The walking robot project

A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight

Hybrid wheelchair controller for handicapped and quadriplegic patients

In this dissertation, a hybrid wheelchair controller for handicapped and quadriplegic patient is proposed. The system has two sub-controllers which are the voice controller and the head tilt controller. The system aims to help quadriplegic, handicapped, elderly and paralyzed patients to control a robotic wheelchair using voice commands and head movements instead of a traditional joystick controller. The multi-input design makes the system more flexible to adapt to the available body signals. The low-cost design is taken into consideration as it allows more patients to use this system

Mikrodenetleyicileri Kullanarak Türkçe Sesli Komutlarla Beş Eksenli Manipülatör Kontrolü

The interaction between human beings and machines has been increasing in conjunction with the development of computer technology. Controlling a system with voice-based commands is one of the most popular applications in this area. In this study, the main goal is to build a system, which is able to control a robotic arm comprised of five controllable axes with certain voice commands. The robotic arm controlling process starts with the matching of sounds taken from the user. Then sounds processed in voice recognition card. After the command recognized by voice recognition card, then index number is sent to a microcontroller. Consequently, this operation provides a communication between voice recognition module and servo motor drive card. Finally, the microcontroller calculates the required angles by using the data provided by the previous process and sends this data to the servo motor drive card in order to realize the robotic arm action.Bilgisayar teknolojisi gelişimiyle birlikte, insanlar ile makineler arasındaki etkileşim artmaktadır. Ses tabanlı komutlarla bir sistemi kontrol etmek bu alandaki en popüler uygulamalardan biridir. Bu çalışmada ana hedef, belirli sesli komutlarla beş kontrol edilebilir eksenden oluşan robot kolunu kontrol edebilen bir sistem oluşturmaktır. Robot kolunu kontrol etme işlemi, kullanıcıdan alınan seslerin ve ses tanıma kartında işlenmiş ve ses tanıma kartı tarafından tanımlanan seslerin eşleştirilmesi ile başlar. Ardından pozitif bir eşleme varsa, sistem tarafından ses tanıma modülü ve servo motor sürücü kartı arasında bir iletişim sağlayan bir mikrodenetleyiciye veri gönderilir. Son olarak, mikrodenetleyici, önceki işlem tarafından sağlanan verileri kullanarak gerekli açıları hesaplar ve robotik kol hareketini gerçekleştirmek için bu verileri servo motor sürücü kartına gönderir

Automatic Home Appliance Switching Using Speech Recognition Software and Embedded System

In most homes, electrical appliances are controlled and operated manually, this could be difficult and challenging to do when tiredness, handicap, morphological variations (height, aging etc.) and inadequate skill stands in the way as impediment. This study aims to implement a better and more flexible means of controlling home appliances by means of an automated switching mechanism using speech recognition technique. Acoustic signals picked by a microphone controlled by a speech recognition application generate digital signals that are passed to a microcontroller, which in turn dispatches commands that operate the relays to which the appliances in the home are connected. The goal of using speech command to automate the switching of home appliances was achieved and proved to be a more convenient means of switching home appliances

Marvin: an Innovative Omni-Directional Robotic Assistant for Domestic Environments

Population ageing and pandemics recently demonstrate to cause isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assistants are the new frontier of innovation for domestic welfare, and elderly monitoring is one of the services a robot can handle for collective well-being. Despite these emerging needs, in the actual landscape of robotic assistants there are no platform which successfully combines a reliable mobility in cluttered domestic spaces, with lightweight and offline Artificial Intelligence (AI) solutions for perception and interaction. In this work, we present Marvin, a novel assistive robotic platform we developed with a modular layer-based architecture, merging a flexible mechanical design with cutting-edge AI for perception and vocal control. We focus the design of Marvin on three target service functions: monitoring of elderly and reduced-mobility subjects, remote presence and connectivity, and night assistance. Compared to previous works, we propose a tiny omnidirectional platform, which enables agile mobility and effective obstacle avoidance. Moreover, we design a controllable positioning device, which easily allows the user to access the interface for connectivity and extends the visual range of the camera sensor. Nonetheless, we delicately consider the privacy issues arising from private data collection on cloud services, a critical aspect of commercial AI-based assistants. To this end, we demonstrate how lightweight deep learning solutions for visual perception and vocal command can be adopted, completely running offline on the embedded hardware of the robot.Comment: 20 pages, 9 figures, 3 tabl

