IEEE 2017-2018 Project Titles on Robotics
Abstract:Each and every person in this world has a desire to live a normal human life but accidents, diseases, elder-ship make their desire into disability. Moreover, there are lots of handicaps and elders as well as the number of paralyzed people are increasing day by day. They always need another person in moving and have to go under some physical therapies under the guidance of a therapist to recuperate their strain back. In this paper the proposed system helps them to move freely & safely and also takes the activities of a therapist in a cost effective manner. This system is a combination of different controlling features, has the ability to detect obstacle and provides few kinds of therapies. A smart wheelchair is developed by using voice recognition system to control the movement of wheelchair and also with Arduino interfaced joystick. Besides, an ultrasound system provides the facility of automatic obstacle detection. The aim of research is to compact many facilities in a single wheelchair at low cost.
Abstract:This paper describes the theory and design considerations behind the implementation of a rover combining surveillance, motion detection and poisonous gas detection. The designed rover detects the presence of carbon monoxide (CO) gas in order to prevent carbon monoxide poisoning in small area, cave, mine or in an area of hazardous accident. The rover allows multiple option of dealing with detecting motion as well as temperature and most importantly carbon monoxide which is unique and can cope easily with rescue missions. Different controlling methods have been adopted to keep pace with modern technologies. The project uses modern engineering concepts to yield better implementation and better shape. Running the rover in an efficient manner and in a cost effective way to serve the human race in different purposes is the primary goal. The aim of building the rover also includes detecting movement, distance and temperature as an enhancement to the existing technology and development of robotics with new concepts and improved results.
Abstract:This paper presents mechatronic design and hydrodynamic analysis of a novel bioinspired robotic dolphin used for mobile water quality monitoring. A complementary configuration for mimicry of dolphin-like propulsion is firstly presented, involving a waist-fluke propulsive unit for dorsoventral oscillations and a pair of flippers with separate degree of freedom for three-dimensional (3D) maneuvers. A host of onboard sensors is equipped to strengthen the capability of environment perception and mission execution on a near real-time basis. Considering the dynamic requirement for motion transition in water quality monitoring, a central pattern generator-based controller is then built to govern the multimodal locomotion of the robotic dolphin. Moreover, a 3D dynamic model based on the Lagrange method is employed to predict the propulsive performance, followed by simulations of continuous diving and surfacing motions. Finally, both laboratory and field experiments are conducted to demonstrate the effectiveness of the presented mechatronic design and control methods. The results further show that the robotic dolphin with 3D maneuverability offers a feasible solution to aquatic mobile sensing.
Abstract:The main contribution of this work is the low-cost joint torque measurement method using harmonic drive characteristics. To measure the external torque, we use the strain measurement of the flexspline of the harmonic drive. The flexspline of the harmonic drive is deformed by the external torque, as well as by the velocity reducing operation, which creates torque ripple on the strain signal from the flexspline. As the frequency characteristics of such torque ripple are strongly related to the joint speed, an order tracking technique is used to compensate the torque ripple. The resampling-based order tracking data acquisition is used to rearrange the torque ripple signal into the order signal, which has independent frequency characteristic to the joint speed. Then, a simple notch filter easily cancels the torque ripple from the rearranged signal. Our algorithm switches the signal source between the order tracking and the conventional time sampling to overcome the zero velocity condition. To overcome the lack of order information at low velocity, we propose a back propagation method using trained order sampling data. The developed joint torque sensing method is applied to the harmonic drive reducer of a robot manipulator's joint and is experimentally evaluated for the torque measurement during the motion of 5th order polynomial trajectory following.
