| 1. |
- Albitar, Houssam, 1975-, et al.
(författare)
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Underwater Robotics : Surface Cleaning Technics, Adhesion and Locomotion Systems
- 2016
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Ingår i: International Journal of Advanced Robotic Systems. - : INTECH. - 1729-8806 .- 1729-8814. ; 13
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Tidskriftsartikel (refereegranskat)abstract
- Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.
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| 2. |
- Balkenius, Christian, et al.
(författare)
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Ikaros : A framework for controlling robots with system-level brain models
- 2020
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 17:3
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Tidskriftsartikel (refereegranskat)abstract
- Ikaros is an open framework for system-level brain modeling and real-time robot control. Version 2 of the system includes a range of computational components that implements various algorithms and methods ranging from models of neural circuits to control systems and hardware interfaces for robot. Ikaros supports the design and implementation of large-scale computation models using a flow programming paradigm. Version 2 includes a number of new features that support complex networks of hierarchically arranged components as well as a web-based interactive editor. More than 100 persons have contributed to the code base and over 100 scientific publications report on work that has used Ikaros for simulations or robot control.
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| 3. |
- Christensen, Simon, et al.
(författare)
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Design of a powered full-body exoskeleton for physical assistance of elderly people
- 2021
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Ingår i: International Journal of Advanced Robotic Systems. - : Sage. - 1729-8806 .- 1729-8814. ; 18:6, s. 1-15
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Tidskriftsartikel (refereegranskat)abstract
- The development of full-body exoskeletons has been limited due to design complexities, mechanical integration intricacies, and heavier weight, among others. Consequently, very few full-body powered exoskeletons were developed to address these challenges, in spite of increasing demand for physical assistance at full-body level. This article presents an overall design and development of a powered full-body exoskeleton called “FB-AXO.” Primarily, FB-AXO consists of two main subsystems, a lower-body and an upper-body subsystem connected together through waist and spine modules. FB-AXO is developed for the support of weaker ageing adults so that they can continue functioning their daily activities. At the onset of the project, a set of functional and design requirements has been formulated with an extensive end-user involvement and then used in realizing the FB-AXO. The final FB-AXO design comprises of 27 degrees of freedom, of which 10 are active and 17 are passive, having a total system weight of 25 kg. Overall, the article elaborates comprehensively the design, construction, and preliminary testing of FB-AXO. The work effectively addresses design challenges including kinematic compatibility and modularity with innovative solutions. The details of the mechanics, sensors, and electronics of the two subsystems along with specifics of human-exoskeleton interfaces and ranges of motion are also provided. The FB-AXO exoskeleton effectively demonstrated to assist full-body motions such as normal walking, standing, bending as well as executing lifting and carrying tasks to meet the daily living demands of older users.
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| 4. |
- Dandan, Kinan, 1976-, et al.
(författare)
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Motion Control of Siro : The Silo Cleaning Robot
- 2015
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Ingår i: International Journal of Advanced Robotic Systems. - : InTech. - 1729-8806 .- 1729-8814. ; 12
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Tidskriftsartikel (refereegranskat)abstract
- Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise between basically contradictory factors in the design: the small entrance and the large surface of the confined space, and the suspension and the stabilization of the robot. The design consists of three main parts: a support unit, the cleaning robot and a cleaning mechanism. The latter two parts enter the silo in a folded form and, thereafter, the robot’s arms are spread in order to achieve stability during the cleaning process. The vertical movement of the robot is achieved via sequential crawling motions.The control system is divided into two separate subsystems, the robot’s control subsystem and a support-unit control subsystem, in order to facilitate different operational modes. The robot has three principle motion-control tasks: positioning the robot inside the silo, holding a vertical position during the cleaning process and a crawling movement.A scaled prototype of the robot has been implemented and tested to prove the concept, in order to make certain that the mechanical design suits the main functions of the robotic system, to realize the robot’s design in an industrial version and to test it in a realistic environment.
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| 5. |
- Gustavsson, Oscar, et al.
