensure that the vehicle reaches its required pose with centimeter-level accuracy.In order to deliver packages, the car needs to autonomously navigate our test facility, avoiding static and dynamic obstacles while obeying simple traffic rules. As one focus is on the practical challenges encountered when building a prototype, we cover issues ranging from sensor calibration and system identification to perception, planning, control, and the implementation of high-level behaviors. While some of the proposed solutions to these problems are not necessarily novel, they allowed us to demonstrate the vehicle’s capabilities after a development phase of less than 12 months.

Powered Ankle-Foot Prostheses: A Survey on Sensing Systems and Control Strategies

2019 ◽  
Author(s):  
Erik Chumacero-Polanco ◽  
James Yang
Keyword(s):  
Control Strategies ◽  
Level Control ◽  
Low Level ◽  
Kinetic Information ◽  
Sensing Systems ◽  
Systems And Control ◽  
Finite State ◽  
High Level ◽  
And Control

Abstract People who have suffered a transtibial amputation show diminished ambulation and impaired quality of life. Powered ankle foot prostheses (AFP) are used to recover some mobility of transtibial amputees (TTAs). Powered AFP is an emerging technology that has great potential to improve the quality of life of TTAs with important avenues for research and development in different fields. This paper presents a survey on sensing systems and control strategies applied to powered AFPs. Sensing kinematic and kinetic information in powered AFPs is critical for control. Ankle angle position is commonly obtained via potentiometers and encoders directly installed on the joint, velocities can be estimated using numerical differentiators, and accelerations are normally obtained via inertial measurement units (IMUs). On the other hand, kinetic information is usually obtained via strain gauges and torque sensors. On the other hand, control strategies are classified as high- and low-level control. The high-level control sets the torque or position references based on pattern generators, user’s intent of motion recognition, or finite-state machine. The low-level control usually consists of linear controllers that drive the ankle’s joint position, velocity, or torque to follow an imposed reference signal. The most widely used control strategy is the one based on finite-state machines for the high-level control combined with a proportional-derivative torque control for low-level. Most designs have been experimentally assessed with acceptable results in terms of walking speed. However, some drawbacks related to powered AFP’s weight and autonomy remain to be overcome. Future research should be focused on reducing powered AFP size and weight, increasing energy efficiency, and improving both the high- and the low-level controllers in terms of efficiency and performance.

scholarly journals Guidance Navigation and Control for Autonomous Multiple Spacecraft Assembly: Analysis and Experimentation

2011 ◽  
Vol 2011 ◽  
pp. 1-18 ◽  
Author(s):  
Riccardo Bevilacqua ◽  
Marcello Romano ◽  
Fabio Curti ◽  
Andrew P. Caprari ◽  
Veronica Pellegrini
Keyword(s):  
Degrees Of Freedom ◽  
Control Strategies ◽  
Guidance And Control ◽  
Navigation And Control ◽  
Rotational Degrees Of Freedom ◽  
Multiple Spacecraft ◽  
Three Degree Of Freedom ◽  
Extra State ◽  
And Control ◽  
Spacecraft Assembly

This work introduces theoretical developments and experimental verification for Guidance, Navigation, and Control of autonomous multiple spacecraft assembly. We here address the in-plane orbital assembly case, where two translational and one rotational degrees of freedom are considered. Each spacecraft involved in the assembly is both chaser and target at the same time. The guidance and control strategies are LQR-based, designed to take into account the evolving shape and mass properties of the assembling spacecraft. Each spacecraft runs symmetric algorithms. The relative navigation is based on augmenting the target's state vector by introducing, as extra state components, the target's control inputs. By using the proposed navigation method, a chaser spacecraft can estimate the relative position, the attitude and the control inputs of a target spacecraft, flying in its proximity. The proposed approaches are successfully validated via hardware-in-the-loop experimentation, using four autonomous three-degree-of-freedom robotic spacecraft simulators, floating on a flat floor.

scholarly journals Position control for hybrid infinite-continuous hyper-redundant robot

2021 ◽  
Vol 343 ◽  
pp. 08009
Author(s):  
Cristina Pană ◽  
Cristian Vladu ◽  
Daniela Pătraşcu-Pană ◽  
Florina Besnea (Petcu) ◽  
Çtefan Cismaru ◽  
...  
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Hybrid Structure ◽  
Control Algorithms ◽  
Robot Design ◽  
Hydraulic Control ◽  
Lightweight Construction ◽  
Redundant Robot ◽  
Redundant Robots ◽  
And Control

This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.

scholarly journals Prevalence, determination, and control of histamine formation in food concerning food safety aspect

2021 ◽  
Vol 13 (2) ◽  
pp. 101-117
Author(s):  
Chuyen Hoang ◽  
Thi-Van Nguyen ◽  
Thanh Do Le
Keyword(s):  
Control Strategies ◽  
Food Poisoning ◽  
Food Sources ◽  
Detection Methods ◽  
Fermented Foods ◽  
Toxic Metabolite ◽  
Detection Techniques ◽  
Histamine Formation ◽  
High Level ◽  
And Control