Abstract:This paper describes the implementation of an event-based Internet robotic system to monitor water quality and feed crayfish in a shadehouse, guided by a model-based development methodology. The robotic system consists of a mobile robot to transport a water multiparameter sonde and six containers for distributing food onto the pond surface, a dispatcher unit to dispense a precise amount of food from the containers, and a computer running as a server to define, over the Internet, the feeding and monitoring schedule through a client application. The development methodology starts by making an abstract functionality model to accomplish the tasks. Next, the functionality model is described using the unified modeling language (UML) that specifies the structure and behavior of the system components. Later, the methodology translates the UML dynamic description depicted by statechart diagrams into Petri net (PN) formalism. PN models are merged and analyzed based on their behavioral properties to validate the design as a stable event-based Internet system. Following the UML and PN designs, the robotic system is implemented. Local and remote experiments were performed to show the usefulness of the robot operation via the Internet for intensive cultivation of the freshwater redclaw crayfish (Cherax quadricarinatus).
Abstract:In this letter, we propose a method to automate the exploration of unknown underwater structures for autonomous underwater vehicles (AUVs). The proposed algorithm iteratively incorporates exteroceptive sensor data and replans the next-best-view in order to fully map an underwater structure. This approach does not require prior environment information. However, a safe exploration depth and the exploration area (defined by a bounding box, parameterized by its size, location, and resolution) must be provided by the user. The algorithm operates online by iteratively conducting the following three tasks: (1) Profiling sonar data are first incorporated into a 2-D grid map, where voxels are labeled according to their state (a voxel can be labeled as empty, unseen, occluded, occplane, occupied, or viewed). (2) Useful viewpoints to continue exploration are generated according to the map. (3) A safe path is generated to guide the robot toward the next viewpoint location. Two sensors are used in this approach: a scanning profiling sonar, which is used to build an occupancy map of the surroundings, and an optical camera, which acquires optical data of the scene. Finally, in order to demonstrate the feasibility of our approach, we provide real-world results using the Sparus II AUV.
Abstract:This letter presents a novel wearable haptic controller (WHC) system suitable for teleoperation of demolition machines and robotic platforms. With regard to existing operator controller unit composed by passive joysticks, the WHC has been designed to provide force feedback to the user, hence improving the user performance during the teleoperation of different robotic platforms and the interaction with the environment on the remote construction sites. The haptic feedback is provided through two compact parallel kinematic (CPK) interfaces that will be presented within the paper. The CPK implements a novel variant of the Delta kinematics which allows minimizing the radial encumbrance while preserving same operational workspace. In addition, we propose a new interaction modality that provides users the feeling of directly maneuvering the end-effector of the demolition machine. Finally, the architecture of the proposed system is presented and the results of some preliminary evaluation tests are discussed. The experiments have been performed in simulated environments and on a real machine.
Abstract:Automatic control system for robotics is getting popular day by day because of its incredible reliability and especially for the time optimization capability with performance. In this paper, the implementation of a room cleaning robot is presented which has been developed using the Arduino Uno platform with control ability by cell phone from any distance using DTMF technology. It is an electronic device with self-controlled obstacle avoidance capability along with a waste and dust cleaning system. Generally, a vacuum cleaner is an effective technology for household cleaning purpose, but it requires to be operated manually by any person. The main purpose of developing a DTMF-controlled room cleaner robot is to implement an automatic cleaning system which can be operated from any distance by using the cell phone. The robot has been built on microcontroller platform and utilized DTMF technology to develop remote controlling operation. Two effective smart paths following methods have been utilized by the robot for cleaning operation along with upgraded vacuum system with necessary filter and air suction system.
Abstract:This paper presents a lightweight telepresence robot named “OshoBOT” designed specifically for medical assistance and nursing care inside an indoor environment. The project includes the mechanical construction of the robot, motor drive system, setting up the Labview based RIO remote controller for controlling the robot kinetics and motions. The remote control server for the robot's control has been implemented. The control stability analysis and weight comparison with different other telepresence robots in market and research works have been experimented to improve its quality factor.
Abstract:Robot application for human security is an important topic in the research domain. From military domain to medical one, many applications are developed to ameliorate human life. A mine detecting robot is a revolutionary military advancement and a lifesaving invention that can benefit humanity as all. The robot is guided by an android application that allows it to scan the infected area, while a beat frequency oscillator is used as mine detection sensor placed on servo motor in front of the vehicle. This paper proposes a design of a mine detecting sensor and implementing it in a robotic prototype. The embedded proposed system is based on Arduino technologies and guided by an Android Application.
