Current Issue : January - March Volume : 2018 Issue Number : 1 Articles : 5 Articles
This paper presents a wearable electrophysiological interface with enhanced immunity to\nmotion artifacts. Anti-artifact schemes, including a patch-type modular structure and real-time\nautomatic level adjustment, are proposed and verified in two wireless system prototypes of\na patch-type electrocardiogram (ECG) module and an electromyogram (EMG)-based robot-hand\ncontroller. Their common ExG readout integrated circuit (ROIC), which is reconfigurable for multiple\nphysiological interfaces, is designed and fabricated in a 0.18 �¼m CMOS process. Moreover, analog\npre-processing structures based on envelope detection are integrated with one another to mitigate\nsignal processing burdens in the digital domain effectively....
Several infrastructures, such as bridges and tunnels, require periodic inspection and repair\nto prevent collapse. There is a strong demand for practical bridge inspection robots to reduce the\ncost and time associated with the inspection of bridges by an inspector. Bridge inspection robots are\nexpected to pass through obstacles such as bolted splice part and right-angled routes. The aim of this\nstudy involved developing a bridge inspection robot that can travel on a right-angle path as well as\nsplicing parts. A two-wheel-drive robot was developed and equipped with two rimless wheels as\ndriving wheels. A neodymium magnet was provided at the tip of each spoke. Non-driving wheels\nwere attached at the rear as a rotatable caster. The robot can turn on the spot to avoid the bolt on\nthe splicing part. Experiments were conducted to check the performance of the robot. The results\nconfirmed that the robot passed through the internal right-angle paths in a laboratory and in an actual\nenvironment that corresponds to a box girder of a bridge. It is extremely difficult to manually control\na robot on the splicing part. Therefore, a camera and an LED (light emitting diode) were attached\nto autonomously control the robot. The results indicate that the newly developed robot could run\nthrough the splicing part without hitting the nuts....
This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind\nof assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a dual-arm robot. The proposed\nframework is a combination of human movements to determine the overall assembly strategy and an optimizationbased\nmotion planner to generate the robot trajectories. The motion of the human�s hands, more specifically, the\nmotion of the fingers gripping the object is captured by a Leap Motion Controller. Then, key points in the recorded\ntrajectory of the position and orientation of the human�s fingers are extracted. These points are used as partial goals\nin the optimization-based motion planner that generates the robot arms� trajectories which minimize the object�s\ndeformation. Through experimental results it was verified the validity of the extracted key points from the human�s\nmovements that enable the robot to successfully assemble ring-shaped elastic objects. We compared these results\nwith the assembly done by purely repeating all of the human�s hands movements....
Inverse kinematic solutions for a dual redundant camera robot in position are examined in order to alleviate operation difficulty\nand reduce time.The inverse kinematic algorithm is based on a basic genetic algorithm, and the genetic algorithm which is used to\nsolve the problem of a redundant robot is mainly optimized in the joint space. On this basis, the genetic algorithm improvement\nstrategies are studied. In this paper, a genetic algorithm with constrained 2 redundant degrees of freedom (DOF) is proposed\nthrough setting 2 parameter variables, with more flexible structure of optimization objective function and more efficient algorithm\nthan basic genetic algorithm. Finally, the result of inverse kinematic algorithm is achieved in terms of the physical prototype....
In order to transport materials flexibly and smoothly in a tight plant environment,\nan omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical\nsystem of the mobile robot is made up of three separable layers so as to simplify its combination and\nreorganization. Each modularized wheel was installed on a vertical suspension mechanism, which\nensures the moving stability and keeps the distances of four wheels invariable. The control system\nconsists of two-level controllers that implement motion control and multi-sensor data processing,\nrespectively. In order to make the mobile robot navigate in an unknown semi-structured indoor\nenvironment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the\nmobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was\nintegrated in an intelligent manufacturing system for material conveying. Experimental results show\nthat the omni-directional mobile robot can move stably and autonomously in an indoor environment\nand in industrial fields....
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