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robot</title> <meta name="description" content="Search results for: frog robot"> <meta name="keywords" content="frog robot"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler ml-auto" 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id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="frog robot"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 485</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: frog robot</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">485</span> Design, Modelling, and Fabrication of Bioinspired Frog Robot for Synchronous and Asynchronous Swimming</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Afaque%20Manzoor%20Soomro">Afaque Manzoor Soomro</a>, <a href="https://publications.waset.org/abstracts/search?q=Faheem%20Ahmed"> Faheem Ahmed</a>, <a href="https://publications.waset.org/abstracts/search?q=Fida%20Hussain%20Memon"> Fida Hussain Memon</a>, <a href="https://publications.waset.org/abstracts/search?q=Kyung%20Hyun%20Choi"> Kyung Hyun Choi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes the bioinspired soft frog robot. All printing technology was used for the fabrication of the robot. Polyjet printing was used to print the front and back limbs, while ultrathin filament was used to print the body of the robot, which makes it a complete soft swimming robot. The dual thrust generation approach has been proposed by embedding the main muscle and antagonistic muscle in all the limbs, which enables it to attain high speed (18 mm/s), and significant control of swimming in dual modes (synchronous and asynchronous modes). To achieve the swimming motion of the frog, the design, motivated by the rigorous modelling and real frog dynamics analysis, enabled the as-developed frog robot (FROBOT) to swim at a significant level of consistency with the real frog. The FROBOT (weighing 65 g) can swim at different controllable frequencies (0.5–2Hz) and can turn in any direction by following custom-made LabVIEW software’s commands which enables it to swim at speed up to 18 mm/s on the surface of deep water (100 cm) with excellent weight balance. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=soft%20robotics" title="soft robotics">soft robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=soft%20actuator" title=" soft actuator"> soft actuator</a>, <a href="https://publications.waset.org/abstracts/search?q=frog%20robot" title=" frog robot"> frog robot</a>, <a href="https://publications.waset.org/abstracts/search?q=3D%20printing" title=" 3D printing"> 3D printing</a> </p> <a href="https://publications.waset.org/abstracts/151715/design-modelling-and-fabrication-of-bioinspired-frog-robot-for-synchronous-and-asynchronous-swimming" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/151715.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">101</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">484</span> Restoration of Railway Turnout Frog with FCAW</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=D.%20Sergejevs">D. Sergejevs</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Tipainis"> A. Tipainis</a>, <a href="https://publications.waset.org/abstracts/search?q=P.%20Gavrilovs"> P. Gavrilovs </a> </p> <p class="card-text"><strong>Abstract:</strong></p> Railway turnout frogs restored with MMA often have such defects as infusions, pores, a.o., which under the influence of dynamic forces cause premature destruction of the restored surfaces. To prolong the operational time of turnout frog, i.e. operational time of the restored surface, turnout frog was restored using FCAW and afterwards matallographic examination was performed. Experimental study revealed that railway turnout frog restored with FCAW had better quality than elements restored with MMA, furthermore it provided considerable time economy. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=elements%20of%20railway%20turnout" title="elements of railway turnout">elements of railway turnout</a>, <a href="https://publications.waset.org/abstracts/search?q=FCAW" title=" FCAW"> FCAW</a>, <a href="https://publications.waset.org/abstracts/search?q=metallographic%20examination" title=" metallographic examination"> metallographic examination</a>, <a href="https://publications.waset.org/abstracts/search?q=quality%20of%20build-up%20welding" title=" quality of build-up welding"> quality of build-up welding</a> </p> <a href="https://publications.waset.org/abstracts/24375/restoration-of-railway-turnout-frog-with-fcaw" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/24375.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">643</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">483</span> LogiSun: An Interactive Robot to Reduce Pollution on the Beach</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ruth%20Manzanares">Ruth Manzanares</a>, <a href="https://publications.waset.org/abstracts/search?q=Victor%20Honores"> Victor Honores</a>, <a href="https://publications.waset.org/abstracts/search?q=Hugo%20Zapata"> Hugo Zapata</a>, <a href="https://publications.waset.org/abstracts/search?q=Javier%20Cansaya"> Javier Cansaya</a>, <a href="https://publications.waset.org/abstracts/search?q=Deivid%20Yavar"> Deivid Yavar</a>, <a href="https://publications.waset.org/abstracts/search?q=Junior%20Meza"> Junior Meza</a> </p> <p class="card-text"><strong>Abstract:</strong></p> LogiSum is a robot focused on education like a solution to the ecological crisis. This robot allows reducing the pollution on the beaches by stimulating environmental awareness of not contaminating through the collection of waste. Through the use of the methodology of design thinking, it is intended to reinforce values in adults and with a greater focus on children, so as not to contaminate the beaches. The goal is to encourage the use of the container of the robot LogiSum to put the garbage, with visual interaction and simulation of dialogue with the function of the robot. The results obtained of the testings of the interaction of children with the robot showed an encouraging behavior. With the robot, children left the waste in the right places and not bury it in the sand or in the floor. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=interaction%20human-robot" title="interaction human-robot">interaction human-robot</a>, <a href="https://publications.waset.org/abstracts/search?q=pollution%20reduction" title=" pollution reduction"> pollution reduction</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20robot" title=" social robot"> social robot</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20container" title=" robot container"> robot container</a>, <a href="https://publications.waset.org/abstracts/search?q=beach%20pollution" title=" beach pollution"> beach pollution</a> </p> <a href="https://publications.waset.org/abstracts/102137/logisun-an-interactive-robot-to-reduce-pollution-on-the-beach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/102137.