The Kinematics and Dynamics Motion Analysis of a Spherical Robot

Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controllerdesignthantheothertypeofmobilerobots.Asidefrom these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot

Design and development of autonomous robotic fish for object detection and tracking

In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic fish and the drag force acting on it. A series of experimental results have shown the effectiveness of the designed underwater robotic fish. </jats:p

Deteksi Objek Untuk Robot Bergerak Menggunakan Kamera Omnidirectional Berbasis Fitur Warna

Kamera merupakan sebuah sensor yang digunakan oleh robot untuk mengetahui keadaan di lingkungan sekitarnya. Dengan menggunakan kamera, berbagai persepsi dapat diambil sesuai dengan kebutuhan. Salah satu penggunaannya, robot dapat mendeteksi objek-objek tertentu pada lingkungan sekitarnya, termasuk sebuah bola di lapangan sepak bola. Jurnal ini menjelaskan mengenai proses pendeteksian bola menggunakan kamera omnidirectional 360o berdasarkan fitur warna menggunakan teknik filtering. Dari pendeteksian ini, akan didapatkan informasi jarak dan sudut bola terhadap robot. Nantinya robot akan mendekati bola dengan cara memutar badan robot sehingga lurus dengan letak dan maju sampai menyentuh bola. Performa robot dalam melakukan navigasi mendekati objek sebesar 90%

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

Autonomous Movement Control of Coaxial Mobile Robot based on Aspect Ratio of Human Face for Public Relation Activity Using Stereo Thermal Camera

In recent years, robots that recognize people around them and provide guidance, information, and monitoring have been attracting attention. The mainstream of conventional human recognition technology is the method using a camera or laser range finder. However, it is difficult to recognize with a camera due to fluctuations in lighting 1), and it is often affected by the recognition environment such as misrecognition 2) with a person's leg and a chair's leg with a laser range finder. Therefore, we propose a human recognition method using a thermal camera that can visualize human heat. This study aims to realize human-following autonomous movement based on human recognition. In addition, the distance from the robot to the person is measured with a stereo thermal camera that uses two thermal cameras. A coaxial two-wheeled robot that is compact and capable of super-credit turning is used as a mobile robot. Finally, we conduct an autonomous movement experiment of a coaxial mobile robot based on human recognition by combining these. We performed human-following experiments on a coaxial two-wheeled robot based on human recognition using a stereo thermal camera and confirmed that it moves appropriately to the location where the recognized person is in multiple use cases (scenarios). However, the accuracy of distance measurement by stereo vision is inferior to that of laser measurement. It is necessary to improve it in the case of movement that requires more accuracy

A Mirror-Based Active Vision System for Underwater Robots: From the Design to Active Object Tracking Application

A mirror-based active system capable of changing the view’s direction of a pre-existing fixed camera is presented. The aim of this research work is to extend the perceptual tracking capabilities of an underwater robot without altering its structure. The ability to control the view’s direction allows the robot to explore its entire surroundings without any actual displacement, which can be useful for more effective motion planning and for different navigation strategies, such as object tracking and/or obstacle evasion, which are of great importance for natural preservation in environments as complex and fragile as coral reefs. Active vision systems based on mirrors had been used mainly in terrestrial platforms to capture the motion of fast projectiles using high-speed cameras of considerable size and weight, but they had not been used on underwater platforms. In this sense, our approach incorporates a lightweight design adapted to an underwater robot using affordable and easy-access technology (i.e., 3D printing). Our active system consists of two arranged mirrors, one of which remains static in front of the robot’s camera, while the orientation of the second mirror is controlled by two servomotors. Object tracking is performed by using only the pixels contained on the homography of a defined area in the active mirror. HSV color space is used to reduce lighting change effects. Since color and geometry information of the tracking object are previously known, a window filter is applied over the H-channel for color blobs detection, then, noise is filtered and the object’s centroid is estimated. If the object is lost, a Kalman filter is applied to predict its position. Finally, with this information, an image PD controller computes the servomotor articular values. We have carried out experiments in real environments, testing our active vision system in an object-tracking application where an artificial object is manually displaced on the periphery of the robot and the mirror system is automatically reconfigured to keep such object focused by the camera, having satisfactory results in real time for detecting objects of low complexity and in poor lighting conditions

XTerramechanics: Integrated Simulation of Planetary Surface Missions

Are there contemporary habitats elsewhere in the solar system with necessary conditions, organic matter, water, energy, and nutrients to support or sustain life. Are there habitats that have experienced conditions similar to those on Earth when life emerged ,an abode of possible lifelong past. Mars and Europa(Jupiter’s icy moon)have been identified as the most relevant and immediate in the quest to answer these questions. Beyond Mars and Europa, every celestial body of interest appears to have its own geological history and every new discovery accentuates the overall complexity of our solar system. The exploration of Mars and Europa, and others, both remotely and in situ, is a central priority as part of NASA’s current and future goals for understanding the building of new worlds, the requirements for planetary habitats, and the workings of the solar system