Pub Date : 2020-08-05DOI: 10.33093/ijoras.2020.2.2
S. Thangavelu, E. Supriyanto, J. Yunus
Almost all medical devices in ICU/CCU have a built-in clinical alarm system to alert when there are changes in a patient’s condition. The objective of this study is to investigate the effectiveness of the existing alarm system in ICU/CCU. Two summative usability tests were conducted to test the effectiveness of existing and new alarm signals based on IEC 60601-1-8:2006 standard. Further formative test was conducted to study perception of urgency associated with number of tones in the alarm signals. The findings indicate that the existing auditory alarm signal in ICU/CCU do not indicate the urgency of the alarm conditions. The simulation test indicates that the respondents preferred 282Hz, 500Hz and 800Hz for low, medium and high-risk alarm respectively. The one-sample proportion z test on urgency mapping indicates that the proportion of responses for highest risk is more than 50% for single tone test signal. These results show that single tone test signal being perceived as highest risk regardless of frequency. It can be concluded the auditory alarm designed based on this IEC 60608-1-8:2006 standard is not effective. As such it is proposed that incorporation of the new alarm frequencies and tones will improve the effectiveness of the alarm signal.
{"title":"Testing of Auditory Clinical Alarms in ICU/CCU","authors":"S. Thangavelu, E. Supriyanto, J. Yunus","doi":"10.33093/ijoras.2020.2.2","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.2","url":null,"abstract":"Almost all medical devices in ICU/CCU have a built-in clinical alarm system to alert when there are changes in a patient’s condition. The objective of this study is to investigate the effectiveness of the existing alarm system in ICU/CCU. Two summative usability tests were conducted to test the effectiveness of existing and new alarm signals based on IEC 60601-1-8:2006 standard. Further formative test was conducted to study perception of urgency associated with number of tones in the alarm signals. The findings indicate that the existing auditory alarm signal in ICU/CCU do not indicate the urgency of the alarm conditions. The simulation test indicates that the respondents preferred 282Hz, 500Hz and 800Hz for low, medium and high-risk alarm respectively. The one-sample proportion z test on urgency mapping indicates that the proportion of responses for highest risk is more than 50% for single tone test signal. These results show that single tone test signal being perceived as highest risk regardless of frequency. It can be concluded the auditory alarm designed based on this IEC 60608-1-8:2006 standard is not effective. As such it is proposed that incorporation of the new alarm frequencies and tones will improve the effectiveness of the alarm signal.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"9-17"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47729955","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 : 2020-08-02DOI: 10.31875/2409-9694.2020.07.1
L. Mano
The aging process in our population can cause changes in people’s sleeping patterns, more specifically in the elderly, by impairing their cognitive abilities, quality of life, and autonomy. Advances in Ubiquitous Computing and Internet of Things have contributed to the monitoring of such situations. In particular, the use of sensors to evaluate the environment and aspects related to the health and well-being of individuals, as well as providing event alerts. The main objective of this experiment is to propose a monitoring system based on both the responses of multiple sensors (brightness, microphone, accelerometer, and gyroscope) at runtime to classify the environment for elderly people’s sleep quality. The results show that using embedded devices, and capturing environmental aspects through sensors, can develop solutions that offer more safety and comfort to the individuals’ sleep quality environment.
{"title":"IoT-Based System Monitoring of the Sleep Environment – A Study Aimed at the Elderly","authors":"L. Mano","doi":"10.31875/2409-9694.2020.07.1","DOIUrl":"https://doi.org/10.31875/2409-9694.2020.07.1","url":null,"abstract":"The aging process in our population can cause changes in people’s sleeping patterns, more specifically in the elderly, by impairing their cognitive abilities, quality of life, and autonomy. Advances in Ubiquitous Computing and Internet of Things have contributed to the monitoring of such situations. In particular, the use of sensors to evaluate the environment and aspects related to the health and well-being of individuals, as well as providing event alerts. The main objective of this experiment is to propose a monitoring system based on both the responses of multiple sensors (brightness, microphone, accelerometer, and gyroscope) at runtime to classify the environment for elderly people’s sleep quality. The results show that using embedded devices, and capturing environmental aspects through sensors, can develop solutions that offer more safety and comfort to the individuals’ sleep quality environment.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2020-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42358584","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}
Atoosa Davarpanah, M. Khazaee, A. Moslemi, S. E. Khadem
Concentric Tube Continuum Robot (CTR) is a group of continuum robots which is composed of concentric tubes that can be axially translated and rotated at the base relative to one another. Their inverse kinematic is challenging due to their redundancy. On the other hand, knowledge about the inverse kinematics of the concentric-tube continuum robot is essential for control purposes. There are many solutions for reaching to a specific target point because of the redundancy of these kinds of robots. In this paper, a new method for solving the inverse kinematics of these kinds of robots is presented. The most common type of these robots consisting of three tubes is considered for this study, and the genetic algorithm technique is employed to optimize the solution of this problem. Minimum energy principle equations are used in this method. It is assumed that the robot moves in a free space, so the environment force on this robot is neglected. Also, it is supposed that the curvature of each tube remains constant along the tube. According to the results, a small error of the order 0.01mm was observed using the presented method, which is acceptable for most applications. Finally, the parameters of robot is optimized with concentration on accuracy and the overall length of the robot, which is an important parameter for stability.
