Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

The Future of Humanoid Robots

This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R&D experience, patents, and publications in the area of humanoid robotics, and his experience is reflected in editing the content of the book

Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator

This research describes the steps towards the development of a low-cost wheelchair-mounted manipulator for use by the physically disabled and elderly. A detailed review of world rehabilitation robotics research has been conducted, covering fifty-six projects. This identified the main areas of research, their scope and results. From this review, a critical investigation of past and present wheelchair-mounted robotic arm projects was undertaken. This led to the formulation of the key design parameters in a final design specification. The results of a questionnaire survey of fifty electric wheelchair users is presented, which has for the first time established the needs and abilities of this disability group. An analysis of muscle type actuators, which mimic human muscle, is presented and their application to robotics, orthotics and prosthetics is given. A new type of rotary pneumatic muscle actuator, the flexator, is introduced and through extensive testing its performance characteristics elucidated. A review of direct-drive rotary pneumatic, hydraulic and electrical actuators has highlighted their relative performance characteristics and has rated their efficiency in terms of their peak torque to motor mass ratio, Tp/MM. From this, the flexator actuator has been shown to have a higher Tp/MM ratio than most conventional actuators. A novel kinematic arrangement is presented which combines the best features of the SCARA and vertically articulated industrial robot geometries, to form the 'Scariculated' arm design. The most appropriate actuator for each joint of this hybrid manipulator was selected, based on the criteria of high Tp/MM ratio, low cost, safety and compatibility. The final design incorporates conventional pneumatic linear double-acting cylinders, a vane type rotary actuator, two dual flexator actuators, and stepping motors for the fme control of the wrist/end effector. An ACSL simulation program has been developed which uses mass flow rate equations, based on one-dimensional compressible flow theory and suppressed critical pressure ratios, to simulate the dual flexator actuator. Theoretical and empirical data is compared and shows a high degree of correlation between results. Finally, the design and development work on two prototypes is discussed. The latest prototype consists of a five-axis manipulator whose pneumatic joints are driven by pulse width modulated solenoid valves. An 8051 microprocessor with proportional error feedback modilles the mark to space ratio of the PWM signal in proportion to the angular error of the joints. This enables control over individual joint speeds, reprogrammable memory locations and position monitoring of each joint. The integration of rehabilitation robotic manipulators into the daily lives of the physically disabled and elderly will significantly influence the role of personal rehabilitation in the next century

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools

NASA/ASEE Summer Faculty Fellowship Program: 1988 research reports

This contractor's report contains all sixteen final reports prepared by the participants in the 1988 Summer Faculty Fellowship Program. Reports describe research projects on a number of topics including controlled environments, robotics, cryogenic propellant storage, polymers, hydroponic culture, adaptive servocontrol, and computer aided desig

Technology 2003: The Fourth National Technology Transfer Conference and Exposition, volume 2

Proceedings from symposia of the Technology 2003 Conference and Exposition, Dec. 7-9, 1993, Anaheim, CA, are presented. Volume 2 features papers on artificial intelligence, CAD&E, computer hardware, computer software, information management, photonics, robotics, test and measurement, video and imaging, and virtual reality/simulation

Advances in Intelligent Robotics and Collaborative Automation

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

NASA Tech Briefs, June 1990

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences