Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.11
D. Hagiwara, T. Amakawa, Y. Yamada, Taro Nakamura
Robots are expected to substitute for humans for work performed in locations at a height, such as the inspection of an airplane surface. The authors propose a traveling-wave-type wall-climbing robot simulating a snail movement. To this end, in this study, the negative pressure adsorption method was employed to develop a wall-climbing robot that could move on curved surfaces for high-altitude work.
{"title":"Traveling-wave-type wall-climbing robot for airplane surface inspection","authors":"D. Hagiwara, T. Amakawa, Y. Yamada, Taro Nakamura","doi":"10.13180/clawar.2018.10-12.09.11","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.11","url":null,"abstract":"Robots are expected to substitute for humans for work performed in locations at a height, such as the inspection of an airplane surface. The authors propose a traveling-wave-type wall-climbing robot simulating a snail movement. To this end, in this study, the negative pressure adsorption method was employed to develop a wall-climbing robot that could move on curved surfaces for high-altitude work.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122231177","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.16
H. Uchida
In this study, an optimization method of feedback control inputs for a posture control of a six-legged robot was developed. The authors had proposed a method to control using an optimum servo system as a posture control method of a six-legged robot. As a problem of this method, because the feedback (FB) gain was switched at the time of switching the swing leg, the control inputs becomes discontinuous and there was a problem that the posture variation increases. After that, FB inputs of the thigh link obtained by optimum servo system were optimized. Then, we design a control system that suppressed the posture variation that occurs during swing leg switching. The effectiveness of the proposed control method was confirmed using a 3D model of a six-legged robot.
{"title":"Optimization of feedback control inputs for posture control of a six-legged robot","authors":"H. Uchida","doi":"10.13180/clawar.2018.10-12.09.16","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.16","url":null,"abstract":"In this study, an optimization method of feedback control inputs for a posture control of a six-legged robot was developed. The authors had proposed a method to control using an optimum servo system as a posture control method of a six-legged robot. As a problem of this method, because the feedback (FB) gain was switched at the time of switching the swing leg, the control inputs becomes discontinuous and there was a problem that the posture variation increases. After that, FB inputs of the thigh link obtained by optimum servo system were optimized. Then, we design a control system that suppressed the posture variation that occurs during swing leg switching. The effectiveness of the proposed control method was confirmed using a 3D model of a six-legged robot.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124255901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.18
Héctor Montes Franceschi, E. Cano, Carlos A. Rovetto, J. Saldaña, Salvador Vargas
The heart failure patients care is increasing, in order to provide the specialized assistance at the right time. Therefore, some researchers have been developed some systems regarding the remote monitoring of the signals of these patients. In this work, it is described a proposal of a remote monitoring system of vital signs, acquired by means of non-invasive biosensors, for heart failure patients. The objective is for monitoring in real-time the vital signs of these patients in order to the specialist doctor to receive the processed data with other added signals and alarms for facilitating his/her diagnosis. This proposal will be developed in Panama, since there is not this kind of system in this country. It will be considered the intrinsic characteristics of the region for this development and also it will be considered the implementation of robotics unit in order to carry out some tasks as patient surveillance, mobile healthcare assistant in rural/remote areas, interface unit between communication systems, etc. However, after to develop this project, it would be extended to other regions of Latin America, since it is very necessary according to statistical data provided by the WHO.
{"title":"Proposal of a remote monitoring system of vital signs for heart failure patients","authors":"Héctor Montes Franceschi, E. Cano, Carlos A. Rovetto, J. Saldaña, Salvador Vargas","doi":"10.13180/clawar.2018.10-12.09.18","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.18","url":null,"abstract":"The heart failure patients care is increasing, in order to provide the specialized assistance at the right time. Therefore, some researchers have been developed some systems regarding the remote monitoring of the signals of these patients. In this work, it is described a proposal of a remote monitoring system of vital signs, acquired by means of non-invasive biosensors, for heart failure patients. The objective is for monitoring in real-time the vital signs of these patients in order to the specialist doctor to receive the processed data with other added signals and alarms for facilitating his/her diagnosis. This proposal will be developed in Panama, since there is not this kind of system in this country. It will be considered the intrinsic characteristics of the region for this development and also it will be considered the implementation of robotics unit in order to carry out some tasks as patient surveillance, mobile healthcare assistant in rural/remote areas, interface unit between communication systems, etc. However, after to develop this project, it would be extended to other regions of Latin America, since it is very necessary according to statistical data provided by the WHO.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128744317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.p01
{"title":"Humanoid Robot: A review of our research works","authors":"","doi":"10.13180/clawar.2018.10-12.09.p01","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.p01","url":null,"abstract":"","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122927653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.01
S. Fadlallah, K. Goher
The present paper introduces a novel portable leg rehabilitation system (PLRS) that is developed to provide the user with the necessary rehabilitation exercises for both the knee and ankle in addition to the portability feature to overcome the hardships associated with both effort and cost of hospitals and rehabilitation clinics’ steady sessions. Prior realizing the actual prototype, the proposed configuration was visualized using SolidWorks including its main components. Aiming to control the developed system, and given the fact that tuning controller parameters is not an easy task, Hybrid Spiral-Dynamics Bacteria-Chemotaxis (HSDBC) algorithm has been applied on the proposed control strategy in order to obtain a satisfactory performance. The obtained system performance was satisfactory in terms of desired elevation and settling time.
