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Miniature magnetic robots for in-pipe locomotion 用于管道内移动的微型磁性机器人
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.32
G. H. Mills, Jason Liu, B. Kaddouh, A. Jackson, R. Richardson
{"title":"Miniature magnetic robots for in-pipe locomotion","authors":"G. H. Mills, Jason Liu, B. Kaddouh, A. Jackson, R. Richardson","doi":"10.13180/clawar.2018.10-12.09.32","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.32","url":null,"abstract":"Inspection of both small and large diameter bore pipelines for pipe integrity and defect identification with a single system has previously been impractical; especially using wall-press locomotion methods with low adaptive range. A miniature magnetic wallclimbing robot has been developed as a robotic solution for the inspection of 50mm bore diameter pipelines which can scale in-pipe geometry obstacles to access larger connected pipelines. Using magnetic arrays directed through steel flux plates within the wheels, the robot uses magnetic forces to adhere to the pipe. The system is 3D printed and includes soft printed material rubber wheels. The robot prototype is wirelessly driven, controlled remotely through serial Bluetooth communication radio at 2.4 GHz rated up to 100m. The robot’s unique compact geometry and magnetic design allows it to scale concave rightangle wall cases in just a 50mm diameter bore. By entering pipe networks through these small existing access points the robot removes the need for expensive drilling procedures required to fit launch vessels.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129549555","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Mooring chain climbing robot for NDT inspection applications 用于无损检测应用的系泊爬链机器人
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.38
M. Kimball, A. Amit, A. Gmerek, P. Collins, A. Wheateley, K. Shah, J. Liu, M. Dissanayake, J. Caroll, A. Plastropoulos, P. T. Karfakis, G. Virk, T. Sattar
{"title":"Mooring chain climbing robot for NDT inspection applications","authors":"M. Kimball, A. Amit, A. Gmerek, P. Collins, A. Wheateley, K. Shah, J. Liu, M. Dissanayake, J. Caroll, A. Plastropoulos, P. T. Karfakis, G. Virk, T. Sattar","doi":"10.13180/clawar.2018.10-12.09.38","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.38","url":null,"abstract":"Inspection of mooring chains is an important but dangerous and costly procedure covering inspection above and below the waterline. The paper presents initial results from the RIMCAW project which aimed at designing and building an inspection robot able to climb mooring chains and deploy NDT technologies for scanning individual links thereby detecting critical defects. The paper focuses on the design and realisation of the inchworm type novel crawler developed and tested in the TWI Middlesbrough, UK water tank.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128474754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Using collaborative robots as a tool for easier programming of industrial robots 使用协作机器人作为工具，使工业机器人更容易编程
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.41
Ioan-Matei Sarivan, A. Batuev, Andreea-Emilia Ciontos, Øjvind Holtskog, Emil Nordstedt Sivertsen, Casper Schou
{"title":"Using collaborative robots as a tool for easier programming of industrial robots","authors":"Ioan-Matei Sarivan, A. Batuev, Andreea-Emilia Ciontos, Øjvind Holtskog, Emil Nordstedt Sivertsen, Casper Schou","doi":"10.13180/clawar.2018.10-12.09.41","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.41","url":null,"abstract":"Programming industrial robots using traditional jogging via teach pendant is a time-consuming task that requires extensive training. More intuitive and faster task programming is often possible using kinesthetic teaching. Although this feature is available on many commercial collaborative robots, it is rarely available on traditional industrial robots. In this paper we propose a framework for allowing tasks to be instructed using a collaborative robot via kinesthetic teaching, and afterwards deployed to a traditional industrial robot. The frame- work consists of a physical modular concept for robot exchange, and a online programming software tool called Universal Industrial Interface. To assess the framework, a feasibility study is conducted where an industrial relevant task is  rst programmed using a collaborative manipulator, and afterwards deployed on an industrial manipulator.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131143458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival 基于到达时差实验测量的超宽带无线传感器网络移动机器人室内定位
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.53
Oa Oumar, T. Sattar, M. Tokhi
