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Robosapien Robot used to Model Humanoid Interaction to Perform tasks in Dangerous Manufacturing Environments

IOP Conference Series: Materials Science and Engineering 2014年第1期65卷

作者： R Stopforth G Bright Mechatronics and Robotics Research Group (MR2G) University of KwaZulu-Natal Durban South Africa

Humans are involved with accidents in manufacturing environments. A possibility to prevent humans from these scenarios is, to introduce humanoid robots within these industrial areas. This paper investigates the control scenario and environments required at a small scale level, with the use of the Robosapien robot. The Robosapien robot is modified to control it with a task of removing a cylinder and inserting it into a hole. Analysis is performed on the performance of the Robosapien robot and relating it with that of a humanoid robot. A discussion with suggestions is concluded with the efficiency and profitability that would need to be considered, for having a humanoid robot within the manufacturing environment.

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Virtual stretched string: An optimal path planning technique over polygonal obstacles 13

Virtual stretched string: An optimal path planning technique...

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1st International Conference on Advances in robotics, AIR 2013

作者： Sengupta, Agniva Ray, Ranjit Shome, S.N. School of Mechatronics CSIR-Central Mechanical Engineering Research Institute Durgapur India Robotics and Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781450323475

This paper describes an algorithm for path planning among polygonal obstacles that is safe and optimal in the 2D plane. The algorithm is a computational geometry based path planner but unlike existing path planners, the proposed approach works by simulating the physical property of an inextensible, frictionless string. The string has been modeled with certain constraints which lead to the determination of the shortest safe path between origin and goal points. This paper deals with the details of the proposed mechanism. The proposed technique has been successfully simulated and tested with suitable experiments. © 2013 ACM.

关键词： Graph theory

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Biological Swimming Mechanism Analysis and Design of Robotic Frog

Biological Swimming Mechanism Analysis and Design of Robotic...

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IEEE International Conference on mechatronics and Automation

作者： Jyotsna Pandey N. S. Reddy R. Ray S. N. Shome School of Mechatronics CSIR-Central Mechanical Engineering Research Institute Durgapur 713209 India Robotics & Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur 713209 India

ISBN: (纸本)9781467355599

There are several locomotion mechanisms in Nature. The study of mechanics of any locomotion is very useful for scientists and researchers. Many locomotion principles from Nature have been adapted in robotics. There are several species which are capable of multimode locomotion such as walking and swimming, and flying etc. Frogs are such species, capable of jumping, walking, and swimming. Multimode locomotion is important for robots to work in unknown environment. Frogs are widely known as good multimode locomotors. Webbed feet help them to swim efficiently in water. This paper presents the study of frog's swimming locomotion and adapting the webbed feet for swimming locomotion of the robots. A simple mechanical model of robotic leg with webbed foot, which can be used for multi-mode locomotion and robotic frog, is put forward. All the joints of the legs are designed to be driven by tendon-pulley arrangement with the actuators mounted on the body, which allows the legs to be lighter and compact.

关键词： compact Design researchers

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Water tank experiment for a robotic fish

Water tank experiment for a robotic fish

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Dongwon Yun Jinho Kyung Sanghyun Jeong Chanhun Park Hang Seok Choi Youngsun Ryuh Department of Robotics and Mechatronics Korea Institute of Machinery Daejeon Korea Department of Eco-Machinery Systems Korea Institute of Machinery Dacjeon Korea Department of Environmental Engineering Yonsei University Wonju Korea Biomimetic Robot Research Group Korea Institute of Industrial Technology Ansan Korea

In this paper, a water tank experiment was conducted to check the performance of a robotic fish. To view the function of a robotic fish swimming in flowing water, a circulating water tank should be used. 4 types of a caudal fin were made and used in the water tank experiment and the thrust of each case was measured and compared. Through this experiment, it can be identified swimming performance of each caudal fin.

关键词： Robots Ambient intelligence Barium

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Conceptual design and kinematic analysis of a parallel rotational robot 1

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Herrera, Fray J. Acuña, Hernan Gonzalez Lengerke, Omar Dutra, Max Suell Research Group in Control and Mechatronics Mechatronics Engineering Program Universidad Autonoma de Bucaramanga Bucaramanga Colombia Research Group in Machine Design and Robotics Department of Mechanical Engineering COPPE UFRJ Federal University of Rio de Janeiro Rio de Janeiro Brazil

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement;the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the conceptual design. The rotational parallel robot used 6 servomotors and 6 links with spherical joints that provide 360° rotational capabilities on its axis. This is a big flexibility in comparison with Stewart platform but the workspace is smaller than that of the Stewart platform. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Inverse kinematics

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Metaheuristic optimization approach to mobile robot path planning

Metaheuristic optimization approach to mobile robot path pla...

