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

Towards computer-automated mechatronic design and optimization using linear graphs and evolutionary computing

A comparison of literature between the linear graph (LG) and bond graph (BG) approaches shows that the surpassing of BGs to LGs in applications related to the modeling of mechatronic systems is driven primarily by a lack of available LG-based software. As a result, a robust software toolbox called LGtheory has been developed for automating the evaluation of LG models in the MATLAB programming environment. This thesis details the development of LGtheory, and the algorithms and procedures employed for the evaluation of LG models. In addition, demonstrations of this toolbox to a process for automating the design of electronic filter circuits, as well as, the modeling and simulation of the dynamics of a mobile robotic system are presented. The results of these demonstrations validate the accuracy of the LGtheory toolbox for modeling complex multi-domain systems, and provides the methodological basis for the automated design of mechatronic systems using LGs

Development of a Two-Wheel Inverted Pendulum and a Cable Climbing Robot

The research work in this thesis constitutes two parts: one is the development and control of a Two-wheel inverted pendulum (TWIP) robot and the other is the design and manufacturing of a cable climbing robot (CCR) for suspension bridge inspection. The first part of this research investigates a sliding mode controller for self-balancing and stabilizing a two-wheel inverted pendulum (TWIP) robot. The TWIP robot is constructed by using two DC gear motors with a high-resolution encoder and zero backlashes, but with friction. It is a highly nonlinear and unstable system, which poses challenges for controller design. In this study, a dynamic mathematical model is built using the Lagrangian function method. And a sliding mode controller (SMC) is proposed for auto-balancing and yaw rotation. A gyro and an accelerometer are adopted to measure the pitch angle and pitch rate. The effect on the sensor’s installation location is analyzed and compensated, and the precision of the pose estimation is improved accordingly. A comparison of the proposed SMC controller with a proportional-integral-derivative (PID) controller and state feedback controller (SFC) with linear quadratic regulation (LQR) has been conducted. The simulation and experimental test results demonstrate the SMC controller outperforms the PID controller and SFC in terms of transient performance and disturbance rejection ability. In the second part of the research, a wheel-based cable climbing robotic system which can climb up and down the cylindrical cables for the inspection of the suspension bridges is designed and manufactured. Firstly, a rubber track climbing mechanism is designed to generate enough adhesion force for the robot to stick to the surface of a cable and the driving force for the robot to climb up and down the cable, while not too big to damage the cable. The climbing system includes chains and sprockets driven by the DC motors and adhesion system. The unique design of the adhesion mechanism lies in that it can maintain the adhesion force even when the power is lost while the system works as a suspension mechanism. Finally, a safe-landing mechanism is developed to guarantee the safety of the robot during inspection operations on cables. The robot has been fully tested in the inspection of Xili bridge, Guangzhou, P.R. China

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

Kinematics and Robot Design IV, KaRD2021

This volume collects the papers published on the special issue “Kinematics and Robot Design IV, KaRD2021” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal “MDPI Robotics”. KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects

Dynamical systems : mechatronics and life sciences

Proceedings of the 13th Conference „Dynamical Systems - Theory and Applications" summarize 164 and the Springer Proceedings summarize 60 best papers of university teachers and students, researchers and engineers from whole the world. The papers were chosen by the International Scientific Committee from 315 papers submitted to the conference. The reader thus obtains an overview of the recent developments of dynamical systems and can study the most progressive tendencies in this field of science

Optimization of Operation Sequencing in CAPP Using Hybrid Genetic Algorithm and Simulated Annealing Approach

In any CAPP system, one of the most important process planning functions is selection of the operations and corresponding machines in order to generate the optimal operation sequence. In this paper, the hybrid GA-SA algorithm is used to solve this combinatorial optimization NP (Non-deterministic Polynomial) problem. The network representation is adopted to describe operation and sequencing flexibility in process planning and the mathematical model for process planning is described with the objective of minimizing the production time. Experimental results show effectiveness of the hybrid algorithm that, in comparison with the GA and SA standalone algorithms, gives optimal operation sequence with lesser computational time and lesser number of iterations

Optimization of Operation Sequencing in CAPP Using Hybrid Genetic Algorithm and Simulated Annealing Approach

In any CAPP system, one of the most important process planning functions is selection of the operations and corresponding machines in order to generate the optimal operation sequence. In this paper, the hybrid GA-SA algorithm is used to solve this combinatorial optimization NP (Non-deterministic Polynomial) problem. The network representation is adopted to describe operation and sequencing flexibility in process planning and the mathematical model for process planning is described with the objective of minimizing the production time. Experimental results show effectiveness of the hybrid algorithm that, in comparison with the GA and SA standalone algorithms, gives optimal operation sequence with lesser computational time and lesser number of iterations

Autonomous Navigation of Automated Guided Vehicle Using Monocular Camera

This paper presents a hybrid control algorithm for Automated Guided Vehicle (AGV) consisting of two independent control loops: Position Based Control (PBC) for global navigation within manufacturing environment and Image Based Visual Servoing (IBVS) for fine motions needed for accurate steering towards loading/unloading point. The proposed hybrid control separates the initial transportation task into global navigation towards the goal point, and fine motion from the goal point to the loading/unloading point. In this manner, the need for artificial landmarks or accurate map of the environment is bypassed. Initial experimental results show the usefulness of the proposed approach.COBISS.SR-ID 27383808

Advanced Knowledge Application in Practice

The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research