Optimal Design of 3-Link Planar Manipulators using Grashof's Theorem

The design of robotic manipulators is dictated by a set of pre-determined performance parameters and functionalities. These performance parameters are often defined in terms of the workspace dexterity, manipubility, and accuracy. These parameters can be used in the design process to optimize the manipulator configuration. In this work we present an algorithm for the optimal design of a three link planar manipulator using Grashof's Theorem

Manipulator Performance Measures - A Comprehensive Literature Survey

Due to copyright restrictions of the publisher this item is embargoed and access to the file is restricted until a year after the publishing date.The final publication is available at www.springerlink.comPerformance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.http://link.springer.com/article/10.1007/s10846-014-0024-y

Task based synthesis of serial manipulators

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters) of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified

Task Based Design of Serial Robotic Manipulators

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required endeffector positions, orientations along the task trajectory. In this work, we define, develop and test a methodology that can generate optimal manipulator geometric structures based on the task requirements. Another objective of this work is to guarantee task performance under user defined joint constraints. Using this methodology, task-based optimal manipulator structures can be generated that guarantee task performance under set operating constraint

On-Line Virtual Real Time E-Collaboration: An Innovative Case Study On Research Teleconferencing Management

The Internet has greatly extended the boundaries of human interaction. Virtual on-line interactions and collaborations via the World Wide Web have become very common place in recent times. It was only a matter of time before these technologies were applied to knowledge sharing and management. In this paper, we discuss the CISSE International Online E-Conference, the World's first and only high caliber scientific conference to be completely conducted and managed online. CISSE demonstrates an innovative approach for conducting and managing an engineering research conference via the internet. CISSE provides a very convenient, time saving and user friendly platform for global scientific and research interactions.http://www.online-journals.org/index.php/i-joe/article/view/67

EKG De-noising using 2-D Wavelet Techniques

© ASEE 2009The electrocardiogram (ECG or EKG) is a recording of the potential produced by the heart, taken from specific predetermined parts of the body such as arms, legs or points on the chest. It plays an important role in medical field as monitoring of human body and the diagnosis of many heart related problems depend on the recording. Hence its accurate measurement is a must. This paper presents the study of filtering the noises present in an EKG waveform using 2-D wavelet techniques. Wavelets are mathematical functions that cut up data into different frequency components, and then study each component with a resolution matched to its scale. Wavelets are predominantly used for image processing techniques. Hence to use a 2-D technique over a 1-D signal, an EKG should be represented as a mesh or a 2-D image map. Such an image map, or an EKG map in this case, can be used by wavelet processing for de-noising purposes. The de-noising procedure is performed using three steps: decomposition, thresholding and reconstruction. The paper discusses the mentioned steps in detail

Review of Neurobiologically Based Mobile Robot Navigation System Research Performed Since 2000

In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.http://dx.doi.org/10.1155/2016/863725

RISCBOT: A WWW-Enabled Mobile Surveillance and Identification Robot

The final publication is available at www.springerlink.comThis article describes Riscbot, a modular 802.11b - enabled mobile autonomous robot built at the RISC lab of the University of Bridgeport. Riscbot localizes itself and successfully fulfills www - enabled online user requests and navigates to various rooms, employing a visual recognition algorithm. This article describes the mechanical design, hardware and software algorithms of the robot, and the web - based interface for communicating with the robot.http://link.springer.com/article/10.1007%2Fs10846-005-9014-

Robot Artist - Automated Picture Portrait

In this work we present a dynamically controlled robot platform (Table-Top robot) to draw a portrait picture captured by a camera. This is done in three modules: image capture, image processing, and dynamic robot control. This poster discusses the system’s architecture, methodology, and results. A cartesian robot (Table-Top Robot) is used to do the work and the control program is done in MATLAB

Using Laplace Transforms to Build a Linear/Non-linear Speedometer

© ASEE 2010Consider the design of a speedometer (as used in a car, for example) using conventional mechanical linkages and a rotating magnet. We begin by modeling a linear speedometer. Later we introduce real-life nonlinearities. With the system linear, Laplace transforms make the solution of the problem easy and complete compared to solutions using differential equations. In the second case, we analyze several nonlinear effects. Although Laplace transforms are only accurate for linear systems, they can be used as is for several real-world nonlinearities, or they can be adapted for use with any generic nonlinearity by using a lookup table. Analysis and computations are done using MATLAB