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">267</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">482</span> Stealth Laser Dicing Process Improvement via Shuffled Frog Leaping Algorithm</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Pongchanun%20Luangpaiboon">Pongchanun Luangpaiboon</a>, <a href="https://publications.waset.org/abstracts/search?q=Wanwisa%20Sarasang"> Wanwisa Sarasang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a performance of shuffled frog leaping algorithm was investigated on the stealth laser dicing process. Effect of problem on the performance of the algorithm was based on the tolerance of meandering data. From the customer specification it could be less than five microns with the target of zero microns. Currently, the meandering levels are unsatisfactory when compared to the customer specification. Firstly, the two-level factorial design was applied to preliminary study the statistically significant effects of five process variables. In this study one influential process variable is integer. From the experimental results, the new operating condition from the algorithm was superior when compared to the current manufacturing condition. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=stealth%20laser%20dicing%20process" title="stealth laser dicing process">stealth laser dicing process</a>, <a href="https://publications.waset.org/abstracts/search?q=meandering" title=" meandering"> meandering</a>, <a href="https://publications.waset.org/abstracts/search?q=meta-heuristics" title=" meta-heuristics"> meta-heuristics</a>, <a href="https://publications.waset.org/abstracts/search?q=shuffled%20frog%20leaping%20algorithm" title=" shuffled frog leaping algorithm"> shuffled frog leaping algorithm</a> </p> <a href="https://publications.waset.org/abstracts/5805/stealth-laser-dicing-process-improvement-via-shuffled-frog-leaping-algorithm" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/5805.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">341</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">481</span> The Quantitative Analysis of the Influence of the Superficial Abrasion on the Lifetime of the Frog Rail</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Dong%20Jiang">Dong Jiang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Turnout is the essential equipment on the railway, which also belongs to one of the strongest demanded infrastructural facilities of railway on account of the more seriously frog rail failures. In cooperation with Germany Company (DB Systemtechnik AG), our research team focuses on the quantitative analysis about the frog rails to predict their lifetimes. Moreover, the suggestions for the timely and effective maintenances are made to improve the economy of the frog rails. The lifetime of the frog rail depends strongly on the internal damage of the running surface until the breakages occur. On the basis of Hertzian theory of the contact mechanics, the dynamic loads of the running surface are calculated in form of the contact pressures on the running surface and the equivalent tensile stress inside the running surface. According to material mechanics, the strength of the frog rail is determined quantitatively in form of the Stress-cycle (S-N) curve. Under the interaction between the dynamic loads and the strength, the internal damage of the running surface is calculated by means of the linear damage hypothesis of the Miner’s rule. The emergence of the first Breakage on the running surface is to be defined as the failure criterion that the damage degree equals 1.0. From the microscopic perspective, the running surface of the frog rail is divided into numerous segments for the detailed analysis. The internal damage of the segment grows slowly in the beginning and disproportionately quickly in the end until the emergence of the breakage. From the macroscopic perspective, the internal damage of the running surface develops simply always linear along the lifetime. With this linear growth of the internal damages, the lifetime of the frog rail could be predicted simply through the immediate introduction of the slope of the linearity. However, the superficial abrasion plays an essential role in the results of the internal damages from the both perspectives. The influences of the superficial abrasion on the lifetime are described in form of the abrasion rate. It has two contradictory effects. On the one hand, the insufficient abrasion rate causes the concentration of the damage accumulation on the same position below the running surface to accelerate the rail failure. On the other hand, the excessive abrasion rate advances the disappearance of the head hardened surface of the frog rail to result in the untimely breakage on the surface. Thus, the relationship between the abrasion rate and the lifetime is subdivided into an initial phase of the increased lifetime and a subsequent phase of the more rapid decreasing lifetime with the continuous growth of the abrasion rate. Through the compensation of these two effects, the critical abrasion rate is discussed to reach the optimal lifetime. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=breakage" title="breakage">breakage</a>, <a href="https://publications.waset.org/abstracts/search?q=critical%20abrasion%20rate" title=" critical abrasion rate"> critical abrasion rate</a>, <a href="https://publications.waset.org/abstracts/search?q=frog%20rail" title=" frog rail"> frog rail</a>, <a href="https://publications.waset.org/abstracts/search?q=internal%20damage" title=" internal damage"> internal damage</a>, <a href="https://publications.waset.org/abstracts/search?q=optimal%20lifetime" title=" optimal lifetime"> optimal lifetime</a> </p> <a href="https://publications.waset.org/abstracts/91409/the-quantitative-analysis-of-the-influence-of-the-superficial-abrasion-on-the-lifetime-of-the-frog-rail" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/91409.