{"title":"Optimization of concentric tube continuum robot based on accuracy and overall length of the robot via genetic algorithm","authors":"Atoosa Davarpanah, M. Khazaee, A. Moslemi, S. E. Khadem","doi":"10.17352/ara.000003","DOIUrl":"https://doi.org/10.17352/ara.000003","url":null,"abstract":"Concentric Tube Continuum Robot (CTR) is a group of continuum robots which is composed of concentric tubes that can be axially translated and rotated at the base relative to one another. Their inverse kinematic is challenging due to their redundancy. On the other hand, knowledge about the inverse kinematics of the concentric-tube continuum robot is essential for control purposes. There are many solutions for reaching to a specific target point because of the redundancy of these kinds of robots. In this paper, a new method for solving the inverse kinematics of these kinds of robots is presented. The most common type of these robots consisting of three tubes is considered for this study, and the genetic algorithm technique is employed to optimize the solution of this problem. Minimum energy principle equations are used in this method. It is assumed that the robot moves in a free space, so the environment force on this robot is neglected. Also, it is supposed that the curvature of each tube remains constant along the tube. According to the results, a small error of the order 0.01mm was observed using the presented method, which is acceptable for most applications. Finally, the parameters of robot is optimized with concentration on accuracy and the overall length of the robot, which is an important parameter for stability.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"4 1","pages":"007-012"},"PeriodicalIF":0.0,"publicationDate":"2020-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47714448","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}
This article proposes the integration of electromagnetic weapons on a robot, design and construction of an electromagnetic armed robot, autonomous targeting of possible targets with the electromagnetic weapon, and the features a electromagnetic armed safety robot should have. Unlike traditional user-targeted field security robot approaches, the robot mentioned in this study detects potential threats in the task area with image processing and artificial intelligence techniques, so the user can accurately identify and autonomously target targets without the need for controlled targeting.
{"title":"Electromagnetic Weapon Based Anti Terrorism Robot","authors":"M. Demi̇r","doi":"10.36959/673/365","DOIUrl":"https://doi.org/10.36959/673/365","url":null,"abstract":"This article proposes the integration of electromagnetic weapons on a robot, design and construction of an electromagnetic armed robot, autonomous targeting of possible targets with the electromagnetic weapon, and the features a electromagnetic armed safety robot should have. Unlike traditional user-targeted field security robot approaches, the robot mentioned in this study detects potential threats in the task area with image processing and artificial intelligence techniques, so the user can accurately identify and autonomously target targets without the need for controlled targeting.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42905756","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}
Disassembly, a process of separating the End of Life (EOL) product into discrete components for re-utilizing their associated residual values, is an important part for the sustainable manufacturing. This work focuses on the modeling of the disassembly planning related information, and develops a Disassembly Information Model (DIM) based on an extensive investigation of various informational aspects of the disassembly planning. In this paper, the requirement analysis for the development of the DIM has been carried out and two categories of the requirements relating to the disassembly domain aspect and the information model aspect are thoroughly discussed. Citation: Zhu B, Roy U (2020) Requirement Analysis of an OWL Based Disassembly Planning Information Model. J Robotics Autom 4(1):131142 Zhu and Roy. J Robotics Autom 2020, 4(1):131-142 Open Access | Page 132 | They can be considered as an abstraction of the reality. Graph theory has been used as a powerful tool to solve the problems of disassembly planning, and representation models like connection diagram and AND/OR graph are usually utilized in such methods. The characteristics and functions of a disassembly system are explicitly expressed in the graph, and different searching algorithms are applied to find all the feasible disassembly sequences according to the topological, geometrical and technical constraints. Different strategies are further applied to locate the optimal sequence with consideration of the plan effectiveness and cost-effectiveness. Several outstanding graph-based approaches are briefly discussed below. Penev, et al. [6] used AND/OR graph theory and methods of dynamic programming for the generation and evaluation of the feasible disassembly plans. A new economic model is introduced to determine the optimal disassembly depth. Zhang, et al. [7] developed a graph based heuristic approach for the generation of disassembly sequences from CAD