{"title":"Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival","authors":"Oa Oumar, T. Sattar, M. Tokhi","doi":"10.13180/clawar.2018.10-12.09.53","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.53","url":null,"abstract":"This paper presents investigations into wireless localization techniques for mobile robots operating in indoor environments. Localization systems can guide robots to perform \u0000different tasks such as monitoring children or elderly people, aid mobility of the visually impaired and localize mobile objects or packages in warehouses. They are essential for localization of robots operating in re-mote places that are inaccessible or hazardous to humans. Currently, ultra wide band (UWB) in indoor environments provides an accuracy of 24 mm under line of sight (LOS) or non-line of sight (NLOS) conditions in a working \u0000range of 160 m indoors. The work presented in this paper carries out experimental validation of localization algorithms using mobile robots and UWB signals. These are measured in LOS and NLOS environments. The measurements are performed with the \u0000UWB radio PulsON 410 (P410) and mobile robots (AmigoBot) with maximum travel-ling speed of 1 m/s and equipped with an on-board computer, sonar, odometer, camera and inertial \u0000navigation system. Experimental results obtained for the system show positioning errors of less than 55 mm.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132860855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Proposal of air compressing device using walking vibration energy regeneration for pneumatic driven assistive device 气动辅助装置行走振动能量再生空气压缩装置的设计
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.12
M. Okui, Yasuyuki Yamada, Taro Nakamura
{"title":"Proposal of air compressing device using walking vibration energy regeneration for pneumatic driven assistive device","authors":"M. Okui, Yasuyuki Yamada, Taro Nakamura","doi":"10.13180/clawar.2018.10-12.09.12","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.12","url":null,"abstract":"Pneumatically driven wearable assistive devices for walking have been developed recently. These devices can achieve flexible assistance without control; however, they require large and heavy air compressors for activation. In this study, a pneumatically driven source using vibration energy regeneration from walking was developed. The aim was to activate the cylinder using vibrations due to walking and compressed air. A mass element, which is connected to a human body via a spring and a cylinder, vibrates along with the human gait cycle. Next, a prototype was developed and tested. In walking experiments, stored pressure was measured at several gait cycles and masses for comparison. Results indicate that the gait cycle period and masses affect the stored pressure; the highest pressure recorded was 0.08 MPa.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123665460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Kinetic analysis of an ankle rehabilitator composed of two parallel delta robots 由两个平行三角机器人组成的踝关节康复器的动力学分析
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.50
M. Bayas, Geovanny Novillo Andrade, Sócrates Miguel Aquino Arroba, Javier Gavilanes Carrión
{"title":"Kinetic analysis of an ankle rehabilitator composed of two parallel delta robots","authors":"M. Bayas, Geovanny Novillo Andrade, Sócrates Miguel Aquino Arroba, Javier Gavilanes Carrión","doi":"10.13180/clawar.2018.10-12.09.50","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.50","url":null,"abstract":"The present research shows the kinetic analysis of an ankle rehabilitator, the rehabilitation mechanism consists of a fixed platform in which there are two inverted delta robots linked a mobile platform, actuators are controlled by servomotors which provide six basic movements of ankle rehabilitation like dorsiflexion, plantar flexion, inversion, eversion, abduction and adduction, which was verified through a motion study and singularity analysis. The design of the rehabilitator is based on the establishment of a methodology that allows the development of a machine that achieves all the ergonomic, technological and quality requirements, using tools of computational mechanics that allowed generating a virtual model able to generate the required movements and supporting the mechanical stress generated. The mechanism was modeled in CAD software such as SolidWorks, with the virtual model is possible to analyze the inverse and direct kinematics determining the position and speed of the joints, for the selection of the servomotors the dynamic analysis was made, obtaining the accelerations, forces and torques using the MSC Adams software. For the analysis of deformations, normal stresses and shear forces, the CAE software such as ANSYS was used, which works on the basis of the finite element method, with its Workbench platform and its structural analysis module. Finally, the machine was built using 3D printing and performance tests were carried out.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127464301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Distributed driving system for the excavation unit of a lunar earthwarm-type “LEAVO” excavation robot 月球暖地型“LEAVO”挖掘机器人挖掘单元分布式驱动系统
