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Instant soft robot: A simple recipe for quick and easy manufacturing

Instant soft robot: A simple recipe for quick and easy manuf...

引用

IEEE international conference on Soft robotics (RoboSoft)

作者： J. Fras J. Glowka K. Althoefer Centre of Advanced Robotics @ Queen Mary (ARQ) Faculty of Science and Engineering Queen Mary University of London London UK Industrial Research Institute for Automation and Measurements PIAP Warsaw PL

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

Soft robots offer interesting features and can be manufactured cheaply using widely available lab equipment. However, with increasing robot complexity, the manufacturing process often becomes expensive, requires sophisticated or experimental tools, highly skilled technicians and time. In this paper, we propose an alternative approach for the fabrication of soft pneumatic fiber-reinforced actuators. With the new design, a scaffolding to reinforce the actuator is printed inside a single-use mold. The mold is injected with silicone and broken apart, while the reinforcement detaches from the mold and remains within the actuator. Using flexible filaments such as nylon allows for the resulting actuators to be not only compliant but also squeezable. Our approach reduces the needed work effort and requires virtually no manufacturing skills when compared to current labor-intensive fabrication techniques. It also does not require any equipment other than an affordable, single nozzle desktop 3D printer. In the paper, we presented the design and fabrication process of different types of modules: linearly extending, bending and a manipulation module. We have compared the new instant design and the previous fiber-reinforced design in terms of bending, elongation and generated forces.

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Design and Characterization of a Miniature Hydraulic Power Supply for High-Bandwidth control of Soft robotics

Design and Characterization of a Miniature Hydraulic Power S...

引用

IEEE international conference on Soft robotics (RoboSoft)

作者： Damiano Padovani Eric J. Barth Engineering Department University of Agder Grimstad Norway Mechanical Engineering Department Vanderbilt University Nashville USA

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

Soft robotics holds enormous promise for a wide class of applications. However, system controllability, bandwidth, portability, and energy efficiency of soft robot power supplies are often inadequate. Soft robotics desperately needs improved solutions to drive soft actuators either pneumatically or hydraulically. This research paper offers a contribution to bridge this gap. It deals with small-scale power supplies for hydraulically-driven soft robots based on fluidic elastomer actuators in the power range 5-400 W. A design procedure for such power supplies is developed with an emphasis on highbandwidth control. The performance requirements are established based on a literature survey, and design alternatives are discussed. Then, a prototype consisting of a 0.102 cm 3 /rev positive-displacement, external gear pump directly driven by a 70 W brushless dc motor is built and experimentally characterized. control of the targeted soft robots results possible because the proposed power supply has high-bandwidth varying between about 12 and 30 Hz (i.e., well above the actuators' mechanical frequency). The power supply's energy efficiency is also measured, and areas for its improvement are identified. The proposed solution is feasible, applicable to autonomous soft robots, scalable to the power levels of interest, and possibly useful for both tethered soft robots and rigid/semi-rigid robots.

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A map accessibility analysis algorithm for mobile robot navigation in outdoor environment

A map accessibility analysis algorithm for mobile robot navi...

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2019 IEEE international conference on Real-Time Computing and robotics, RCAR 2019

作者： Yu, Xiangyu Wang, Jingchuan Chen, Weidong Wang, Hesheng Key Laboratory of System Control and Information Processing Ministry of Education of China Institute of Medical Robotics Shanghai Jiao Tong University Autonomous Robot Lab Department of Automation Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781728137261

Autonomous mobile robots have been widely used to perform specific tasks in recent decades. Map accessibility analysis is necessary for those robots to achieve safe and efficient path planning and navigation, especially in outdoor environment where the terrain can be uneven. Researchers have done sufficient works on the influences of different factors. However, integrating these factors is still a great challenge since the information of some constraints are only needed for specific robot tasks. In this paper, we firstly build a Three Dimensional (3D) Occupancy Grid Map (OctoMap) using a 3D Lidar and encoder-based odometer, and then extract different factors from the OctoMap and real-time lidar data. In order to analyze the relationship between map accessibility and variety of constraints, we design an open system and propose a map accessibility analysis algorithm to integrate different factors which have influence on mobile robot navigation. The system and algorithm are demonstrated to be efficient via experiments. © 2018 IEEE

关键词： Motion planning

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Integral Backstepping-based Nonlinear Flight control Strategy for Quadrotor Aerial Robot with Unknown Mass 18

Integral Backstepping-based Nonlinear Flight Control Strateg...