(författare)
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Cloth manipulation based on category classification and landmark detection
- 2022
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 19:4
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Tidskriftsartikel (refereegranskat)abstract
- Cloth manipulation remains a challenging problem for the robotic community. Recently, there has been an increased interest in applying deep learning techniques to problems in the fashion industry. As a result, large annotated data sets for cloth category classification and landmark detection were created. In this work, we leverage these advances in deep learning to perform cloth manipulation. We propose a full cloth manipulation framework that, performs category classification and landmark detection based on an image of a garment, followed by a manipulation strategy. The process is performed iteratively to achieve a stretching task where the goal is to bring a crumbled cloth into a stretched out position. We extensively evaluate our learning pipeline and show a detailed evaluation of our framework on different types of garments in a total of 140 recorded and available experiments. Finally, we demonstrate the benefits of training a network on augmented fashion data over using a small robotic-specific data set.
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| 6. |
- Haider, Usman, et al.
(författare)
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User-centric Harmonized Control for Single Joint Assistive Exoskeletons
- 2016
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 13:3
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Tidskriftsartikel (refereegranskat)abstract
- The world is ageing and this poses a challenge to produce cost-effective solutions that can keep elderly people independent and active by assisting them in daily living activities. In this regard, this paper presents a new control method to provide physical assistance for any of the user joints (e.g., hip, knee, elbow, etc.) as needed by the wearer, by means of an assistive non-medical single joint exoskeleton with a "harmonized controller" capable of providing assistance in a natural way, and varying the assistance as needed by the user performing some activity. The control method is aimed at exoskeletons to provide assistance to users facing difficulty in any activity such as walking, sit-to-stand, etc., and, other than providing assistance as needed, it can also reduce the muscular effort for a completely healthy user. Harmonized control uses exoskeleton-integrated force sensors and motion sensors to identify the user's intentions and the assistance level required, generating appropriate control signals for the actuators by implementing a simple PID controller. To verify the proposed harmonized-control technique, simulations using MATLAB/SIMULINK were performed for a single joint system. An experimental test rig for a single joint was also developed using MATLAB Xpc Target for real-time control. User tests were also carried out for the knee joint and the results obtained from simulations, experimentation and user tests are reported and discussed here. The results achieved to date and reported here show harmonized control to be a promising user-centric solution for the development of single joint assistive exoskeletons for support as needed by the user in daily living activities.
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| 7. |
- Jain, Prakhar, et al.
(författare)
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Comparative study of knee joint torque estimations for linear and rotary actuators using bond graph approach for stand–sit–stand motions
- 2020
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Ingår i: International Journal of Advanced Robotic Systems. - London : Sage Publications. - 1729-8806 .- 1729-8814. ; 17:5, s. 1-13
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Tidskriftsartikel (refereegranskat)abstract
- Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement of knee joint. People suffering from knee joint disorders face difficulties in performing this motion. The compact knee exoskeleton (KE) has proven to be a viable, less complex, and cheaper alternative to the available entire lower-, upper-, and full-body exoskeletons. With growing number of technical glitches and finite battery life problems, there exist risks of sudden failure of the actuator of KE that could be detrimental for the vulnerable users. To overcome this problem, there is a need to accommodate a backup actuator in KE which can continue providing assistance during movement if the primary actuator ceases to function. This article provides a performance comparison of a four-bar mechanism-driven KE that can accommodate both the linear and the rotary actuators. The modelling and simulation of the system are performed using the bond graph (BG) technique. The results successfully showed that both actuators offered desired ranges of motions needed for STS motion. Furthermore, the knee joint torques developed by the linear and rotary actuators were found to be 40 Nm and 57 Nm, respectively, which corresponds to 60% and 85% of the total torque required by the knee joint to perform STS motions, thereby reducing the user effort to 40% and 15%, respectively. Thus, both actuators are self-capable to provide necessary assistance at the knee joint even if the primary actuator ceases to work due to a sudden fault, the secondary actuator will provide the required rotation of the thigh link and will continue to deliver the assistive torque. The article also effectively shows the application of BG approach to model the multidisciplinary systems like KE as it conveniently models the system containing various elements in different energy domains.