system directly. They proposed a Component-Fastener Graph to analyze the product assembly relationship and a searching for cut-vertex and decomposition of the EOL product into several subassemblies is further applied on the graph to simplify the disassembly analyzing process. Murayma, et al. [8] described the disassembly sequence generation using the idea of information entropy and heuristics to replace components at maintenance stages. The advantage of this method is primarily in the reduction of searching time and searching places for disassembly sequences. The author also developed a software tool integrated with a CAD system and carried out an experiment for an electric drill using the tool. A graph-based information modelling system to represent the process for disassembly and recycle planning of consumer products was proposed by Kanai, et al. [9]. Four kinds of graph have been presented: (1) A configuration graph of sub-assemblies or fragments; (2) A connection graph between parts and materials; (3) A process graph of disassembly, shredd
{"title":"Requirement Analysis of an OWL Based Disassembly Planning Information Model","authors":"Bicheng Zhu, R. Utpal","doi":"10.36959/673/364","DOIUrl":"https://doi.org/10.36959/673/364","url":null,"abstract":"Disassembly, a process of separating the End of Life (EOL) product into discrete components for re-utilizing their associated residual values, is an important part for the sustainable manufacturing. This work focuses on the modeling of the disassembly planning related information, and develops a Disassembly Information Model (DIM) based on an extensive investigation of various informational aspects of the disassembly planning. In this paper, the requirement analysis for the development of the DIM has been carried out and two categories of the requirements relating to the disassembly domain aspect and the information model aspect are thoroughly discussed. Citation: Zhu B, Roy U (2020) Requirement Analysis of an OWL Based Disassembly Planning Information Model. J Robotics Autom 4(1):131142 Zhu and Roy. J Robotics Autom 2020, 4(1):131-142 Open Access | Page 132 | They can be considered as an abstraction of the reality. Graph theory has been used as a powerful tool to solve the problems of disassembly planning, and representation models like connection diagram and AND/OR graph are usually utilized in such methods. The characteristics and functions of a disassembly system are explicitly expressed in the graph, and different searching algorithms are applied to find all the feasible disassembly sequences according to the topological, geometrical and technical constraints. Different strategies are further applied to locate the optimal sequence with consideration of the plan effectiveness and cost-effectiveness. Several outstanding graph-based approaches are briefly discussed below. Penev, et al. [6] used AND/OR graph theory and methods of dynamic programming for the generation and evaluation of the feasible disassembly plans. A new economic model is introduced to determine the optimal disassembly depth. Zhang, et al. [7] developed a graph based heuristic approach for the generation of disassembly sequences from CAD system directly. They proposed a Component-Fastener Graph to analyze the product assembly relationship and a searching for cut-vertex and decomposition of the EOL product into several subassemblies is further applied on the graph to simplify the disassembly analyzing process. Murayma, et al. [8] described the disassembly sequence generation using the idea of information entropy and heuristics to replace components at maintenance stages. The advantage of this method is primarily in the reduction of searching time and searching places for disassembly sequences. The author also developed a software tool integrated with a CAD system and carried out an experiment for an electric drill using the tool. A graph-based information modelling system to represent the process for disassembly and recycle planning of consumer products was proposed by Kanai, et al. [9]. Four kinds of graph have been presented: (1) A configuration graph of sub-assemblies or fragments; (2) A connection graph between parts and materials; (3) A process graph of disassembly, shredd","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41950854","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}
The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on simulation results we conclude that the performance of the fuzzy logic controller in term of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers.
{"title":"Fuzzy Logic Controller Design for PUMA 560 Robot Manipulator","authors":"A. Said","doi":"10.11591/ijra.v9i2.pp%p","DOIUrl":"https://doi.org/10.11591/ijra.v9i2.pp%p","url":null,"abstract":"The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on simulation results we conclude that the performance of the fuzzy logic controller in term of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42768685","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 : 2020-06-01DOI: 10.11591/ijra.v9i2.pp63-72
J. Klečka, K. Horak, Ondrej Bostik
This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as "partially collective mapping" has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.
