Pub Date : 2020-08-05DOI: 10.33093/ijoras.2020.2.3
C. Toa, K. S. Sim, Y. Chan
Latex gloves are seen as an indispensable item in the healthcare field because it offers superior protection for both the medical staff and patient against harmful substances. However, latex gloves with high protein concentration have a high possibility to induce latex allergy which in the worst case can lead to a life-threatening condition. To minimize the occurrence of an allergy reaction, the computerized Biocompatibility Morphological Mean (BMM) test for protein detection is proposed. This test initially goes through the chemical process to determine the protein that resides in the glove sample. After that, the sample is electronically converted into a digital image. Finally, the image undergoes color image processing for calculating the color difference values. These values are then plotted on a standard curve. A high correlation coefficient (R2>0.97) of the standard curve gives better accuracies. The proposed method only takes about 40 minutes to complete the test, while existing methods need at least 6 hours.
{"title":"Protein Concentration Determination in Latex Glove Using Biocompatibility Morphological Mean Test","authors":"C. Toa, K. S. Sim, Y. Chan","doi":"10.33093/ijoras.2020.2.3","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.3","url":null,"abstract":"Latex gloves are seen as an indispensable item in the healthcare field because it offers superior protection for both the medical staff and patient against harmful substances. However, latex gloves with high protein concentration have a high possibility to induce latex allergy which in the worst case can lead to a life-threatening condition. To minimize the occurrence of an allergy reaction, the computerized Biocompatibility Morphological Mean (BMM) test for protein detection is proposed. This test initially goes through the chemical process to determine the protein that resides in the glove sample. After that, the sample is electronically converted into a digital image. Finally, the image undergoes color image processing for calculating the color difference values. These values are then plotted on a standard curve. A high correlation coefficient (R2>0.97) of the standard curve gives better accuracies. The proposed method only takes about 40 minutes to complete the test, while existing methods need at least 6 hours.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"18-24"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45179097","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 : 2020-08-05DOI: 10.33093/ijoras.2020.2.4
Choon Chen Lim, K. S. Sim, C. Toa
This project concerns on the development of applications using sensors for the rehabilitation of stroke patients. Thus, the leap motion sensor is employed for the finger motor rehabilitation training while the Microsoft Kinect sensor is utilized for the upper limb motor rehabilitation. Two applications which are named ‘Pick and Place’ and ‘Stone Breaker’ are developed. For the first application, the patient is required to pick up the virtual blocks and stack it up. The ‘Stone Breaker’ game requires the patient to move the upper limb in controlling the paddle movement in the game. At the end of the project, it is able to achieve the dominant objective of the project when the tested patient shows significant improvement in both the application.
{"title":"Development of Visual-based Rehabilitation Using Sensors for Stroke Patient","authors":"Choon Chen Lim, K. S. Sim, C. Toa","doi":"10.33093/ijoras.2020.2.4","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.4","url":null,"abstract":"This project concerns on the development of applications using sensors for the rehabilitation of stroke patients. Thus, the leap motion sensor is employed for the finger motor rehabilitation training while the Microsoft Kinect sensor is utilized for the upper limb motor rehabilitation. Two applications which are named ‘Pick and Place’ and ‘Stone Breaker’ are developed. For the first application, the patient is required to pick up the virtual blocks and stack it up. The ‘Stone Breaker’ game requires the patient to move the upper limb in controlling the paddle movement in the game. At the end of the project, it is able to achieve the dominant objective of the project when the tested patient shows significant improvement in both the application.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"25-30"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43334743","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 : 2020-08-05DOI: 10.33093/ijoras.2020.2.1
I. F. Warsito, A. Hunold, J. Haueisen, E. Supriyanto
Accurate electrode signal measurement using EEG head caps can only be achieved through sufficient contact or force. A flexible force sensor is required to obtain accurate force measurement underneath EEG head caps. In this study, we evaluate the performance of a capacitive based sensor including its accuracy, repeatability, hysteresis, and stability. The result shows that accuracy error and repeatability error were 3.03±2.8 % and 3.84±2.92 %, respectively. The stability errors were 2.37±0.15 % (10 gram), 2.54±0.00 % (50 gram), 2.37±0.15 % (100 gram), 5.07±1.16 % (150 gram), 7.27±0.39 % (200 gram). The hysteresis error of the sensor was 4.48±0.47 %. Based on the results, the capacitive based force sensor provides sufficiently low errors in accuracy, repeatability, stability, and hysteresis and is thus suitable for measuring adduction force in EEG cap applications.
{"title":"Performance Evaluation of Capacitive Based Force Sensor for Electroencephalography Head Caps","authors":"I. F. Warsito, A. Hunold, J. Haueisen, E. Supriyanto","doi":"10.33093/ijoras.2020.2.1","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.1","url":null,"abstract":"Accurate electrode signal measurement using EEG head caps can only be achieved through sufficient contact or force. A flexible force sensor is required to obtain accurate force measurement underneath EEG head caps. In this study, we evaluate the performance of a capacitive based sensor including its accuracy, repeatability, hysteresis, and stability. The result shows that accuracy error and repeatability error were 3.03±2.8 % and 3.84±2.92 %, respectively. The stability errors were 2.37±0.15 % (10 gram), 2.54±0.00 % (50 gram), 2.37±0.15 % (100 gram), 5.07±1.16 % (150 gram), 7.27±0.39 % (200 gram). The hysteresis error of the sensor was 4.48±0.47 %. Based on the results, the capacitive based force sensor provides sufficiently low errors in accuracy, repeatability, stability, and hysteresis and is thus suitable for measuring adduction force in EEG cap applications.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"4-8"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49164754","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 : 2020-08-05DOI: 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}
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