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Autonomous Inspection for Industrial Assets
Published in Diego Galar, Uday Kumar, Dammika Seneviratne, Robots, Drones, UAVs and UGVs for Operation and Maintenance, 2020
Diego Galar, Uday Kumar, Dammika Seneviratne
To determine the composition and quality of hydrocarbon, essential knowledge for chemical processing and knowing the price of fuel in international market, there is a routine process of collecting gas from the production site. Normally this job is done manually with an operator collecting the desired amount of the gas in a container by connecting it to supply valve. This process involves certain sets of protocol to collect a fully representative sample, but this often leads to sample variations depending on the individual operator’s responses. Sample variation may be cause of error, but HSE is a far greater concern. Therefore, the Norwegian company Statoil has developed an automated gas sampling station using a standard six degrees of freedom (6-DOF) serial manipulator for this repetitive process (Shukla & Karki, 2016).
Kinematic Modeling for Robot Calibration
Published in Hanqi Zhuang, Zvi S. Roth, Camera-Aided Robot Calibration, 2018
The D-H modeling convention starts by assigning a Cartesian coordinate frame (xi, yi, zi), i = −1, 0, ···, n for each link. The world, base and tool frames are denoted as the -1th, Oth and nth link frames, respectively, n is the number of degrees of freedom of the manipulator that, for a serial manipulator, equals the number of joints. For a revolute joint, the origin of frame i-1 is taken to be on joint i. On the other hand, for a prismatic joint, the origin can be assigned arbitrarily. It will be seen that in order to reduce the number of parameters that represent a prismatic joint, the origin can be placed on joint i+1. The positive direction of axis i defines the unit vector zi-1.
Design and Development of a Low-Cost Vision-Based 6 DoF Assistive Feeding Robot for the Aged and Specially-Abled People
Published in IETE Journal of Research, 2023
Priyam Parikh, Reena Trivedi, Jatin Dave, Keyur Joshi, Dipak Adhyaru
Problem statements: To find a simple methodology to synchronize robot kinematics and machine with robot control for multiple intermediate points in the Cartesian space.To find an optimal controller to control position of a multiple degrees of freedom serial manipulator, which is subjected a cubic input signal. The controllers should be compatible to 8/16 bits open source controllers.The selected controller should be able to produce an output signal with minimal overshoot with lesser positional error as well as derivative of error. The reduced positional error should help the robotic arm to accurately reach the destination with minimal oscillations. This would reduce the wastage of food in the middle of the trajectory as well as at the destination. The selected control algorithm must be suitable for the low-cost 8 bits open-source board so that the over-processing on the board can be avoided.
Modeling and control of a 3-DOF articulated robotic manipulator using self-tuning fuzzy sliding mode controller
Published in Cogent Engineering, 2021
Aderajew Ashagrie, Ayodeji Olalekan Salau, Tilahun Weldcherkos
Robots are in widespread use in recent times to get jobs done faster with greater precision and reliability than humans. Nowadays, most industries make use of robots to increase productivity, precision, and product quality. A robot makes use of a robotic manipulator to perform tasks which are most times difficult to perform. These tasks include: space exploration, robotic surgery or welding. The robotic manipulator is an electrically actuated Three Degrees of Freedom (3-DOF) arm-like serial manipulator comprising several segments which may be sliding or jointed. They are used in industrial applications with articulated geometric types because articulated robotic manipulators are most commonly used in factories worldwide (Gambhire et al., 2021).
The role of computed tomography data in the design of a robotic magnetically-guided endoscopic platform
Published in Advanced Robotics, 2018
Peisen Zhang, Jing Li, Yang Hao, Federico Bianchi, Gastone Ciuti, Tatsuo Arai, Qiang Huang, Paolo Dario
For the magnetically-guided capsule endoscope system, the capsule is actuated by an external permanent magnet to move inside the human large bowel, and its motion trajectory is almost the same as the centerline of the large bowel. Using the computed tomography technique, we can obtain the 3D model of the human large bowel and its centerline, providing an effective approach to simulating the process of the magnetically-guided capsule colonoscopy. Based on an analysis of the MDCT images, we recommend the supine position as the detection posture because of its advantage in reducing the distance between the IPM and the EPM; we also provided the workspace of the capsule in this position. By discretizing the large-bowel trajectory and the abdomen model into points, we calculated the distance between the large bowel and the abdomen surface as a reference for the design of the IPM and the EPM. The EPM’s maximum controllable distance for the IPM is recommended to be beyond 200.9 mm to avoid collision with the human body, and its rated controllable distance is recommended to be greater than 120 mm. Based on these recommendations, we designed our capsule and simulated its motion inside the human lager bowel. We found that it is more difficult to control the capsule at the rectum and the sigmoid colon when the patient is lying on his/her back. Considering the abdomen volume and the workspace of the capsule, we provided a minimum workspace of the EPM. Based on the proposed workspace of the EPM, an auxiliary DOF was designed for an existing serial manipulator to ensure that the navigation of the capsule enables the capsule to reach the cecum. Using the computed tomography technique, we simulated the process of the magnetically-guided capsule colonoscopy technique and obtained key parameters for the design of a robotic magnetically-guided capsule endoscopic platform. The parameters obtained from the CT data will facilitate the application of the magnetically-guided capsule endoscope in the clinic. In the future work, we will research on the trajectory planning method for the capsule and EPM and use realistic and complicated large-bowel model to experiment the automatic detection of magnetically-guided capsule colonoscope.