Engineering Group Journals

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https://lnkd.in/gn5ZRK5r Article Title: Modeling, mechanics and experimental investigation of perpetual vibration of serial-chain direct-drive flexible robotic system Author(s): Debanik Roy* Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: The domain of Flexible Robotic Systems (FRS) is an exciting ensemble of global robotics research of the present decade, which unfurls various real-time data like rheology, vibration, sensor fusion, and non-linear coupled dynamics for control. As some of these features, especially strain-induced deflection and vibration, are inherent in FRS, the design and prototype development of multiple degrees-of-freedom flexible robots is highly challenging. The paper addresses the aforementioned design paradigms of FRS through logical understanding by giving importance to the manufacturable design-variables. Further, these design issues for the firmware of higher-order FRS have been explained with a focus on the novel design and hardware development of a prototype multi-link serial-chain FRS fitted with a miniaturized gripper at the free end. Besides hardware realization, the paper brings out an interesting feature in experimental robotics, namely, the evaluation of the natural frequency of vibration of a flexible manipulator using real-time data on dynamic strain produced within its body. This niche methodology gets propelled by the data from multiple strain-detecting sensors placed judiciously over the links of the FRS. Guided by this lemma, a novel theoretical analysis of the optimal placement of strain-sensors over the external surface of the FRS is described. Additionally, the paper dwells on a novel scheme for dynamic analysis as well as control system logic for the developed FRS. This research provides a complete canvas of design, modeling, firmware development, and experimental ab initio evaluation of perpetual in-situ vibration of a typical serial-chain FRS. #Flexiblerobot #Vibration #Dynamics #Sensor #Hardware #Minigripper #Instrumentation #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems

https://lnkd.in/gcpfYCQH Article Title: Digital twinning of surveillance robot Author(s): Saranya M*, Archana N, Lavanya SS, Ooviyavalli K, Sneha B and Sujana K Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: Surveillance robots provide troops with real-time information about their surroundings, including enemy positions, terrain, and potential threats. This information is invaluable for making informed decisions and ensuring the safety of military personnel. Geo-fenced robots are robots equipped with technology that restricts their movements within predefined geographic boundaries. These boundaries are typically established using GPS or other location-based technologies. In applications like the military, geo-fencing can be used to establish secure zones. Geo-fencing helps prevent robots from entering hazardous areas, reducing the risk of damage to the robot and potential harm to friendly forces or civilians This project aims at Digital twinning of robots by creating a virtual replica or model of a physical robot in a digital environment. Digital twinning allows engineers and designers to simulate and test the robot’s behavior, performance, and capabilities in a virtual environment before building the physical robot. This can lead to increased efficiency, reduced downtime, and cost savings. In this project, LiDAR (Light Detection and Ranging) sensor data is integrated with a digital twinned robot to create a virtual reproduction of the robot and its surroundings. LiDAR is a remote sensing technology that maps the robot’s surroundings in fine detail using 3D point clouds by measuring distances using laser pulses. Here we make use of RPLIDAR A1 M8 and acquire data from it using ROS with the help of a RaspberryPi4B Controller. Simulink is used to create a 3D model of the robot’s environment and the robot itself. Reinforcement learning and pure pursuit algorithms are used for developing them. This project discusses the need for geofenced autonomous robots and emphasizes the security and reliability it brings to military applications. #Geofencing #DigitaltwinningLIDARA1M8 #ROS #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems

https://lnkd.in/gqexWm9V Article Title: Vibration of flexible robots: Dynamics and novel synthesis of unbounded trajectories Author(s): Vibration of flexible robots: Dynamics and novel synthesis of unbounded trajectories Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: Flexible Robotic Systems, by and large, are prone to inherent vibration that recreates itself in several modal frequencies. This in-situ vibration in flexible robots or in any such complaint robotic unit becomes tricky so far as the control system architecture is concerned. Thus, customization of the design and firmware of higher-order flexible robots is highly challenging due to its inherent parameters related to real-time vibration. Vibration in flexible robots has been investigated hitherto from the standpoint of frequency & amplitude tuple, sidetracking the important paradigm of looping of the trajectories. This work has added a technological niche in bringing out the intrinsic dynamics of this vibration from a mathematical perspective of trajectory formation so as to understand the mechanics of spiraling loops while a flexible/compliant robotic system is vibrating under natural conditions. The analytical modeling of the said in-situ vibration has been experimented with through an indigenous single-link flexible robot, fitted with a miniature gripper. #Flexiblerobot #Compliance #Vibration #Modalfrequency #Nonlinearity #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems

https://lnkd.in/gUTcJpFC Article Title: An Experimental Study on Surveillance Robot Using Raspberry Pi Author(s): Soroosh Mahmoodi*, Malala Stembinkosi Shapola, Parisa Hamedia Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: Recently, robots have been developed to reduce human resources and observation time in a fast, booming, and rapidly growing technology. In this study, a surveillance robot is designed and manufactured to move around a given surrounding, preferably a domestic environment, record video & audio and send the information to the user through a network. The robot is allowed to be controlled wirelessly using Raspberry Pi technology from a location remotely using IoT technology. This sensor-based robot uses the Raspberry Pi with Ethernet, WI-Fi and Bluetooth for networking purposes. Python is chosen as the programming language in both autonomous and semi-autonomous modes. The manufactured robot was experimentally tested. The recorded videos, images and audio are successfully transferred through a WiFi network to the end user. The user could also control and move the robot in different directions for specific demands. The designed simple robot interests users to record and transfer information for the safety of their indoors. #RaspberryPi #Pythonprogramming #Picamera #Imageprocessing #Surveillancerobot #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems

https://lnkd.in/g7BpNhHq Article Title: Stakeholder involvement in the innovation process: An example in medical robotics, the ROBO-K project Author(s): Nathalie Pichot, Kévin Nadarajah, Isabelle Bonan, Guy Caverot, Pauline Coignard, Jean-Luc Le Guiet and Alain Somat* Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: In the field of medical robotics, many studies have called for the integration of end-users in the innovation process. The objective is to identify the factors that facilitate (or not) the use of the designed robots and thus try to guarantee their diffusion in the care services. This recommendation was followed in the ROBO-K project. The ROBO-K project proposes the design and development of a mobile, interactive robot dedicated to gait rehabilitation. This project was initiated by BA Healthcare, a medical robotics company. The design of a robot was accompanied to achieve the targeted therapeutic objectives by taking into account the requirements related to the needs of the patients and the practitioners; the care activity and the institutions involved. A follow-up by the social acceptability of the technology led to focus the innovation process on a co-construction activity involving all stakeholders. This co-construction activity was decisive, as it guided the definition of functional expectations and the technical specifications of the prototype developed. It was completed by a test phase of the prototype (in a care situation for 5 months). The results show the relevance to involve all the stakeholders in all the design and development phases of the robotic device. However, they underline the difficulties or limits linked to this type of approach in terms of innovation. A Linear Time Varying (LTV) Model Predictive Control (MPC) is proposed to control the vehicle minimising the lateral error with respect to lane centre while maintaining a constant speed. The lane centre is estimated by the lane boundaries that are supposed to be given by a vision detection system. The risk situation is evaluated by the slip angle and rate. #Technologyacceptability #Stakeholderanalysis #Coconstructionactivity #Medicalrobotics #Innovationprocess #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems

https://lnkd.in/gHKRY_q8 Article Title: A model predictive approach to control vehicle skidding by sideslip angle estimation Author(s): Simone Graffione*, Roberto Sacile, Enrico Zero and Chiara Bersani Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: Nowadays, many cars are equipped with Advanced Driving Assistance Systems (ADAS), from cruise control to collision detection and speed limit signalling. In recent years, the scientific community has carried out a lot of research in the field of autonomous driving system with the aim of improving fuel consumption, traffic and safety, but it is still a developing field that will require a lot of work despite the great progress. This paper proposes a new approach to road safety, introducing an autonomous driving system that intervenes when dangerous situations occur or when the driver is not able to drive, keeping the passengers and the other vehicles safe. A Linear Time Varying (LTV) Model Predictive Control (MPC) is proposed to control the vehicle minimising the lateral error with respect to lane centre while maintaining a constant speed. The lane centre is estimated by the lane boundaries that are supposed to be given by a vision detection system. The risk situation is evaluated by the slip angle and rate. #Autonomoussystem #ADAS #Modelpredictivecontrol #Kalmanfilter #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems

https://lnkd.in/gTDB3TCv Article Title: Use of orthospin technology in the correction of complex limb deformities Author(s): Adam D Geffner*, Taylor J Reif, Austin T Fragomen and S Robert Rozbruch Journal: Annals of Robotics and Automation Journal ISSN: 2994-418X Abstract: Circular external fixators using hexapod struts are a valuable tool in the treatment of complex, multiplanar limb deformities. The benefits of external fixation technology are well documented and include excellent biomechanical fixation allowing weight bearing and range of motion of joints during treatment, as well as superb versatility to manage a host of challenging clinical pathologies. Despite these advantages, proper treatment with a hexapod external fixation device depends on the patient’s ability to manually adjust the six struts according to a demanding treatment plan. Without strict adherence to the treatment plan, prolonged treatment, worsening deformity, or even the need for further surgery become possible. Orthospin’s Autostrut technology provides a solution to the drawbacks of external fixation treatment by automating the strut-adjustment process. A control box automatically turns motorized struts according to the physician’s treatment plan and sends real-time updates to the physician’s phone or computer. This allows him or her to closely monitor the treatment process and make necessary adjustments as needed. Orthospin technology is FDA approved and given its success in early applications is ready for more widespread use. #Engineering #MechanicalEngineering #ElectricalEngineering #CivilEngineering #ChemicalEngineering #ComputerEngineering #SoftwareEngineering #AerospaceEngineering #BiomedicalEngineering #EnvironmentalEngineering #StructuralEngineering #IndustrialEngineering #MaterialsEngineering #SystemsEngineering #Robotics #Peertechz #PeertechzPublications #Nanotechnology #RenewableEnergy #EngineeringDesign #EngineeringManagement #ManufacturingEngineering #AutomotiveEngineering #TelecommunicationsEngineering #Mechatronics #EngineeringMechanics #ControlSystems