Abstract:We propose a new detection method to predict a vehicle's trajectory and use it for detecting lane changes of surrounding vehicles. According to the previous research, more than 90% of the car crashes are caused by human errors, and lane changes are the main factor. Therefore, if a lane change can be detected before a vehicle crosses the centerline, accident rates will decrease. Previously reported detection methods have the problem of frequent false alarms caused by zigzag driving that can result in user distrust in driving safety support systems. Most cases of zigzag driving are caused by the abortion of a lane change due to the presence of adjacent vehicles on the next lane. Our approach reduces false alarms by considering the possibility of a crash with adjacent vehicles by applying trajectory prediction when the target vehicle attempts to change a lane, and it reflects the result of lane-change detection. We used a traffic dataset with more than 500 lane changes and confirmed that the proposed method can considerably improve the detection performance.
Abstract:In this paper, we develop a remotely controlled robotic arm with 4 degree of freedom (D.O.F) that is wirelessly controlled using four control mechanisms, i.e, Voice Control, Smart Phone-Tilt Control, Remote control and Hand Gesture Control. Wireless technologies such as Bluetooth and Wi-Fi are used to access the Quad-Controlled Robotic Arm (QCRA). A prototype QCRA is developed. The QCRA can be used to pick and place objects from one place to another on receiving the commands from distance, thereby reducing the human effort. An Android application is developed for convenience of the user in operating this QCRA, using different control mechanisms. Performance evaluation results are encouraging. Potential applications of the QCRA in homes, industries and for physically challenged/aged people are also discussed.
Abstract:This paper draws from a small research project `Wireless Animatronic Arm', which is a prototype created to present the immense potential of an artificial arm, controlled wirelessly by any controlling device (in this case, a human arm). The paper discusses some of the previous work done in the field of robotic arms, the technology that went into the designing of the Wireless Animatronic Arm and its probable future modifications. The Wireless Animatronic Arm has two separate movements - to grab or release objects - controlled by servomotors. The user wears a glove (sensory unit) to control the animatronic arm wirelessly by motion sensing. Flex sensors, attached to the glove, sense motion in the user's hand and with the help of an arduino w/ATmega 328, processes the corresponding analog signals, and transmits it to the receiving arduino w/ATmega 328, which in turn controls the animatronic hand using servomotors. XBee radios establish wireless communication between the sensing unit and the animatronic arm. The Wireless Animatronic Arm is to be a stepping-stone for future applications in heavy industrial work, medical surgery, and prosthetics.
Abstract:Unmanned aerial vehicles, commonly known as drones, have many potential uses in real-world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a MATLAB environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.
Abstract:This letter presents a fully fabric-based bidirectional soft robotic glove designed to assist hand impaired patients in rehabilitation exercises and performing activities of daily living. The glove provides both active finger flexion and extension for hand assistance and rehabilitative training, through its embedded fabric-based actuators that are fabricated by heat press and ultrasonic welding of flexible thermoplastic polyurethane-coated fabrics. Compared to previous developed elastomeric-based actuators, the actuators are able to achieve smaller bend radius and generate sufficient force and torque to assist in both finger flexion and extension at lower air pressure. In this letter, experiments were conducted to characterize the performances of the glove in terms of its kinematic and grip strength assistances on five healthy participants. Additionally, we present a graphical-user interface that allows user to choose the desired rehabilitation exercises and control modes, which include button-controlled-assistive mode, cyclic movement training, intention-driven task-specific training, and bilateral rehabilitation training.