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">225</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">480</span> Valorization of Seafood and Poultry By-Products as Gelatin Source and Quality Assessment</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Elif%20Tugce%20Aksun%20Tumerkan">Elif Tugce Aksun Tumerkan</a>, <a href="https://publications.waset.org/abstracts/search?q=Umran%20Cansu"> Umran Cansu</a>, <a href="https://publications.waset.org/abstracts/search?q=Gokhan%20Boran"> Gokhan Boran</a>, <a href="https://publications.waset.org/abstracts/search?q=Fatih%20Ozogul"> Fatih Ozogul</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Gelatin is a mixture of peptides obtained from collagen by partial thermal hydrolysis. It is an important and useful biopolymer that is used in the food, pharmacy, and photography products. Generally, gelatins are sourced from pig skin and bones, beef bone and hide, but within the last decade, using alternative gelatin resources has attracted some interest. In this study, functional properties of gelatin extracted from seafood and poultry by-products were evaluated. For this purpose, skins of skipjack tuna (Katsuwonus pelamis) and frog (Rana esculata) were used as seafood by-products and chicken skin as poultry by-product as raw material for gelatin extraction. Following the extraction of gelatin, all samples were lyophilized and stored in plastic bags at room temperature. For comparing gelatins obtained; chemical composition, common quality parameters including bloom value, gel strength, and viscosity in addition to some others like melting and gelling temperatures, hydroxyproline content, and colorimetric parameters were determined. The results showed that the highest protein content obtained in frog gelatin with 90.1% and the highest hydroxyproline content was in chicken gelatin with 7.6% value. Frog gelatin showed a significantly higher (P < 0.05) melting point (42.7°C) compared to that of fish (29.7°C) and chicken (29.7°C) gelatins. The bloom value of gelatin from frog skin was found higher (363 g) than chicken and fish gelatins (352 and 336 g, respectively) (P < 0.05). While fish gelatin had higher lightness (L*) value (92.64) compared to chicken and frog gelatins, redness/greenness (a*) value was significantly higher in frog skin gelatin. Based on the results obtained, it can be concluded that skins of different animals with high commercial value may be utilized as alternative sources to produce gelatin with high yield and desirable functional properties. Functional and quality analysis of gelatin from frog, chicken, and tuna skin showed by-product of poultry and seafood can be used as an alternative gelatine source to mammalian gelatine. The functional properties, including bloom strength, melting points, and viscosity of gelatin from frog skin were more admirable than that of the chicken and tuna skin. Among gelatin groups, significant characteristic differences such as gel strength and physicochemical properties were observed based on not only raw material but also the extraction method. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=chicken%20skin" title="chicken skin">chicken skin</a>, <a href="https://publications.waset.org/abstracts/search?q=fish%20skin" title=" fish skin"> fish skin</a>, <a href="https://publications.waset.org/abstracts/search?q=food%20industry" title=" food industry"> food industry</a>, <a href="https://publications.waset.org/abstracts/search?q=frog%20skin" title=" frog skin"> frog skin</a>, <a href="https://publications.waset.org/abstracts/search?q=gel%20strength" title=" gel strength"> gel strength</a> </p> <a href="https://publications.waset.org/abstracts/94003/valorization-of-seafood-and-poultry-by-products-as-gelatin-source-and-quality-assessment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/94003.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">163</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">479</span> Designing Expressive Behaviors to Improve Human-Robot Relationships</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sahil%20Anand">Sahil Anand</a>, <a href="https://publications.waset.org/abstracts/search?q=John%20Luetke"> John Luetke</a>, <a href="https://publications.waset.org/abstracts/search?q=Nikhil%20Venkatesh"> Nikhil Venkatesh</a>, <a href="https://publications.waset.org/abstracts/search?q=Dorothy%20Wong"> Dorothy Wong</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Trust plays an important role in building and sustaining long-term relationships between people. In this paper, we present a robot that communicates using nonverbal behaviors such as facial expressions and body movements. Our study reports on an experiment in which participants were asked to team up with the robot to perform specific tasks. We varied the expressivity of the robot and measured the effects on trust, quality of interactions as well as on the praising and punishing behavior of the participant towards the robot. We found that participants developed a stronger affinity towards the expressive robot, but did not show any significant differences in the level of trust. When the same robot made mistakes, participants unconsciously punished it with lesser intensity compared to the neutral robot. The results emphasize the role of expressive behaviors on participant’s perception of the robot and also on the quality of interactions between humans and robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=human-robot%20interaction" title="human-robot interaction">human-robot interaction</a>, <a href="https://publications.waset.org/abstracts/search?q=nonverbal%20communication" title=" nonverbal communication"> nonverbal communication</a>, <a href="https://publications.waset.org/abstracts/search?q=relationships" title=" relationships"> relationships</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20robot" title=" social robot"> social robot</a>, <a href="https://publications.waset.org/abstracts/search?q=trust" title=" trust"> trust</a> </p> <a href="https://publications.waset.org/abstracts/71682/designing-expressive-behaviors-to-improve-human-robot-relationships" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/71682.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">370</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">478</span> The Follower Robots Tested in Different Lighting Condition and Improved Capabilities</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sultan%20Muhammed%20Fatih%20Apaydin">Sultan Muhammed Fatih Apaydin</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this study, two types of robot were examined as being pioneer robot and follower robot for improving of the capabilities of tracking robots. Robots continue to tracking each other and measurement of the follow-up distance between them is very important for improvements to be applied. It was achieved that the follower robot follows the pioneer robot in line with intended goals. The tests were applied to the robots in various grounds and environments in point of performance and necessary improvements were implemented by measuring the results of these tests. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title="mobile robot">mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=remote%20and%20autonomous%20control" title=" remote and autonomous control"> remote and autonomous control</a>, <a href="https://publications.waset.org/abstracts/search?q=infra-red%20sensors" title=" infra-red sensors"> infra-red sensors</a>, <a href="https://publications.waset.org/abstracts/search?q=arduino" title=" arduino"> arduino</a> </p> <a href="https://publications.waset.org/abstracts/34758/the-follower-robots-tested-in-different-lighting-condition-and-improved-capabilities" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/34758.