Design of a Wearable Ultrasound System

Ultrasound imaging is a safe and powerful tool for providing detailed still and moving images of the human body. Most of today’s ultrasound systems are housed on a movable cart and designed for use within a clinical setting, such as in a hospital or doctor’s office. This configuration hinders its use in locations lacking controlled environments and stable power sources. Example locations include ambulances, disaster sights, war zones and rural medicine. A wearable ultrasound system, in the form of a vest worn by a sonographer, has been developed as a complete solution for performing untethered ultrasound examinations. The heart of the system is an enclosure containing an embedded computer running the Windows XP operating system, and a custom power supply. The power supply integrates a battery charger, a switching regulator, two linear regulators, a variable speed fan controller and a microcontroller providing an interface for monitoring and control to the embedded computer. Operation of the system is generally accomplished through the use of voice commands, but it may also be operated using a hand-held mouse. It is capable of operating for a full day, using two batteries contained in the vest. In addition, the system has the capability to wirelessly share live images with remote viewers in real-time, while also permitting full duplex voice communication. An integrated web-server also provides for the wireless retrieval of stored images, image loops and other information using a web-browser

Design of a Wearable Ultrasound System

Ultrasound imaging is a safe and powerful tool for providing detailed still and moving images of the human body. Most of today’s ultrasound systems are housed on a movable cart and designed for use within a clinical setting, such as in a hospital or doctor’s office. This configuration hinders its use in locations lacking controlled environments and stable power sources. Example locations include ambulances, disaster sights, war zones and rural medicine. A wearable ultrasound system, in the form of a vest worn by a sonographer, has been developed as a complete solution for performing untethered ultrasound examinations. The heart of the system is an enclosure containing an embedded computer running the Windows XP operating system, and a custom power supply. The power supply integrates a battery charger, a switching regulator, two linear regulators, a variable speed fan controller and a microcontroller providing an interface for monitoring and control to the embedded computer. Operation of the system is generally accomplished through the use of voice commands, but it may also be operated using a hand-held mouse. It is capable of operating for a full day, using two batteries contained in the vest. In addition, the system has the capability to wirelessly share live images with remote viewers in real-time, while also permitting full duplex voice communication. An integrated web-server also provides for the wireless retrieval of stored images, image loops and other information using a web-browser

Robotic Remote Surveillance and Control through Speech Recognition

This paper deals with the remote based robotic surveillance system and control through speech processing. Robotic remote surveillance and control through speech recognition is a kind of simple Cyber Physical system. Cyber Physical system is connection between cyber world and physical world around us. Sensors in network map the physical parameters in digital, share the information with processors and CPS intelligently makes the decision after computing. Finally the decision command is translated into physical world by actuators. The speech commands from a user’s distant location are carried over wirelessly to a multifunctional robot unit. Robotic arm over a base will act for voice commands sent over media. Desired surveillance will be facilitated by movement of robot and installed surveillance unit. Video stream feed to user is sensing of physical environment while actions of arm represent the role of actuator. This system used in the heavy industry in any environment

VOICE RECOGNIZATION FOR MOUSE CONTROL USING HCI

One  of  the  most  important  research  areas  in  the  field  of  Human -Computer-Interaction (HCI) is gesture  recognition as it provides a natural and intuitive  way  to  communicate  between  people  and  machines.  Voice-based HCI applications range from computer applications to virtual/augmented reality and is recently being explored in other fields. This work proposes the implementation of absolute virtual mouse based on the interpretation of voice reorganization control. The procedure is to control the mouse pointer as for the mouse movement to up/down/left/right, open the file, dragging the file. This  virtual  device  is designed  specifically  as  an  alternative non-contact  pointer  for  people  with mobility impairments in the upper extremities. The implementation of the virtual mouse by voice control is to make HCI simplification for disabled persons especially for the person who are not having the hands and arms, and Alternative mouse cursor positioning system for laptops