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3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Wang, Jin Fang, Zhou Zhao, Wenjie Zhejiang Univ Room 4165th Teaching Bldg38 Zheda Rd Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781450365307

This paper aims at obtaining a stable and rapid-responsive controller for quadrotor aerial robots with unknown or changeable mass. Based on Newton-Euler formula, integral backstepping method and fractional-order PI/PD control, an adaptive flight control strategy is carried out in Matlab with Lyapunov stability theorem to ensure its stability. The control strategy includes cascade fractional PI/PD control for rotational loop and integral backstepping control for translational loop. Through the comparison with conventional PID flight controller, main criteria for performance as setting time, maximum overshoot and steady-error show its improvement. After validating the proposed control system and controller tuning with several meta-heuristic algorithms, results from non-linear simulation verify the effectiveness and robustness for hovering or near hovering (near quasi-stationary) flight of quadrotors.

关键词： Fractional-order PI/PD Integral backstepping Unknown mass quadrotor control

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Design and development of a robotic arm for evaluation of medical MEMS sensors

Design and development of a robotic arm for evaluation of me...

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2019 IEEE international conference on Real-Time Computing and robotics, RCAR 2019

作者： Li, Heng Zhang, Meixuan Li, Juntao Shi, Guangyi Jin, Yufeng TSV 3D Integrated Micro/Nano System Lab Peking University Shenzhen Graduate School Shenzhen China

ISBN: (纸本)9781728137261

This paper presents a robotic arm for evaluating the multiple-physical information sensing array for the purpose of detecting the edge of blood clots and tumors. The robot arm has six degrees of freedom, of which the first four degrees of freedom are used to control the movement position of the robot to achieve fast and conformal touching of the target object;the latter two degrees of freedom are used to control the motion posture of the robot end effector, achieving a uniform speed mobile detection. The Adams and MATLAB union simulation is then used, which shows that it has an ability of good position tracking. At the same time, we simulated a silicon-based piezoresistive pressure sensing array, which has a good voltage output characteristic for medical detection. © 2018 IEEE

关键词： Robotic arms

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Design and control of the Lower Part of Humanoid Biped Robot 3

Design and Control of the Lower Part of Humanoid Biped Robot

引用

3rd international conference on robotics and automation Engineering (ICRAE)

作者： Mohamed, Samer A. Maged, Shady A. Awad, Mohammed I. Ain Shams Univ Fac Engn Mechatron Engn Dept Cairo Egypt

ISBN: (纸本)9781538695944

This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was developed to produce the trajectory of the robot center of mass (COM), and then generate the feet trajectories, as well as applying inverse kinematics model. An iterative optimization algorithm was used to find the angular correction. The system was simulated on MATLAB/SIMULINK simulation environment and the results were satisfactory.

关键词： bio-inspired robotics humanoid gait walking pattern trajectories linear inverted pendulum

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Gas Discharge Tube's Electromagnetic Pulse Response Prediction Based on Elman Neural Network 18

Gas Discharge Tube's Electromagnetic Pulse Response Predicti...

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3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Wang, Jinjin Nie, Xin Sun, Beiyun Wang, Wei Xiang, Hui Zhu, ZhiZhen Northwest Inst Nucl Technol State Key Lab Intense Pulsed Radiat Simulat & Eff 28 Pingyu Rd Xian Shaanxi Peoples R China

ISBN: (纸本)9781450365307

Electronic equipments may be disturbed by electromagnetic pulse during operation in some fields. Gas discharge tube is usually added as surge protection device to protect electronic equipment from electromagnetic pulse. Electromagnetic pulse current injection experiment is used to test gas discharge tube's protective characteristics. In order to reduce experimental times and guide experimental process, Elman neural network was used to predict electromagnetic pulse responses of gas discharge tube. Elman neural network is a recurrent neural network with local memory units and local feedback connections. Experiments showed that the Elman neural network model on gas discharge tube at different grades of voltage injection experiments have had better prediction results.

关键词： Elman neural network gas discharge tube electromagnetic Pulse prediction

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Infrared and Visible Image Fusion in Realistic Streetscape 18

Infrared and Visible Image Fusion in Realistic Streetscape

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3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Huang, Yudong Xu, Wei Tan, Hanlin Long, Xin Ben, Zongcheng Natl Univ Def Technol Coll Syst Engn 109 Deya Rd Changsha 410073 Hunan Peoples R China

ISBN: (纸本)9781450365307

Infrared and visible image fusion plays an important role in military and civilian applications. However, most methods are focus on simple general scene, which only contains one person alone or a few buildings. It is not enough to fully reflect the diversity and complicated of reality. This paper presents a new fusion method for infrared and visible images based on saliency detection and guided filter, aiming to obtain a synthetic image that is suitable for human visual perception in complicated street scenes. The proposed method employs the saliency detection to extract target region from infrared images. Each image is decomposed into a base layer and detail layers based on a multi-scale decomposition through guided filter. Experimental results demonstrate that our method can achieve a superior performance compared with previous image fusion methods in both subjective and objective evaluation.

关键词： Image fusion Guided filtering Visual saliency Infrared and visible imaging

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Implementation of cognitive perception functions in fuzzy situational control model

Implementation of cognitive perception functions in fuzzy si...

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3rd international conference on Traffic Engineering in Transportation and Logistics (ICTE)

作者： Kargin, Anatolii Panchenko, Sergej Vasiljevs, Aleksejs Petrenko, Tetyana Ukrainian State Univ Railway Transport Feierbakh Sq 7 UA-61050 Kharkov Ukraine Riga Tech Univ Transport Inst Azenes St 12-316 LV-1048 Riga Latvia

In autonomous transport systems, it is useful to be able to continue interrupted traffic after removing the obstacle that caused deviations from the route. This article describes a control model in which cognitive functions, such as context and attention are embedded. The fuzzy situational control model of an autonomously moving machine along a route with obstacles is expanded by tracking context and switching attention mechanisms. Additionally, it describes a knowledge representation about the route, the surrounding space and how to avoid collisions with obstacles. (C) 2019 The Authors. Published by Elsevier B.V.

关键词： Cognitive robotics Fuzzy situational control Context Attention Autonomously moving machine

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Icons for the Mass: An Approach towards Text Free Smart Interface 1

Icons for the Mass: An Approach towards Text Free Smart Inte...

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1st international conference on Advances in Science, Engineering and robotics Technology, ICASERT 2019

作者： Ahmed, Eshtiak Hasan, Md. Mahade Faruk, Mirza Omar Hossain, Muhammad Farhad Rahman, Md. Arifur Islam, Ashraful Daffodil International University Dept. of Computer Science and Engineering Dhaka Bangladesh University of Louisiana at Lafayette School of Computing and Informatics Louisiana United States

ISBN: (纸本)9781728134451

A major population of 3rd world countries have problems reading out texts because of the low literacy rate. While smartphones have given them a hope to lead a better life, interacting with them needs a certain level of literacy which a majority of them lack. Given the rapid growth of variation in this user base, it is evident that interactive graphical representations can give a better understanding of contents especially to the children and to the illiterate people. This work emphasizes on making the Google Play App Store more usable as this is the most used app for smartphone users. In this study, new icons have been designed and then compared side by side with 16 existing Google Play Store app category icons to initially find out the legitimacy of the new icons. Further, a survey between smartphone users has been conducted and the results show that the new icons fare better while representing app categories. Based on the survey results and more widely accepted icons, some key factors to design icons have been identified. © 2019 IEEE.

关键词： Smartphones

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