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">566</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">477</span> Applying Sliding Autonomy for a Human-Robot Team on USARSim</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Fang%20Tang">Fang Tang</a>, <a href="https://publications.waset.org/abstracts/search?q=Jacob%20Longazo"> Jacob Longazo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes a sliding autonomy approach for coordinating a team of robots to assist the human operator to accomplish tasks while adapting to new or unexpected situations by requesting help from the human operator. While sliding autonomy has been well studied in the context of controlling a single robot. Much work needs to be done to apply sliding autonomy to a multi-robot team, especially human-robot team. Our approach aims at a hierarchical sliding control structure, with components that support human-robot collaboration. We validated our approach in the USARSim simulation and demonstrated that the human-robot team's overall performance can be improved under the sliding autonomy control. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sliding%20autonomy" title="sliding autonomy">sliding autonomy</a>, <a href="https://publications.waset.org/abstracts/search?q=multi-robot%20team" title=" multi-robot team"> multi-robot team</a>, <a href="https://publications.waset.org/abstracts/search?q=human-robot%20collaboration" title=" human-robot collaboration"> human-robot collaboration</a>, <a href="https://publications.waset.org/abstracts/search?q=USARSim" title=" USARSim"> USARSim</a> </p> <a href="https://publications.waset.org/abstracts/27177/applying-sliding-autonomy-for-a-human-robot-team-on-usarsim" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27177.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">545</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">476</span> Underneath Vehicle Inspection Using Fuzzy Logic, Subsumption, and Open Cv-Library</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hazim%20Abdulsada">Hazim Abdulsada</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=fuzzy%20logic" title="fuzzy logic">fuzzy logic</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robots" title=" mobile robots"> mobile robots</a>, <a href="https://publications.waset.org/abstracts/search?q=Opencv" title=" Opencv"> Opencv</a>, <a href="https://publications.waset.org/abstracts/search?q=subsumption" title=" subsumption"> subsumption</a>, <a href="https://publications.waset.org/abstracts/search?q=under%20vehicle%20inspection" title=" under vehicle inspection "> under vehicle inspection </a> </p> <a href="https://publications.waset.org/abstracts/20775/underneath-vehicle-inspection-using-fuzzy-logic-subsumption-and-open-cv-library" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20775.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">472</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">475</span> Tracked Robot with Blade Arms to Enhance Crawling Capability</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Jhu-Wei%20Ji">Jhu-Wei Ji</a>, <a href="https://publications.waset.org/abstracts/search?q=Fa-Shian%20Chang"> Fa-Shian Chang</a>, <a href="https://publications.waset.org/abstracts/search?q=Lih-Tyng%20Hwang"> Lih-Tyng Hwang</a>, <a href="https://publications.waset.org/abstracts/search?q=Chih-Feng%20Liu"> Chih-Feng Liu</a>, <a href="https://publications.waset.org/abstracts/search?q=Jeng-Nan%20Lee"> Jeng-Nan Lee</a>, <a href="https://publications.waset.org/abstracts/search?q=Shun-Min%20Wang"> Shun-Min Wang</a>, <a href="https://publications.waset.org/abstracts/search?q=Kai-Yi%20Cho"> Kai-Yi Cho</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a tracked robot with blade arms powered to assist movement in difficult environments. As a result, the tracked robot is able to pass a ramp or climb stairs. The main feature is a pair of blade arms on both sides of the vehicle body working in collaboration with previously validated transformable track system. When the robot encounters an obstacle in a terrain, it enlists the blade arms with power to overcome the obstacle. In disaster areas, there usually will be terrains that are full of broken and complicated slopes, broken walls, rubbles, and ditches. Thereupon, a robot, which is instructed to pass through such disaster areas, needs to have a good off-road capability for such complicated terrains. The robot with crawling-assisting blade arms would overcome the obstacles along the terrains, and possibly become to be a rescue robot. A prototype has been developed and built; experiments were carried out to validate the enhanced crawling capability of the robot. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=tracked%20robot" title="tracked robot">tracked robot</a>, <a href="https://publications.waset.org/abstracts/search?q=rescue%20robot" title=" rescue robot"> rescue robot</a>, <a href="https://publications.waset.org/abstracts/search?q=blade%20arm" title=" blade arm"> blade arm</a>, <a href="https://publications.waset.org/abstracts/search?q=crawling%20ability" title=" crawling ability"> crawling ability</a>, <a href="https://publications.waset.org/abstracts/search?q=control%20system" title=" control system"> control system</a> </p> <a href="https://publications.waset.org/abstracts/50959/tracked-robot-with-blade-arms-to-enhance-crawling-capability" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/50959.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">410</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">474</span> Finite Element Analysis and Multibody Dynamics of 6-DOF Industrial Robot</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Rahul%20Arora">Rahul Arora</a>, <a href="https://publications.waset.org/abstracts/search?q=S.%20S.%20Dhami"> S. S. Dhami</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper implements the design structure of industrial robot along with the different transmission components like gear assembly and analysis of complete industrial robot. In this paper, it gives the overview on the most efficient types of modeling and different analysis results that can be obtained for an industrial robot. The investigation is executed in regards to two classifications i.e. the deformation and the stress tests. SolidWorks is utilized to design and review the 3D drawing plan while ANSYS Workbench is utilized to execute the FEA on an industrial robot and the designed component. The CAD evaluation was conducted on a disentangled model of an industrial robot. The study includes design and drafting its transmission system. In CAE study static, modal and dynamic analysis are presented. Every one of the outcomes is divided in regard with the impact of the static and dynamic analysis on the situating exactness of the robot. It gives critical data with respect to parts of the industrial robot that are inclined to harm under higher high force applications. Therefore, the mechanical structure under different operating conditions can help in optimizing the manipulator geometry and in selecting the right material for the same. The FEA analysis is conducted for four different materials on the same industrial robot and gear assembly. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=CAD" title="CAD">CAD</a>, <a href="https://publications.waset.org/abstracts/search?q=CAE" title=" CAE"> CAE</a>, <a href="https://publications.waset.org/abstracts/search?q=FEA" title=" FEA"> FEA</a>, <a href="https://publications.waset.org/abstracts/search?q=robot" title=" robot"> robot</a>, <a href="https://publications.waset.org/abstracts/search?q=static" title=" static"> static</a>, <a href="https://publications.waset.org/abstracts/search?q=dynamic" title=" dynamic"> dynamic</a>, <a href="https://publications.waset.org/abstracts/search?q=modal" title=" modal"> modal</a>, <a href="https://publications.waset.org/abstracts/search?q=gear%20assembly" title=" gear assembly"> gear assembly</a> </p> <a href="https://publications.waset.org/abstracts/76941/finite-element-analysis-and-multibody-dynamics-of-6-dof-industrial-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/76941.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">377</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">473</span> Robot-Assisted Therapy for Autism Spectrum Disorder: Evaluating the Impact of NAO Robot on Social and Language Skills</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=M.%20Aguilar">M. Aguilar</a>, <a href="https://publications.waset.org/abstracts/search?q=D.%20L.%20Araujo"> D. L. Araujo</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20L.%20Avenda%C3%B1o"> A. L. Avendaño</a>, <a href="https://publications.waset.org/abstracts/search?q=D.%20C.%20Flores"> D. C. Flores</a>, <a href="https://publications.waset.org/abstracts/search?q=I.%20Lascurain"> I. Lascurain</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20A.%20Molina"> R. A. Molina</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Romero"> M. Romero</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This work presents an application of social robotics, specifically the use of a NAO Robot as a tool for therapists in the treatment of Autism Spectrum Disorder (ASD). According to this, therapies approved by specialist psychologists have been developed and implemented, focusing on creating a triangulation between the robot, the child, and the therapist, aiming to improve their social and language skills, as well as communication skills and joint attention. In addition, quantitative and qualitative analysis tools have been developed and applied to prove the acceptance and the impact of the robot in the treatment of ASD. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=autism%20spectrum%20disorder" title="autism spectrum disorder">autism spectrum disorder</a>, <a href="https://publications.waset.org/abstracts/search?q=NAO%20robot" title=" NAO robot"> NAO robot</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20and%20language%20skills" title=" social and language skills"> social and language skills</a>, <a href="https://publications.waset.org/abstracts/search?q=therapy" title=" therapy"> therapy</a> </p> <a href="https://publications.waset.org/abstracts/169712/robot-assisted-therapy-for-autism-spectrum-disorder-evaluating-the-impact-of-nao-robot-on-social-and-language-skills" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/169712.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">135</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">472</span> Energy Management Techniques in Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=G.%20Gurguze">G. Gurguze</a>, <a href="https://publications.waset.org/abstracts/search?q=I.%20Turkoglu"> I. Turkoglu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Today, the developing features of technological tools with limited energy resources have made it necessary to use energy efficiently. Energy management techniques have emerged for this purpose. As with every field, energy management is vital for robots that are being used in many areas from industry to daily life and that are thought to take up more spaces in the future. Particularly, effective power management in autonomous and multi robots, which are getting more complicated and increasing day by day, will improve the performance and success. In this study, robot management algorithms, usage of renewable and hybrid energy sources, robot motion patterns, robot designs, sharing strategies of workloads in multiple robots, road and mission planning algorithms are discussed for efficient use of energy resources by mobile robots. These techniques have been evaluated in terms of efficient use of existing energy resources and energy management in robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=energy%20management" title="energy management">energy management</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title=" mobile robot"> mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20administration" title=" robot administration"> robot administration</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20management" title=" robot management"> robot management</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20planning" title=" robot planning"> robot planning</a> </p> <a href="https://publications.waset.org/abstracts/75907/energy-management-techniques-in-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/75907.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">266</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">471</span> Innovative Design of Spherical Robot with Hydraulic Actuator</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Roya%20Khajepour">Roya Khajepour</a>, <a href="https://publications.waset.org/abstracts/search?q=Alireza%20B.%20Novinzadeh"> Alireza B. Novinzadeh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the spherical robot is modeled using the Band-Graph approach. This breed of robots is typically employed in expedition missions to unknown territories. Its motion mechanism is based on convection of a fluid in a set of three donut vessels, arranged orthogonally in space. This robot is a non-linear, non-holonomic system. This paper utilizes the Band-Graph technique to derive the torque generation mechanism in a spherical robot. Eventually, this paper describes the motion of a sphere due to the exerted torque components. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=spherical%20robot" title="spherical robot">spherical robot</a>, <a href="https://publications.waset.org/abstracts/search?q=Band-Graph" title=" Band-Graph"> Band-Graph</a>, <a href="https://publications.waset.org/abstracts/search?q=modeling" title=" modeling"> modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=torque" title=" torque"> torque</a> </p> <a href="https://publications.waset.org/abstracts/27171/innovative-design-of-spherical-robot-with-hydraulic-actuator" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27171.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">350</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">470</span> Evaluation and Fault Classification for Healthcare Robot during Sit-To-Stand Performance through Center of Pressure</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Tianyi%20Wang">Tianyi Wang</a>, <a href="https://publications.waset.org/abstracts/search?q=Hieyong%20Jeong"> Hieyong Jeong</a>, <a href="https://publications.waset.org/abstracts/search?q=An%20Guo"> An Guo</a>, <a href="https://publications.waset.org/abstracts/search?q=Yuko%20Ohno"> Yuko Ohno</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Healthcare robot for assisting sit-to-stand (STS) performance had aroused numerous research interests. To author’s best knowledge, knowledge about how evaluating healthcare robot is still unknown. Robot should be labeled as fault if users feel demanding during STS when they are assisted by robot. In this research, we aim to propose a method to evaluate sit-to-stand assist robot through center of pressure (CoP), then classify different STS performance. Experiments were executed five times with ten healthy subjects under four conditions: two self-performed STSs with chair heights of 62 cm and 43 cm, and two robot-assisted STSs with chair heights of 43 cm and robot end-effect speed of 2 s and 5 s. CoP was measured using a Wii Balance Board (WBB). Bayesian classification was utilized to classify STS performance. The results showed that faults occurred when decreased the chair height and slowed robot assist speed. Proposed method for fault classification showed high probability of classifying fault classes form others. It was concluded that faults for STS assist robot could be detected by inspecting center of pressure and be classified through proposed classification algorithm. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=center%20of%20pressure" title="center of pressure">center of pressure</a>, <a href="https://publications.waset.org/abstracts/search?q=fault%20classification" title=" fault classification"> fault classification</a>, <a href="https://publications.waset.org/abstracts/search?q=healthcare%20robot" title=" healthcare robot"> healthcare robot</a>, <a href="https://publications.waset.org/abstracts/search?q=sit-to-stand%20movement" title=" sit-to-stand movement"> sit-to-stand movement</a> </p> <a href="https://publications.waset.org/abstracts/93907/evaluation-and-fault-classification-for-healthcare-robot-during-sit-to-stand-performance-through-center-of-pressure" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/93907.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">197</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">469</span> Investigating Breakdowns in Human Robot Interaction: A Conversation Analysis Guided Single Case Study of a Human-Robot Communication in a Museum Environment</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=B.%20Arend">B. Arend</a>, <a href="https://publications.waset.org/abstracts/search?q=P.%20Sunnen"> P. Sunnen</a>, <a href="https://publications.waset.org/abstracts/search?q=P.%20Caire"> P. Caire</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In a single case study, we show how a conversation analysis (CA) approach can shed light onto the sequential unfolding of human-robot interaction. Relying on video data, we are able to show that CA allows us to investigate the respective turn-taking systems of humans and a NAO robot in their dialogical dynamics, thus pointing out relevant differences. Our fine grained video analysis points out occurring breakdowns and their overcoming, when humans and a NAO-robot engage in a multimodally uttered multi-party communication during a sports guessing game. Our findings suggest that interdisciplinary work opens up the opportunity to gain new insights into the challenging issues of human robot communication in order to provide resources for developing mechanisms that enable complex human-robot interaction (HRI). <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=human%20robot%20interaction" title="human robot interaction">human robot interaction</a>, <a href="https://publications.waset.org/abstracts/search?q=conversation%20analysis" title=" conversation analysis"> conversation analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=dialogism" title=" dialogism"> dialogism</a>, <a href="https://publications.waset.org/abstracts/search?q=breakdown" title=" breakdown"> breakdown</a>, <a href="https://publications.waset.org/abstracts/search?q=museum" title=" museum"> museum</a> </p> <a href="https://publications.waset.org/abstracts/60248/investigating-breakdowns-in-human-robot-interaction-a-conversation-analysis-guided-single-case-study-of-a-human-robot-communication-in-a-museum-environment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/60248.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">305</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">468</span> Design of a Robot with a Transformable Track System in Tackling Motion Barrier</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Kai-Yi%20Cho">Kai-Yi Cho</a>, <a href="https://publications.waset.org/abstracts/search?q=Fa-Shian%20Chang"> Fa-Shian Chang</a>, <a href="https://publications.waset.org/abstracts/search?q=Lih-Tyng%20Hwang"> Lih-Tyng Hwang</a>, <a href="https://publications.waset.org/abstracts/search?q=Chih-Feng%20Liu"> Chih-Feng Liu</a>, <a href="https://publications.waset.org/abstracts/search?q=Jeng-Nan%20Lee"> Jeng-Nan Lee</a>, <a href="https://publications.waset.org/abstracts/search?q=Shun-Min%20Wang"> Shun-Min Wang</a>, <a href="https://publications.waset.org/abstracts/search?q=Jhu-Wei%20Ji"> Jhu-Wei Ji</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a ground robot which has the tracked transformative structures of the motion mechanism. The robot has a good ability to adapt to the terrain, due to the front end of the track can be deformed, it can more easily pass the more complex area, such as to climb stairs and ramp areas. Usually in the disaster area, where the terrain is generally broken and complicated, there will be many slopes, broken walls, rubble, and obstacles, then if you want the robot through this area, you need to have a good off-road performance for possible complex terrain, this robot with the transformative tracked mechanism has a strong adaptability, it can overcome the limitation of the terrains to be a good rescue robot. Also, the robot has a good flexibility in the shape of contact with the ground; that can adapt the varied terrain by the deformable track, thus able to pass the different terrains, that was verified through the experiments on a test-platform and a field test. The prototype of the robot system has been developed, and experiments are carried out to verify the validity of the proposed design. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=tracked%20robot" title="tracked robot">tracked robot</a>, <a href="https://publications.waset.org/abstracts/search?q=rescue%20robot" title=" rescue robot"> rescue robot</a>, <a href="https://publications.waset.org/abstracts/search?q=transformation%20mechanism" title=" transformation mechanism"> transformation mechanism</a>, <a href="https://publications.waset.org/abstracts/search?q=deformable%20track" title=" deformable track"> deformable track</a>, <a href="https://publications.waset.org/abstracts/search?q=hull%20design" title=" hull design"> hull design</a> </p> <a href="https://publications.waset.org/abstracts/50960/design-of-a-robot-with-a-transformable-track-system-in-tackling-motion-barrier" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/50960.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">330</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">467</span> Control of Spherical Robot with Sliding Mode</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Roya%20Khajepour">Roya Khajepour</a>, <a href="https://publications.waset.org/abstracts/search?q=Alireza%20B.%20Novinzadeh"> Alireza B. Novinzadeh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> A major issue with spherical robot is it surface shape, which is not always predictable. This means that given only the dynamic model of the robot, it is not possible to control the robot. Due to the fact that in certain conditions it is not possible to measure surface friction, control methods must be prepared for these conditions. Moreover, although spherical robot never becomes unstable or topples thanks to its special shape, since it moves by rolling it has a non-holonomic constraint at point of contact and therefore it is considered a non-holonomic system. Existence of such a point leads to complexity and non-linearity of robot's kinematic equations and makes the control problem difficult. Due to the non-linear dynamics and presence of uncertainty, the sliding-mode control is employed. The proposed method is based on Lyapunov Theory and guarantees system stability. This controller is insusceptible to external disturbances and un-modeled dynamics. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title="sliding mode">sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=spherical%20robot" title=" spherical robot"> spherical robot</a>, <a href="https://publications.waset.org/abstracts/search?q=non-holomonic%20constraint" title=" non-holomonic constraint"> non-holomonic constraint</a>, <a href="https://publications.waset.org/abstracts/search?q=system%20stability" title=" system stability"> system stability</a> </p> <a href="https://publications.waset.org/abstracts/27170/control-of-spherical-robot-with-sliding-mode" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27170.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">389</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">466</span> Implementing Digital Control System in Robotics</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Safiullah%20Abdullahi">Safiullah Abdullahi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes the design of a digital control system which controls the speed and direction of a robot. The robot is expected to follow a black thick line with the highest possible speed and lowest error around the line. The control system of the robot will correct for the angle error that is made between the frame axis of the robot and the line. The cause for error is the difference in speed of the two driving wheels of the robot which are driven by two separate DC motors, whereas the speed difference in wheels is due to the un-modeled fraction that is available in the wheels with different magnitudes in each. The control scheme is that a number of photo sensors are mounted in the front of the robot and report their position in reference to the black line to the digital controller. The controller then, evaluates the position error and generates the needed duty cycle for the related wheel motor to drive it faster or slower. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=digital%20control" title="digital control">digital control</a>, <a href="https://publications.waset.org/abstracts/search?q=robot" title=" robot"> robot</a>, <a href="https://publications.waset.org/abstracts/search?q=controller" title=" controller"> controller</a>, <a href="https://publications.waset.org/abstracts/search?q=control%20system" title=" control system"> control system</a> </p> <a href="https://publications.waset.org/abstracts/22506/implementing-digital-control-system-in-robotics" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/22506.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">551</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">465</span> Stability and Performance Improvement of a Two-Degree-of-Freedom Robot under Interaction Using the Impedance Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Seyed%20Reza%20Mirdehghan">Seyed Reza Mirdehghan</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammad%20Reza%20Haeri%20Yazdi"> Mohammad Reza Haeri Yazdi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the stability and the performance of a two-degree-of-freedom robot under an interaction with a unknown environment has been investigated. The time when the robot returns to its initial position after an interaction and the primary resistance of the robot against the impact must be reduced. Thus, the applied torque on the motor will be reduced. The impedance control is an appropriate method for robot control in these conditions. The stability of the robot at interaction moment was transformed to be a robust stability problem. The dynamic of the unknown environment was modeled as a weight function and the stability of the robot under an interaction with the environment has been investigated using the robust control concept. To improve the performance of the system, a force controller has been designed which the normalized impedance after interaction has been reduced. The resistance of the robot has been considered as a normalized cost function and its value was 0.593. The results has showed reduction of resistance of the robot against impact and the reduction of convergence time by lower than one second. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=impedance%20control" title="impedance control">impedance control</a>, <a href="https://publications.waset.org/abstracts/search?q=control%20system" title=" control system"> control system</a>, <a href="https://publications.waset.org/abstracts/search?q=robots" title=" robots"> robots</a>, <a href="https://publications.waset.org/abstracts/search?q=interaction" title=" interaction"> interaction</a> </p> <a href="https://publications.waset.org/abstracts/15189/stability-and-performance-improvement-of-a-two-degree-of-freedom-robot-under-interaction-using-the-impedance-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/15189.