2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)最新文献_第2页

Modelling of robotic leg for hemiplegic patient using biped robot 利用双足机器人对偏瘫患者机械腿进行建模

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893415

Prudhvi Thirumalaraju, K. Sandeep, D. Kumar, A. Dash

{"title":"Modelling of robotic leg for hemiplegic patient using biped robot","authors":"Prudhvi Thirumalaraju, K. Sandeep, D. Kumar, A. Dash","doi":"10.1109/RCTFC.2016.7893415","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893415","url":null,"abstract":"Patients with hemiparesis have difficulties maintaining their balance. These skills can be regained with the aid of external motors and using a microcontroller to control the actuation of the motors. A biped robot with servo motors attached at each joint is fabricated. A clay model of the paralytic leg is made and attached to the hip of the body and the other leg of the biped is modelled as a 3-DOF RRR robot. A CAD model of the prototype was considered for verifying the control strategies. The control strategies include COP (Centre of Pressure) balancing, CMP (Centre of Mass) balancing and stepping sequence (change of support) during the motion of the biped. The control system analysis is performed by analyzing the swing vibration of the leg and root locus plot for checking stability. The stability control is enhanced by taking feedback from gyroscope sensor. A graphical interface is made my using python for analyzing the values from gyroscope and accelerometer sensor. These values are plotted for analyzing the dynamic stability of the body. The joint velocities, acceleration and torque values are analyzed. The setup is simulated in v-rap software. After the analysis, the limiting joint angles were found. The servo motors are actuated to the limiting angles if the body becomes unstable, the biped robot is programmed in a way that it is always stable.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124026634","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

Obstacle avoidance algorithm using gradient based Swarm techniques 基于梯度的群体避障算法

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893406

A. Ram

引用次数: 0

Reshaping the singularities in 3 D.O.F 3-RRR planar parallel manipulator by varying the position of the actuator 通过改变作动器的位置对3dof3 - rrr平面并联机器人奇异点进行整形

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893413

K.R. Rama Krishnan, M. Ganesh, A. Dash

引用次数: 1

Design and simulation of crop monitoring robot for green house 温室作物监测机器人的设计与仿真

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893419

K. Aravind, P. Raja

{"title":"Design and simulation of crop monitoring robot for green house","authors":"K. Aravind, P. Raja","doi":"10.1109/RCTFC.2016.7893419","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893419","url":null,"abstract":"Incidence of disease in horticultural crops is one of the important problems affecting the production of fruits, vegetables and flowers. Regular monitoring of crops for early diagnosis and treatment with pesticides or removal of the affected crop is some of the solution to minimize the crop loss. Monitoring of the crops by human labour is costly, time consuming, error prone due to insufficient knowledge of the disease and highly repetitive at different stages of crop growth. These needs have motivated to design a line following mobile robot with vision sensors for navigation across the field for disease identification in a green house. The robot has been designed and simulated in an open source software known as Virtual Robot Experimental Platform (V-REP) with experimental field of 40 crops. Programming for navigation is done in Lua scripting tool which is embedded with the V-REP software. Capturing of images has been performed using camera. Processing of images for identification of disease and its representation in a Graphical User Interface (GUI) has been done using an algorithm in MATLAB R2011B which interacts with V-REP tool through socket communication. Texture based analysis has been done to identify the diseased crops among the healthy crops in the simulated field setup.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129948613","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: 9

Graded Particle Swarm Optimization (GPSO) 梯度粒子群优化(GPSO)

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893404

Sarma O V Sanjay, R. Pidaparti

{"title":"Graded Particle Swarm Optimization (GPSO)","authors":"Sarma O V Sanjay, R. Pidaparti","doi":"10.1109/RCTFC.2016.7893404","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893404","url":null,"abstract":"Particle Swarm Optimization has attracted a vast amount of researchers over the past two decades for its ability to search global optima by simple update equations for position and velocity. A set of randomly initialized points in a search space exchange information regarding their position and fitness. The individual's personal best factor and the group leader's positions support the swarm's movement towards optima. However, this strategy is not guaranteed to achieve the global optimum values in all the scenarios, which is otherwise dependent on the complexity of the fitness function. In addressing this issue, a better performing variant is proposed by introducing the concept of grouping, gradation (hierarchy) and universal leader concepts. In the proposed variant, during initialization, the members of the swarm are grouped for search and each group is associated with a group leader based on best fitness individual in the group. All these group leaders form a hierarchical group associated with a universal leader. For, applying this strategy a fourth term in the PSO velocity update equation is introduced governing the influence of a universal leader. In the current paper, the GPSO algorithm, its modified equation and deduction of the general PSO rules followed by its evaluation on the standard benchmark functions are presented. This algorithm like other swarming techniques is expected to support new search, exploration and mapping strategies in the fields of computational intelligence, swarm intelligence and swarm robotics.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116130696","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

Development of multi-sensor data fusion technique for the automated Bus Rapid Transport System 快速公交自动化系统中多传感器数据融合技术的研究

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893409

Iyer Abhiram Ramgopal, P. V. Manivannan

引用次数: 2

Analysis of a compliant Multi-Module Robot for circular stair climbing 一种柔性多模块爬圆楼梯机器人分析

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893401

N. Sathya, G. S., Madhava Krishna K

引用次数: 0

Orthopaedic surgical robot manipulator 骨科手术机械手

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893414

V. Sindhu, S. Santhanakrishnan

引用次数: 1

Mechatronic-shoe kit for training children with ASD in enhancement of psychomotor and daily life skills 用于训练自闭症儿童增强精神运动和日常生活技能的机电鞋套件

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893417

R. S. Moorthy, G. Vigneshwaran, Akshay Iyer, S. Pugazhenthi

引用次数: 3

Developing a bioinspired pole climbing robot 开发一种仿生爬杆机器人

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893400

Moloy Das, A. Agrawal, Abhinav Sonone, Rishabh Gupta, Deepak Upadhyay, Y. Rao, A. Javed

{"title":"Developing a bioinspired pole climbing robot","authors":"Moloy Das, A. Agrawal, Abhinav Sonone, Rishabh Gupta, Deepak Upadhyay, Y. Rao, A. Javed","doi":"10.1109/RCTFC.2016.7893400","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893400","url":null,"abstract":"This paper proposes a pole climbing robot that has an ability to climb pipes. The novelty of this design is that it uses no motors to climb on the pole. Till now many robots have been fabricated with the ability to climb pipes but most of them solely depend on DC motors. The use of DC motor induces the risk of loosening the grip of the robot in case of power failure that may lead to disastrous situations if robot is working on high altitudes. This could be easily avoidable by the use of electro-pneumatics and by using self-locking circuits. We used two pairs of pneumatic cylinders as linear actuators for gripping the pole i.e. one pair for one claw. Besides this two more cylinders are used for climbing purpose. Unlike other mechanisms, installation is extremely easy. It is like controlling a radio controlled car. This mechanism can be easily modified for different payload capacities by simply using the appropriate diameter of the pneumatic cylinders. The robot can be controlled in tele-operated mode as well as autonomous mode which is a closed loop system. It has a high accuracy with 4mm error per cycle that has a cycle time period of 5 seconds. This robot can be very useful in oil industries for inspection of pipes and power poles in electric industries. It can serve of great help in cases of emergency situation caused during fire accidents.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115627907","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