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International Conference on Engineering and Technology (ICET)

作者： Ahmed Hussein Heba Mostafa Mohamed Badrel-din Osama Sultan Alaa Khamis Robotics and Autonomous Systems (RAS) Research Group Department of Mechatronics Engineering German University in Cairo Egypt

This paper presents a metaheuristic optimization-based approach to mobile robot path planning problem. A comparative study between trajectory-based metaheuristic optimization and population-based metaheuristic optimization is conducted. Breadth-first deterministic search is used to find the optimal solution (ground truth) that is compared to the paths generated by tabu search, simulated annealing and genetic algorithm. The experimental study shows that simulated annealing outperforms the other algorithms in terms of computational time while tabu search gives the shortest path.

关键词： Path planning Genetic algorithms Mobile robots Simulated annealing Algorithm design and analysis

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Team-theoretic approach to cooperative multirobot systems: Humanitarian demining as a case study

Team-theoretic approach to cooperative multirobot systems: H...

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International Conference on Engineering and Technology (ICET)

作者： Asser ElGindy Alaa Khamis Robotics and Autonomous Systems (RAS) Research Group Mechatronics Engineering Department German University in Cairo New Cairo Egypt

This article presents an approach to implement a cooperative multirobot system capable of solving complex problems. In this cooperative multirobot system, individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team member's commitments to each other despite their different types, properties and goals. The proposed approach is tested for validity with the real life problem of humanitarian demining, as it requires cooperation between different robots to scan and clear a minefield from all the landmines.

关键词： Robot sensing systems Robot kinematics Multirobot systems Landmine detection Sensitivity

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A pathway-based approach for analyzing microarray data using random forests

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ICIC Express Letters 2012年第5期6卷 1253-1257页

作者： Shi, Chin Hui Mohamad, Mohd Saberi Deris, Safaai Ibrahim, Zuwairie Articial Intelligence and Bioinformatics Research Group Faculty of Computer Science and Information Systems Malaysia Department of Mechatronics and Robotics Center for Articial Intelligence and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

Although machine learning methods, such as random forests, have been developed to correlate survival outcomes with a set of genes, less study has assessed the abilities of these methods in incorporating pathway information for analyzing microarray data. In general, genes that are identified without incorporating biological knowledge are more difficult to interpret. Thus, the pathway-based survival analysis using machine learning methods represents a promising approach for generating new biological hypothesis from microarray studies. The two popular variants of random forests used in this research for survival data are random survival forests and bivariate node-splitting random survival forests. There are three types of datasets used for this research and each dataset with a three-level outcome. This research which compared the four splitting rules available in random survival forests to identify log-rank test is the most accurate in terms of prediction error. To evaluate the accuracy of pathway based survival approach, this research considered employing area under the receiver operating characteristic curve for censored data. The use of random survival forests for survival outcomes in analyzing microarray data allows researchers to obtain results that are more closely tied with the biological mechanism of diseases.

关键词： Genes

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Survey and Requirements for Search and Rescue Ground and Air Vehicles for Mining Applications

Survey and Requirements for Search and Rescue Ground and Air...

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International Conference on mechatronics and Machine Vision in Practice (M2VIP)

作者： Allan Chikwanha Sibonelo Motepe Riaan Stopforth Mechatronics and Robotics Research Group (MR~2G) - Search and Rescue Division University of KwaZulu-Natal Howard College Durban KZN 4041 South Africa

ISBN: (纸本)9781467316439

Advancements in robotic technologies have seen robots playing vital roles in search and rescue operations. These robots explore regions of the disaster scene which are dangerous for human rescuers and would be physically impossible for the rescuers to operate. The robots collect information about the disaster scene and transmit it to the rescuers who would then plan the course of action to take. The paper describes two platforms of different classification used for search and rescue operations in a similar disaster environment. A survey and requirement of the physical structure and the various electronic components for these platforms are investigated. Comparison of the physical structure and electronic components of these platforms which make them suitable for application are discussed.

关键词： Search and rescue UAV UGV Rescue Robot Electronic components Platform Searches Unmanned Aerial Vehicle drone honey bees plane MINING APPLICATION Disasters

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Multivariate analysis of gene expression data and missing value imputation based on llsimpute algorithm

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ICIC Express Letters 2012年第5期6卷 1335-1339页

作者： Moorthy, Kohbalan Mohamad, Mohd Saberi Deris, Safaai Ibrahim, Zuwairie Artificial Intelligence and Bioinformatics Research Group Faculty of Computer Science and Information Systems 81310 UTM Skudai Johor Malaysia Department of Mechatronics and Robotics Center of Artificial Intelligence and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

Microarray ade4 or known as MADE4 is a multivariate software analysis package for microarray gene expression data. This software package is capable of accepting wide variety of gene expression data formats such as Bioconductor Affy Batch and exprSet. This MADE4 R package extends the advantages of ade4 package in multivariate statistical and graphical functions for the use in the microarray data application. Moreover, MADE4 provides new graphical and visualization tools that assist in the interpretation of multivariate analysis of microarray data. Besides that, LLSimpute algorithm has been incorporated to assist in handling of datasets with missing values and this has eased the application for the users to analysis on gene expression data that contain missing values.

关键词： Autocorrelation

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