Abstract:Nuclear radiations in nuclear environment are result of fission and fusion chemical reactions of radioactive elements. Exposure to these radiations involves a possible risk to human health which can also be lethal. The nuclear power plants, especially the reactors are the places where such radiations are always present as the electricity generated therein is using the energy released from fission reactions of uranium and its isotopes. Human personnel are required inside the power plants to undertake certain tasks. They used to perform all the tasks earlier on their own but this being very risky and owing to certain mishaps that have taken place before, the concept of tele robotics came into being. In this paper, we have proposed a design of prototype based on gesture control which controls a robotic arm along with its base to move inside the reactor and perform certain tasks. One task which we have considered in the design is replacement of control rods. The gesture control is via the data glove and the transmission medium that we have considered is Wi-Fi using Wi-Fi module.
Abstract:Water pollution generated by accidental spill of hazardous materials is a growing problem worldwide. There is an urgent need for a tool that would help environmental response teams perform rapid understanding of the location and the extent of the spill to effectively establish an appropriate response. This paper presents a cooperative robotic system for environmental monitoring consisting of an autonomous underwater vehicle (AUV) and an autonomous unmanned surface vehicle (USV). The main contributions of the paper are a systematic description of the design and implementation of the proposed cooperative robotic system, a novel human-on-the-loop (HOTL) approach applied on the system for environmental monitoring, and demonstration of the results of the open-sea experiments on pollution deliberately caused by harmless Rhodamine water tracing (WT), carried out in Cartagena, Spain, in June 2015. The proposed HOTL system provides near real-time pollution measurement data, while not consuming a significant amount of human time and effort. It supports decision-making and allows the operator to initiate the most adequate mission in a current situation, i.e., ensures mission change on-the-fly. While the AUV samples the ocean, the USV maintains the localization and communication data transfer to the control center and corrects the AUV's dead reckoning error.
Abstract:This paper presents a new technology for designing, simulation, implementation and validation of a driverless vehicle system with the use of the Arduino microcontroller, ultrasonic sensors and stepper motors are integrated to Lyapunov based control scheme. The goal is specifically to develop a driverless vehicle system which is able to move from an initial to target location in an obstacle free environment in 2D workspace while taking the shortest route to the destination. Mathematical modeling for the vehicle has also been done in order to find the dynamics of the vehicle which would be used in the software simulation of the vehicle and subsequently verified through experimental design. The new methodology for the prototype and validation are presented with interesting scenarios. The final design and the methodology to reach the final design, prototyping, testing and verification and validation of the output will be presented.
Abstract:This paper introduces an innovative design of a multi-legged robot with switchable modes for walking and stair climbing. The Jansen-type eight-bar linkages are used as leg mechanisms with a new set of link dimensions (identified by the proposed path synthesis method) to generate foot trajectory for stair climbing motion. The objective function of the proposed path synthesis method is to minimize the tacking error between the target and generated trajectories. A counterweight slider to adjust the center of gravity of the multi-legged robot is used to switch the robot to either walking mode or stair climbing mode. The system design, and simulation results by using the commercial multibody dynamic analysis software, RecurDyn, are provided. The proposed design is prototyped, and can be remote controlled by a smartphone through Arduino and its Bluetooth module. The eight legs of the robot are driven by a dual-output-shaft DC motor through two gear trains. The simulated and experimental results show the developed robot is capable for both legged walking and stair climbing.
Abstract:Charging time and power transfer efficiency are the main challenges of wireless power transfer for electric vehicles. It is proposed in this paper to resolve both issues using the transformer induction concept as well as adaptive robotic technology. To this end, an autonomous robotic arm equipped with several sensors is mounted to the vehicle's undercarriage that carries a receiving coil. In case that the vehicle is parked in a parking spot equipped with wireless power transmitters, the robot will locate the receiving coil on the right place that is above the transmitting core when the vehicle is parked. When the vehicle is driven on a road equipped with the wireless power transmission system, the proposed mechanism provides the driver with signals that indicate the most efficient driving trajectory. To achieve the maximum efficiency, an advanced mathematical adaptive algorithm based on the extremum seeking method is employed. In addition, silicon carbide metal-oxide semiconductor field-effect transistor is used in power converter to retain the frequency as high as possible to decrease the charging time. Through this method, the above issues and the problem of large non-permeable air gap and accordingly electromagnetic interference are resolved; while, the charging time is decreased dramatically.