{"title":"System identification and HSDBC-optimized PID control of a portable lower-limb rehabilitation device","authors":"S. Fadlallah, K. Goher","doi":"10.13180/clawar.2018.10-12.09.01","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.01","url":null,"abstract":"The present paper introduces a novel portable leg rehabilitation system (PLRS) that is developed to provide the user with the necessary rehabilitation exercises for both the knee and ankle in addition to the portability feature to overcome the hardships associated with both effort and cost of hospitals and rehabilitation clinics’ steady sessions. Prior realizing the actual prototype, the proposed configuration was visualized using SolidWorks including its main components. Aiming to control the developed system, and given the fact that tuning controller parameters is not an easy task, Hybrid Spiral-Dynamics Bacteria-Chemotaxis (HSDBC) algorithm has been applied on the proposed control strategy in order to obtain a satisfactory performance. The obtained system performance was satisfactory in terms of desired elevation and settling time.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124850558","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.44
S. Mondal
This project produced a sensor based robot capable of testing a section of railway track, using both magnetic flux and visual inspection. Surface quality inspection is performed by a probe consisting of a number of Hall effect sensors. Visual inspection is performed by a camera connected to the robot. A replica rail section was also created for the purposes of calibrating and demonstrating the robot. The hardware and software developed successfully collected video data and magnetic flux readings. The output of the hall effect sensor array was processed in MATLAB producing a heat-map. The shape and depth of artificially induced defects were successfully displayed.
{"title":"Develop a sensor based robot for railway inspection","authors":"S. Mondal","doi":"10.13180/clawar.2018.10-12.09.44","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.44","url":null,"abstract":"This project produced a sensor based robot capable of testing a section of railway track, using both magnetic flux and visual inspection. Surface quality inspection is performed by a probe consisting of a number of Hall effect sensors. Visual inspection is performed by a camera connected to the robot. A replica rail section was also created for the purposes of calibrating and demonstrating the robot. The hardware and software developed successfully collected video data and magnetic flux readings. The output of the hall effect sensor array was processed in MATLAB producing a heat-map. The shape and depth of artificially induced defects were successfully displayed.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128817402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.24
Humanoid Robot Using, Orcid 0000-0002-1660-7718, A. Valente
This paper describes the use of NAO robot, a humanoid robot and the use of Arduino in education for final engineering projects in the area of engineering. This learning approach was implemented in the final project of the Biomedical Engineering degree. The objective this project is the sensorial extension of the NAO platform, integrating a set of sensors that allow not only to analyze multiple vital parameters in a passive way but also to obtain a more precise contextual information.
{"title":"Educational humanoid robot using a sensoring fusion through Arduino","authors":"Humanoid Robot Using, Orcid 0000-0002-1660-7718, A. Valente","doi":"10.13180/clawar.2018.10-12.09.24","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.24","url":null,"abstract":"This paper describes the use of NAO robot, a humanoid robot and the use of Arduino in education for final engineering projects in the area of engineering. This learning approach was implemented in the final project of the Biomedical Engineering degree. The objective this project is the sensorial extension of the NAO platform, integrating a set of sensors that allow not only to analyze multiple vital parameters in a passive way but also to obtain a more precise contextual information.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"809 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116865701","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.08
Takashi Takuma, K. Takai, Y. Iwakiri, W. Kase
Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley.
{"title":"Body design of tendon-driven jumping robot using single actuator and wire set","authors":"Takashi Takuma, K. Takai, Y. Iwakiri, W. Kase","doi":"10.13180/clawar.2018.10-12.09.08","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.08","url":null,"abstract":"Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126191033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.40
H. Rodríguez, Ilka Banfield
This work is aimed at discussing the solution of the inverse kinematic problem using Multi- Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater operation. In addition, we present a review of the most important techniques used for solving the inverse kinematic problem, focusing at the end on the application of a Non-Dominated, Sorting, Elitist MOEA with nonlinear constraints.
{"title":"Inverse kinematic multiobjective optimization for a vehicle-arm robot system using evolutionary algorithms","authors":"H. Rodríguez, Ilka Banfield","doi":"10.13180/clawar.2018.10-12.09.40","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.40","url":null,"abstract":"This work is aimed at discussing the solution of the inverse kinematic problem using Multi- Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater operation. In addition, we present a review of the most important techniques used for solving the inverse kinematic problem, focusing at the end on the application of a Non-Dominated, Sorting, Elitist MOEA with nonlinear constraints.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127581054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.06
Héctor Montes, Ignacio Chang, Guelda Carballeda, José Muñoz, Antony García, Rafael Vejarano, Y. Sáez
The autonomous mobility for visually impaired people has been an issue in where several researchers have contributed with proposals in order to solve it. However, there is a lot of work to carry out in the cities in where this kind of technology has been applied, but also in other cities or town where this or other technology not has arrived yet. In this work two different ICT-based systems have been described, which provide helps in the mobility of visually impaired people in the public transport in Panama. One of them consists of the development of new applications for Android-based smartphones, and the second system is based on the development of RF modules into the ISM radio band. These prototypes are used by the visually impaired people and by the bus driver, and one of them is installed at the bus stop.
{"title":"Design of a system to support the mobility of visually impaired people","authors":"Héctor Montes, Ignacio Chang, Guelda Carballeda, José Muñoz, Antony García, Rafael Vejarano, Y. Sáez","doi":"10.13180/clawar.2018.10-12.09.06","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.06","url":null,"abstract":"The autonomous mobility for visually impaired people has been an issue in where several researchers have contributed with proposals in order to solve it. However, there is a lot of work to carry out in the cities in where this kind of technology has been applied, but also in other cities or town where this or other technology not has arrived yet. In this work two different ICT-based systems have been described, which provide helps in the mobility of visually impaired people in the public transport in Panama. One of them consists of the development of new applications for Android-based smartphones, and the second system is based on the development of RF modules into the ISM radio band. These prototypes are used by the visually impaired people and by the bus driver, and one of them is installed at the bus stop.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129209982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：