{"title":"General concepts of multi-sensor data-fusion based SLAM","authors":"J. Klečka, K. Horak, Ondrej Bostik","doi":"10.11591/ijra.v9i2.pp63-72","DOIUrl":"https://doi.org/10.11591/ijra.v9i2.pp63-72","url":null,"abstract":"This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as \"partially collective mapping\" has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"63-72"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44895262","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 : 2020-06-01DOI: 10.11591/ijra.v9i2.pp123-134
Myeong In Seo, Woo-jin Jang, Junhwan Ha, Kyong-Jun Park, Dong Hwan Kim
This study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms.
{"title":"Control system design of duct cleaning robot capable of overcoming L and T-shaped ducts","authors":"Myeong In Seo, Woo-jin Jang, Junhwan Ha, Kyong-Jun Park, Dong Hwan Kim","doi":"10.11591/ijra.v9i2.pp123-134","DOIUrl":"https://doi.org/10.11591/ijra.v9i2.pp123-134","url":null,"abstract":"This study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"123-134"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44907787","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 : 2020-06-01DOI: 10.11591/ijra.v9i2.pp135-142
Hishantkumar Rashmikantbhai Patel, Y. Patel
Parallel manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology and many more. In this paper, the primary focus on usage of parallel manipulator in industrial applications such as drilling and grooving on inclined work part surface. Inverse kinematic solutions are used for drilling, square and round profiles on inclined surface using parallel manipulator.
{"title":"Inverse kinematic analysis of 3 DOF 3-PRS PM for machining on inclined prismatic surfaces","authors":"Hishantkumar Rashmikantbhai Patel, Y. Patel","doi":"10.11591/ijra.v9i2.pp135-142","DOIUrl":"https://doi.org/10.11591/ijra.v9i2.pp135-142","url":null,"abstract":"Parallel manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology and many more. In this paper, the primary focus on usage of parallel manipulator in industrial applications such as drilling and grooving on inclined work part surface. Inverse kinematic solutions are used for drilling, square and round profiles on inclined surface using parallel manipulator.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"135-142"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49200890","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 : 2020-06-01DOI: 10.11591/ijra.v9i2.pp84-93
Yi-Chang Wu, Jih-Wei Lee, Huan-Chun Wang
As an initial trial and in response to a lack of technological applications in government agencies, we have developed three multifunctional robots in accordance with the work environment and the nature of our tasks. Search Site Monitoring Robot is fitted with a panoramic camera and large wheels for walk-around search site monitoring. Suspect Guarding Robot follows and guards a suspect by tracking an augmented reality marker worn by the suspect and identifying the human body through an infrared thermal camera. For the Evidence Identification Robot, You Only Look Once (YOLO) is utilized to identify some specific evidence on search site and is equipped with a carrier and a high-torque motor for evidence transportation; it is set to issue warnings and emails to relevant personnel on specific emergencies. We have performed multiple experiments and tests to confirm the robots’ effectiveness, verifying their applicability of technological task support in government agencies.
作为一项初步试验，并针对政府机构缺乏技术应用的情况，我们根据工作环境和任务性质开发了三个多功能机器人。搜索站点监控机器人配备了全景摄像头和大型车轮，用于搜索站点的行走监控。嫌疑人守护机器人通过追踪嫌疑人佩戴的增强现实(ar)标记，通过红外热像仪识别人体，对嫌疑人进行跟踪和守护。证据识别机器人YOLO (You Only Look Once)用于识别搜索现场的某些特定证据，配备载体和高扭矩电机，用于证据运输;它将在特定紧急情况下向相关人员发出警告和电子邮件。我们已经进行了多次实验和测试，以确认机器人的有效性，验证它们在政府机构技术任务支持中的适用性。
{"title":"Robots for search site monitoring, suspect guarding, and evidence identification","authors":"Yi-Chang Wu, Jih-Wei Lee, Huan-Chun Wang","doi":"10.11591/ijra.v9i2.pp84-93","DOIUrl":"https://doi.org/10.11591/ijra.v9i2.pp84-93","url":null,"abstract":"As an initial trial and in response to a lack of technological applications in government agencies, we have developed three multifunctional robots in accordance with the work environment and the nature of our tasks. Search Site Monitoring Robot is fitted with a panoramic camera and large wheels for walk-around search site monitoring. Suspect Guarding Robot follows and guards a suspect by tracking an augmented reality marker worn by the suspect and identifying the human body through an infrared thermal camera. For the Evidence Identification Robot, You Only Look Once (YOLO) is utilized to identify some specific evidence on search site and is equipped with a carrier and a high-torque motor for evidence transportation; it is set to issue warnings and emails to relevant personnel on specific emergencies. We have performed multiple experiments and tests to confirm the robots’ effectiveness, verifying their applicability of technological task support in government agencies.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"84-93"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46885716","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}
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