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| 8. |
- Johansson, Birger, et al.
(författare)
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Epi : An open humanoid platform for developmental robotics
- 2020
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 17:2
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Tidskriftsartikel (refereegranskat)abstract
- Epi is a humanoid robot developed by Lund University Cognitive Science Robotics Group. It was designed to be used in experiments in developmental robotics and has proportions to give a childlike impression while still being decidedly robotic. The robot head has two degrees of freedom in the neck and each eye can independently move laterally. There is a camera in each eye to make stereovision possible. The arms are designed to resemble those of a human. Each arm has five degrees of freedom, three in the shoulder, one in the elbow and one in the wrist. The hands have four movable fingers and a stationary thumb. A force distribution mechanism inside the hand connect a single servo to the movable fingers and makes sure the hand closes around an object regardless of its shape. The rigid parts of the hands are 3D printed in PLA and HIPS while the flexible parts, including the joints and the tendons, are made from polyurethane rubber. The control system for Epi is based on neurophysiological data and is implemented using the Ikaros system. Most of the sensory and motor processing is done at 40 Hz to allow smooth movements. The irises of the eyes can change colour and the pupils can dilate and contract. There is also a grid of LEDs that resembles a mouth that can be animated by changing colour and intensity.
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| 9. |
- Kereluk, Jason Alexander, et al.
(författare)
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A New Modular, Autonomously Reconfigurable Manipulator Platform
- 2015
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 12
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Tidskriftsartikel (refereegranskat)abstract
- This paper discusses the design and development of a new Modular, Autonomously Reconfigurable Serial manipulator platform for advanced manufacturing, termed as the MARS manipulator. The platform consists of i) an 18-Degree-of-Freedom (DOF) serial-link manipulator capable of locking any of its joints at any position in their continuous range, such that it can emulate fewer-DOF serial manipulators with different kinematic and dynamic parameters, and ii) an integrated simulation and design environment that provides control over the manipulator hardware as well as a toolset for the design, implementation and optimization of a desired manipulator configuration for a given task. The effectiveness of the MARS manipulator to adapt its configuration to various tasks is examined by assuming two well-known configurations, SCARA and articulated, and by performing a specific task with each of them. The variation in effectiveness of the two configurations in terms of the end-effector trajectory, end-effector accuracy and power consumption is discussed. Further, these configurations are optimized with respect to their performance accuracy, and compared to their pre-optimized versions. Finally, the accuracy model of the simulation is compared against the physical hardware system, running the same task.
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| 10. |
- Khursheed, Khursheed, et al.
(författare)
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Efficient Data Reduction Techniques for Remote Applications of a Wireless Visual Sensor Network
- 2013
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 10, s. Art. no. 240-
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Tidskriftsartikel (refereegranskat)abstract
- A Wireless Visual Sensor Network (WVSN) is formed by deploying many Visual Sensor Nodes (VSNs) in the field. After acquiring an image of the area of interest, the VSN performs local processing on it and transmits the result using an embedded wireless transceiver. Wireless data transmission consumes a great deal of energy, where energy consumption is mainly dependent on the amount of information being transmitted. The image captured by the VSN contains a huge amount of data. For certain applications, segmentation can be performed on the captured images. The amount of information in the segmented images can be reduced by applying efficient bi-level image compression methods. In this way, the communication energy consumption of each of the VSNs can be reduced. However, the data reduction capability of bi-level image compression standards is fixed and is limited by the used compression algorithm. For applications attributing few changes in adjacent frames, change coding can be applied for further data reduction. Detecting and compressing only the Regions of Interest (ROIs) in the change frame is another possibility for further data reduction. In a communication system, where both the sender and the receiver know the employed compression standard, there is a possibility for further data reduction by not including the header information in the compressed bit stream of the sender. This paper summarizes different information reduction techniques such as image coding, change coding and ROI coding. The main contribution is the investigation of the combined effect of all these coding methods and their application to a few representative real life applications. This paper is intended to be a resource for researchers interested in techniques for information reduction in energy constrained embedded applications.
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