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Automated robotic inspection systems allow the collection of large data volumes, compared to existing inspection systems. To maximize the throughput associated with the nondestructive evaluation phase, it is crucial that the reconstructed inspection data sets are generated and examined rapidly without a loss of detail. Data analysis often becomes the bottleneck of automated inspections. Therefore,...
In this study, the development of the MarmaROV remotely operated underwater vehicle system is presented. The MarmaROV system is designed to be used in research and oceanographic studies of the scientific research vessel R/V TUBITAK Marmara. The MarmaROV system consists of four main subsystems: an unmanned underwater vehicle, a cable (umbilical and tether) management system, a power unit and a control...
A painting robot ARTCYBE is a machine developed to imitate an ability of a human painter to create realistic images with acrylic paints and a brush. In this paper a brushstroke rendering algorithm for this robot is presented. The algorithm converts a source bitmap image into a set of brushstrokes which we call a brushstroke map. The brushstroke map can be unambiguously transformed into a list of commands...
In this paper, we present a novel robotic hand specifically designed for dexterous spatial manipulation. Unlike most other dexterous hand designs that attempt to mimic the kinematic structure of the human hand, the proposed mechanism instead is based on the non-anthropomorphic “hexapod” structure of the Stewart platform parallel manipulator. The hand is composed of a single “grasp” actuator connected...
In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement a speed adaption loop which based on a discontinuous signal product of a sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the...
One of the main criticism of conventional rehabilitation is its deficiency in eliciting patient involvement and engagement which leads to poor outcome. The monotonous nature of rehabilitation requires the repetition of movements. Even though these repetitions can be demotivating, they are critical to the patient's therapy. Virtual reality and games are considered to address this issue, where a virtual...
This article presents the objectives of the project, Training of Trainers in Robotics for Schools in Vulnerable Areas of Costa Rica as well as the main activities, and the results that have been obtained in its first phase of execution. This is a joint project of the School of Informatics of the National University of Costa Rica (UNA), the Costa Rican Institute on Drugs (ICD) and the Ministry of Public...
A two-link manipulator can act as a simple robot for various purposes. Present work describes a two-link manipulator for generating a straight line. The problem, although quite straight forward, has many practical implementation issues. This paper describes a numerical model and experiment with two servo motors controlled by a Raspberry Pi and a 12-bit counter motor driver (PCA9685). Various parameters...
Automated driving systems have to operate at the highest level of robustness and safety. Thus, redundancy and diversity of the deployed systems are inevitable in order to guarantee the functionality in any possible scenario. Today, the most used sensor technologies for environment perception are color cameras, radar, light detection and ranging (LIDAR), and ultrasonic sensors. This work evaluates...
This paper is dedicated to studying robotic autonomous navigation technologies when the GNSS (Global Navigation Satellite System) is unavailable. To improve the robotic navigation accuracy, we propose an algorithm to fuse information from a single camera, an IMU (Inertial Measurement Unit) and a wheel odometer. At first, we present the inertial navigation equation and the error equation. Then we introduce...
Variations of both strength and stiffness in bulk, lightweight, and high energy efficiency are the main considerable factors of Granular Jamming Flexible Manipulators (GJFM)s. These factors have distinguished GJFMs from traditional manipulators and can be provided by the most important element of manipulator's bulk which is granular media as filler. Hence, granular materials should have lightweight...
The goal of this paper is to analyse the mechanical resonance that appears during the oscillatory motion in the flapping wing robots. The prototype of the actuation mechanism has been proposed that involves a DC motor directly driving a set of bioinspired wings. The resulting motion has been analysed using a high speed camera.
In this paper, we present a proposal for a practical course on mobile robots at undergraduate level in engineering programs. The aim is to complement the theoretical concepts acquired in mechatronics, electronics and computer science in a practical manner with hand-on- experience with real robotic applications. The proposal is based on the lessons learned from robotic competitions and final year projects...
In manufacturing, the increasing involvement of autonomous robots in production processes poses new challenges on the production management. In this paper we report on the usage of Optimization Modulo Theories (OMT) to solve certain multi-robot scheduling problems in this area. Whereas currently existing methods are heuristic, our approach guarantees optimality for the computed solution. We do not...
This paper presents a software framework which combines reactive collision avoidance control approach with path planning techniques for the purpose of safe navigation of multiple Unmanned Aerial Vehicles (UAVs) operating in unknown environments. The system proposed leverages advantages of using a fast local sense-and-react type control which guarantees real-time execution with computationally demanding...
This article demonstrates an innovative humanoid robot applied in the Rotation-Traction (RT) manipulation practice and evaluation process. A mass-spring mechanical system with an electromagnetic clutch was designed to emulate the cervical spine and a 3DOF non-planar model with impedance control algorithm is built to replace the neck part. The robot could imitate the entire dynamic response of human...
Within the scope of wearable robotics, human to machine interfacing is a critical element of the development of an accurate, reliable, and apt device. Wearable robotics span through a varied field of rehabilitation robotics, exoskeletons designed for industrial, military and personal use, and recently, even for handicap offset. Within any of these varied uses, a key design step is defining a viable,...
To improve the quality of life for lower-limb amputees, powered prostheses are being developed. Advanced control schemes from the field of bipedal robots, such as hybrid zero dynamics (HZD), may provide great performance. HZD-based control specifies the motion of the actuated joints using output functions to be zeroed, and the required torques are calculated using input-output linearization. For one-step...
This article introduces the Hardware Robot Operating System (H-ROS), a joint hardware and software infrastructure to create vendor-agnostic reusable and reconfigurable robot hardware components. These robot components dynamically modify and extend the internal representation model of the robot enabling robots to switch on or off components selectively and literally exchange hardware components between...
In an increasingly competitive manufacturing industry it is becoming ever more important to rapidly react to changes in market demands. In order to satisfy these requirements, it is crucial that automated manufacturing processes are flexible and can be adapted to new production requirements quickly. In this paper we present a novel automatically reconfigurable robot workcell that addresses the issues...
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