Lower body design of the ‘iCub’ a human-baby like crawling robot

The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2frac12 year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented

Advanced mechanisms for robotics

An overview of applied research and development at NASA-Goddard (GSFC) on mechanisms and the collision avoidance skin for robots is presented. First the work on robot end effectors is outlined, followed by a brief discussion on robot-friendly payload latching mechanisms and compliant joints. This, in turn, is followed by the collision avoidance/management skin and the GSFC research on magnetostrictive direct drive motors. Finally, a new project, the artificial muscle, is introduced. Each of the devices is described in sufficient detail to permit a basic understanding of its purpose, fundamental principles of operation, and capabilities. In addition, the development status of each is reported along with descriptions of breadboards and prototypes and their test results. In each case, the implications of the research for commercialization is discussed. The chronology of the presentation will give a clear idea of both the evolution of the R&D in recent years and its likely direction in the future

Segmented capacitance tomography electrodes: a design and experimental verifications

A segmented capacitance tomography system for real-time imaging of multiphase flows is developed and pre-sented in this work. The earlier research shows that the electrical tomography (ECT) system is applicable in flow visualization (image reconstruction). The acquired concentration profile ob-tained from capacitance measurements able to imaged liquid and gas mixture in pipelines meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor previously has been assembled and fixed on the pipeline, thus it causes obscurity for the production to have any new process installation in the future. Therefore, a segmented electrode sensor offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it is flexible to apply in any number due to different size of pipeline without the need of redesigning the sensing module. The new ap-proach of this sensing module contains the integration intelligent electrode sensing circuit on every each of electrode sensors. A microcontroller unit and data acquisition (DAQ) system has been integrated on the electrode sensing circuit and USB technology was applied into the data acquisition system making the sensor able to work independently. Other than that the driven guard that usually placed between adjacent measuring electrodes and earth screen has been embedded on the segmented electrode sensor plates. This eliminates the cable noise and the electrode, so the signal conditioning board can be expanded according to pipe diameter

Hubungan di antara pengaturan kerja fleksibel dan prestasi pekerja dalam kalangan ejen insurans wanita

Ejen insurans merupakan jurujual pertengahan bagi syarikat insurans di mana mereka memainkan peranan penting dalam memberi khidmat nasihat kewangan (Hannah, 2011). Ejen insurans bekerja berdasarkan persekitaran pengaturan kerja yang fleksibel di mana mereka boleh menyediakan jadual waktu bekerja sendiri. Sebahagian daripada mereka bertemu dengan pelanggan pada waktu perniagaan siang hari, sementara yang lain pula membuat kertas kerja dan menyediakan konsultasi untuk pelanggan pada waktu petang. Kebanyakan mereka bekerja selama 40 jam seminggu dan ada juga beberapa ejen yang bekerja lebih lama daripada 40 jam (Hannah, 2011). Prestasi ejen insurans sangat penting untuk mengekalkan jenama produk insurans. Penilaian terhadap prestasi di kalangan ejen insurans biasanya bergantung kepada kejayaan atau kegagalan mencapai sasaran penjualan (Insurance Agent Job Overview, 2019). Proses menjual produk insurans memerlukan masa kerana mereka perlu mendekati pelanggan sebanyak mungkin dan ketersediaan waktu bekerja yang tidak tetap

Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation

This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints. The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.Unión Europea H2020-ICT-2014- 644271Ministerio de Economía y Competitividad DPI2015-71524-RMinisterio de Economía y Competitividad DPI2017-89790-

Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton

This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this paper: 1) a new wearable structure optimizes the strap attachment configuration and suit layout to ameliorate excessive shear forces of conventional wearable structure design; 2) rolling knee joint and double-hinge mechanisms reduce the misalignment in the sagittal and frontal plane, without increasing the mechanical complexity and inertia, respectively; 3) a low impedance mechanical transmission reduces the reflected inertia and damping of the actuator to human, thus the exoskeleton is highly-backdrivable. Kinematic simulations demonstrate that misalignment between the robot joint and knee joint can be reduced by 74% at maximum knee flexion. In experiments, the exoskeleton in the unpowered mode exhibits 1.03 Nm root mean square (RMS) low resistive torque. The torque control experiments demonstrate 0.31 Nm RMS torque tracking error in three human subjects.Comment: 8 pages, 16figures, Journa

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time