Histamine is a toxic metabolite produced in foods containing a high level of free histidine. This compound can be present in various food sources, especially seafood, dairy products, and fermented foods. Histamine poisoning is one of the most common health risks caused by consuming spoiled foods or improper processed and stored foods. This food poisoning usually causes mild symptoms with higher recovery rates, so people underestimate this hazard. Thus, understanding histamine formation food sources with a high risk for this poisonous agent is critical in improving the awareness of this hazard for food producers and consumers. To avoid histamine-associated food poisoning, the development of control solutions to minimize the formation of histamine and the sufficient detection methods to examine the content of this metabolite in food products are vital. In addition to quality control application and hazards management programs in food processing, the appropriate food regulations identifying the precise limit of histamine in foods are essential for preventing this poisoning from occurring in the food supply chain. This review discusses the prevalence, control strategies, detection techniques, and regulations related to histamine hazards in foods.

Mechanical/Naval Design of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities

2007 ◽  
Author(s):  
Juan A. Rami´rez ◽  
Rafael E. Va´squez ◽  
Luis B. Gutie´rrez ◽  
Diego A. Flo´rez
Keyword(s):  
Visual Information ◽  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Port Facilities ◽  
Computer Aided ◽  
Computational Fluid Dynamics Cfd ◽  
High Level ◽  
Aided Design ◽  
And Control

This paper presents the mechanical/naval design process of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities. The design was divided into four main subsystems: mechanical/naval, hardware, software and guidance, navigation and control. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools, including Computer Aided Design CAD, Computer Aided Engineering CAE, Computational Fluid Dynamics CFD and a high level programming environment. The obtained design ensures that the reliable operation of the robot will be achieved by using a consistent construction process. The new ROV constitutes an innovative product in Colombia, and it will be used for surveillance and oceanographic research tasks.

scholarly journals Control-Oriented Finger Kinematic Model: Geometry-Based Approach

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
Jong-Seob Won ◽  
Nina Robson
Keyword(s):  
Degrees Of Freedom ◽  
Control Strategies ◽  
Kinematic Model ◽  
Systems Design ◽  
Single Parameter ◽  
Human Hand ◽  
Cylindrical Object ◽  
Proposed Model ◽  
Human Finger ◽  
And Control

Abstract This paper proposes a novel finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion for robotic finger systems and artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the natural rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e., the radius of a cylindrical object. Experimental validation of the model shows that it can simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multifinger coordination that makes task-specific hand movements or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multifinger coordination concept discussed can be seen as an inclusive framework in human-like hand systems design and control. This paper is the first step toward exploring future novel combined design–control strategies for the development of under-actuated prosthetic and powered orthotic devices for the naturalistic motion that are based on both Cartesian space trajectory tracking and joint angle coordination.

Modeling and Control of a Spherical Inverted Pendulum With Actuator Saturation

2019 ◽  
Author(s):  
Geovani Bondo ◽  
Chengzhi Yuan ◽  
Chang Duan
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Actuator Saturation ◽  
Control Strategies ◽  
Mathematic Model ◽  
Disturbance Attenuation ◽  
Modeling And Control ◽  
Advanced Control ◽  
The Stability ◽  
And Control

Abstract This paper studies the modeling and control of a spherical inverted pendulum (SIP). The SIP is deemed to be a reasonable model for rocket-propelled body and is often used to test advanced control strategies. The mathematic model is derived based on a Quanser two degrees-of-freedom inverted pendulum commercial product. The pendulum is mounted on a five-bar mechanism that is actuated by two rotary servo base units. Unlike conventional assumption that the two motors are allowed to rotate simultaneously, we assume a more challenging scenario that at one time only one motor is working. The system is hence modeled as a switched system as two motors have to be switched in order to balance the pendulum at its unstable equilibrium. Switched controllers, together with a switching strategy are developed to ensure the stability of the system and satisfy a disturbance attenuation performance index. Simulation results are presented to show the effectiveness of the proposed method.

Development of a Hybrid Dynamic Model and Experimental Identification of Robotic Bulldozing

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Scott G. Olsen ◽  
Gary M. Bone
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Nonlinear Differential Equations ◽  
Model Framework ◽  
Modeling And Control ◽  
Low Level ◽  
Proposed Model ◽  
The Individual ◽  
And Control

The low-level modeling and control of mobile robots that interact forcibly with their environment, such as robotic excavation machinery, is a challenging problem that has not been adequately addressed in prior research. This paper investigates the low-level modeling of robotic bulldozing. The proposed model characterizes the three primary degrees-of-freedom (DOF) of the bulldozer, the blade position, the material accumulation on the blade, and the material distribution in the environment. It includes discrete operation modes contained within a hybrid dynamic model framework. The dynamics of the individual modes are represented by a set of linear and nonlinear differential equations. An instrumented scaled-down bulldozer and environment are developed to emulate the full scale operation. Model parameter estimation and validation are completed using experimental data from this system. The model is refined based on a global sensitivity analysis. The refined model is suitable for simulation and design of robotic bulldozing control strategies.

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