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.03
A. Fujiwara, Toyoharu Nakatake, N. Tadami, Keita Isaka, Yasuyuki Yamada, Taro Nakamura, H. Sawada, T. Kubota
{"title":"Distributed driving system for the excavation unit of a lunar earthwarm-type “LEAVO” excavation robot","authors":"A. Fujiwara, Toyoharu Nakatake, N. Tadami, Keita Isaka, Yasuyuki Yamada, Taro Nakamura, H. Sawada, T. Kubota","doi":"10.13180/clawar.2018.10-12.09.03","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.03","url":null,"abstract":"The authors have developed a small excavation robot called the “LEAVO” for lunar exploration, and they have confirmed its usefulness as an excavation robot. They then attempted to add a curved excavation function in order for the LEAVO to increase its exploration field. To achieve this goal, it was necessary for the LEAVO’s excavation unit to transmit the motor output torque to the excavation head without any losses. In this paper, therefore, the authors proposed a new driving system called the “distributed driving system,” which reduced the transmission losses by distributing the actuators and arranging them in the frontal part of the robot. Moreover, the authors developed the prototype of this system and measured its output torque as an operational check.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125124719","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Proposal of propulsion unit based on earthworm setae for underwater excavation robot 基于蚯蚓刚毛的水下挖掘机器人推进装置设计
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.1299/JSMERMD.2018.2P1-A07
N. Tadami, Keita Isaka, Toyoharu Nakatake, A. Fujiwara, Yasuyuki Yamada, Taro Nakamura, M. Sugesawa, H. Yoshida
{"title":"Proposal of propulsion unit based on earthworm setae for underwater excavation robot","authors":"N. Tadami, Keita Isaka, Toyoharu Nakatake, A. Fujiwara, Yasuyuki Yamada, Taro Nakamura, M. Sugesawa, H. Yoshida","doi":"10.1299/JSMERMD.2018.2P1-A07","DOIUrl":"https://doi.org/10.1299/JSMERMD.2018.2P1-A07","url":null,"abstract":"In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the bristlesattached propulsion unit. Comparing the measurement result of the bristles-attached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133806175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Proposal of a low cost high performance educational mobile robot: An RPI and Arduino approach 一种低成本高性能教育移动机器人的设计:基于RPI和Arduino的方法
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.15
J. Gonçalves, A. Pinto, V. H. Pinto
{"title":"Proposal of a low cost high performance educational mobile robot: An RPI and Arduino approach","authors":"J. Gonçalves, A. Pinto, V. H. Pinto","doi":"10.13180/clawar.2018.10-12.09.15","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.15","url":null,"abstract":"In this paper the proposal of a low cost high performance educational mobile robot is described. The robot is based on an Arduino, applied in the low level control, while the high level control loop is carried out by an RPI running an object pascal application. The described robot was prototyped in order to have a competitive participation in the Robotic Day Line Follower 2017 competition, taking advantage of the RPI capabilities. The RPI allows the use of higher performance sensors, when compared with the most common standard approaches based on a single 8 bit RISC micro-controller, having as disadvantage the inevitable robot size increase, which compromises in certain situations the robot maneuverability and increases the power consumption. The robot is equipped with DC Motors, the chosen line follower sensor is the picamera and for the obstacle detection sonar sensors are used.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130094920","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Prospects and possibilities of using thermomechanical micro-robots for solving technological tasks in space 利用热机械微型机器人解决空间技术任务的前景和可能性
Robotics Transforming the Future Pub Date : 2018-09-10 DOI: 10.13180/clawar.2018.10-12.09.02
N. Bolotnik, V. Chashchukhin, V. Gradetsky, D. Kozlov, I. Smirnov, A. Zhukov
{"title":"Prospects and possibilities of using thermomechanical micro-robots for solving technological tasks in space","authors":"N. Bolotnik, V. Chashchukhin, V. Gradetsky, D. Kozlov, I. Smirnov, A. Zhukov","doi":"10.13180/clawar.2018.10-12.09.02","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.02","url":null,"abstract":"The possibilities of microrobots for inspection and technological operations on spacecraft board and in open space are analyzed. Utilization of such robots for operations on outer hulls of spacecraft and on internal units and aggregates is discussed.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129450777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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