Effectiveness of Central Pattern Generator Model on Developed One Legged Hopping Robot

The paper presents the validity of using Central Pattern Generator (CPG) model to develop one leg hopping robot which hops higher and rhythmically. Infrared Ranging (IR) sensor is mounted on a platform to measure the distance of hopping performance. The distances of IR sensor from the platform to the floor in both static and vertical jumping motion are measured. MATLAB & Simulink model including CPG model is designed to evaluate the performance of IR sensor by converting the measurement data from IR sensor from voltage to distance by using function blocks. The result shows that the one leg hopping robot with CPG model is able to achieve maximum hopping height at 4cm

The effect of anomaly detection accurancy in varying the angular resolution of sonar using repetitive observation strategy

This paper presents the feasibility study of implementing Repetitive Observation Strategy (ROS) using a sonar sensor array. ROS is a method that collects observation data taken from different observer positions for anomaly detection purposes. This strategy had never been implemented using sonar sensor. The study is conducted using simulation in MATLAB. The simulation is run by varying the angular resolution of the sonar sensor array which covered 180 degrees. The performance of anomaly detection is analyzed using Receiver Operating Characteristic (ROC) curve. Result shows that the performance of anomaly detection decrease as the angular resolution of sensor increases

Walking Motion Trajectory of Hip Powered Orthotic Device Using Quintic Polynomial Equation

In lower limb exoskeleton system walking motion profile generation, cubic polynomial is commonly used to generate smooth walking profile on flexion angle, velocity and acceleration data of three joint movements (ankle, knee and hip joints). However, cubic polynomial does not closely matched human motion. For this reason, a higher-order-polynomial i.e. quintic polynomial is proposed to gene- rate walking motion profile. Error analysis was conducted to measure how closely quintic polynomial could represent human walking motion profile. Result shows that quantic polynomial could closely represent human walking trajectory with maximum RMS error of 0.2607rad occurred during mid-swing phase

Object Isolation With Minimal Impact Towards The Object Of Interest In A Complex Environment Using Manipulation Primitives

It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest. This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated. This research paper explores and subsequently proposes 3 object isolation technique for the purpose of isolating a targeted object of interest from the environment incontras to the standard utilization of object singulation technique. The goal was to develop an algorithm than can successfully isolate the object of interest from the environment via removing the environment without/with minimal impact towards the object of interest. Results from the experiment indicated that the proposed algorithms can successfully isolate the object of interest with minimal impact towards the object of interest scoring an average of 0.85cm/actuation for MSMAPPS, 0.75cm/actuation for MSMAPOS and finally 0.27cm/actuation for BSMAPOS. These results indicates a relatively small displacement per actuation at 4.35% displacement per actuation, 3.75% displacement per actuation, and 1.35% displacement per actuation relative to the workspace respectivel

Earthquake Disaster Awareness System

Earthquake is type of natural disaster which is usually very fast and unpredictable. When this kind of disaster happens, people will usually panic and exit or run away from the facilities. Without proper guide and safety instructions, this might result in unwanted consequences, such as accidents, injuries or leaving behind family members or officemates. Due to this problem, a disaster (earthquake) awareness system is being developed. The system will at first calculate the amount of vibration in the soil of the earth. This calculation will be approximated to the Richter scale and if it is significantly large, will send safety instructions in the form of messages displayed at LED signboards available at important locations in the vicinity of the building. With this awareness system, if an earthquake happens, people will know what to do and where to go even if they are not trained with the disaster drill exercises

Vision-Based Navigation Of An Autonomous Guided Vehicle For Tracking

This project proposes a navigation control system for an Autonomous Guided Vehicle (AGV) by detecting and recognizing line tracking with USB (Universal Serial Bus) camera. In this project a commercial robot kit, a laptop computer and a USB camera are used as the main components of the system. The use of Microsoft DirectShow technique and COM programming, the USB camera will enable the system to obtain ' the digital images directly without using frame grabbers. This feature makes the system more economical and compact. The vision-based navigation system structure is composed of several processes such as grabbing images, track detection, fuzzy logic controller and' motor drive controller. During the navigation process, the AGV can recognize the straight and crossing track lines, detect the obstacle that might appear in the navigational path, calculate the position and orientation of the AGV. When the robot has confirmed its position and orientation, the fuzzy controller is used to keep the AGV on the track. This proposed navigation system only needs a minimum modification in implementing on any mobile robot platform that can be used in robotic research, education, laboratories, office environment and factory

An Analysis Of Sensor Placement For Vehicle's Blind Spot Detection And Warning System

Nowadays, the number of accidents involving motorized vehicles is increasing especially the side collision of the vehicles when the driver attempt to change from one lane to another either to left or right which is due to the carelessness of the driver and unsighted the blind spot. However, the cooperation of technology can overcome this problem. The key element is the ability to detect the incoming vehicle in the blind spot area. However, problems rises when the sensor used for the system only able to cover certain amount of area. The objectives of this study is to develop and implement a device that will warn the driver about the incoming vehicles in the blind spot area by blinking LED and to investigate the effectiveness of the system in terms of the position of the sensor used for the system. The developed system are equipped with an Arduino UNO microcontroller and SRF04 ultrasonic sensor. There are two experiments be conducted. The first experiment is carried out to make an analysis on the time response of the system with position of the sensor above the rear tire of the static vehicle. The second experiment is carried out to examine the time response of the system with same position of the sensor with the moving vehicle at certain constant velocity. The result shows that the sensor placement above the rear tire give a good performance in term of driver notification of the presence of vehicle at the blind spot region