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">430</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">464</span> Design of Jumping Structure of Spherical Robot Based on Archimedes' Helix</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Zhang%20Zijian">Zhang Zijian</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Nowadays, spherical robots have played an important role in many fields, but the insufficient ability of obstacle surmounting limits their wider application fields. To solve this problem, a jumping system of a spherical robot is designed based on Archimedes helix. The jumping system of the robot utilizes the characteristics of Archimedes helix and isovelocity helix to achieve constant speed and stable contraction, which ensures the stability of the system. Also, the jumping action of the robot is realized by instantaneous release of elastic potential energy. In order to verify the effectiveness of the jumping system, we designed a spherical robot and its jumping system. The experimental results show that the jumping system has the advantages of light weight, small size, high energy conversion efficiency, and can realize the spherical jumping function. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=hopping%20mechanism" title="hopping mechanism">hopping mechanism</a>, <a href="https://publications.waset.org/abstracts/search?q=Archimedes%27%20Helix" title=" Archimedes' Helix"> Archimedes' Helix</a>, <a href="https://publications.waset.org/abstracts/search?q=hopping%20robot" title=" hopping robot"> hopping robot</a>, <a href="https://publications.waset.org/abstracts/search?q=spherical%20robot" title=" spherical robot"> spherical robot</a> </p> <a href="https://publications.waset.org/abstracts/106835/design-of-jumping-structure-of-spherical-robot-based-on-archimedes-helix" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/106835.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">135</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">463</span> OmniDrive Model of a Holonomic Mobile Robot</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hussein%20Altartouri">Hussein Altartouri</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper the kinematic and kinetic models of an omnidirectional holonomic mobile robot is presented. The kinematic and kinetic models form the OmniDrive model. Therefore, a mathematical model for the robot equipped with three- omnidirectional wheels is derived. This model which takes into consideration the kinematics and kinetics of the robot, is developed to state space representation. Relative analysis of the velocities and displacements is used for the kinematics of the robot. Lagrange’s approach is considered in this study for deriving the equation of motion. The drive train and the mechanical assembly only of the Festo Robotino® is considered in this model. Mainly the model is developed for motion control. Furthermore, the model can be used for simulation purposes in different virtual environments not only Robotino® View. Further use of the model is in the mechatronics research fields with the aim of teaching and learning the advanced control theories. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title="mobile robot">mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=omni-direction%20wheel" title=" omni-direction wheel"> omni-direction wheel</a>, <a href="https://publications.waset.org/abstracts/search?q=mathematical%20model" title=" mathematical model"> mathematical model</a>, <a href="https://publications.waset.org/abstracts/search?q=holonomic%20mobile%20robot" title=" holonomic mobile robot"> holonomic mobile robot</a> </p> <a href="https://publications.waset.org/abstracts/11200/omnidrive-model-of-a-holonomic-mobile-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/11200.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">608</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">462</span> Development of a Weed Suppression Robot for Rice Cultivation Weed Suppression and Posture Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Shohei%20Nakai">Shohei Nakai</a>, <a href="https://publications.waset.org/abstracts/search?q=Yasuhiro%20Yamada"> Yasuhiro Yamada</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Weed suppression and weeding are necessary measures for rice cultivation. Weed suppression precedes the process of weeding. It means suppressing the growth of young weeds and creating a weed-less environment. If we suppress the growth of weeds, we can reduce the number of weeds in a paddy field. This would result in a reduction of the weeding work load. In this paper, we will show how we developed a weed suppression robot for the purpose of reducing the weeding work load. The robot has a laser range finder for autonomous mobility and a robot arm for weed suppression. It travels along the rice rows without stepping on and injuring the rice plants in a paddy field. The robot arm applies force to the weed seedlings and thereby suppresses the growth of weeds. This paper will explain the methodology of the autonomous mobile, the experiment in weed suppression, and the method of controlling the robot’s posture on uneven ground. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title="mobile robot">mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=paddy%20field" title=" paddy field"> paddy field</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20arm" title=" robot arm"> robot arm</a>, <a href="https://publications.waset.org/abstracts/search?q=weed" title=" weed"> weed</a> </p> <a href="https://publications.waset.org/abstracts/18414/development-of-a-weed-suppression-robot-for-rice-cultivation-weed-suppression-and-posture-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/18414.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">377</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">461</span> Design of UV Based Unicycle Robot to Disinfect Germs and Communicate With Multi-Robot System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Charles%20Koduru">Charles Koduru</a>, <a href="https://publications.waset.org/abstracts/search?q=Parth%20Patel"> Parth Patel</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Hassan%20Tanveer"> M. Hassan Tanveer</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the communication between a team of robots is used to sanitize an environment with germs is proposed. We introduce capabilities from a team of robots (most likely heterogeneous), a wheeled robot named ROSbot 2.0 that consists of a mounted LiDAR and Kinect sensor, and a modified prototype design of a unicycle-drive Roomba robot called the UV robot. The UV robot consists of ultrasonic sensors to avoid obstacles and is equipped with an ultraviolet light system to disinfect and kill germs, such as bacteria and viruses. In addition, the UV robot is equipped with disinfectant spray to target hidden objects that ultraviolet light is unable to reach. Using the sensors from the ROSbot 2.0, the robot will create a 3-D model of the environment which will be used to factor how the ultraviolet robot will disinfect the environment. Together this proposed system is known as the RME assistive robot device or RME system, which communicates between a navigation robot and a germ disinfecting robot operated by a user. The RME system includes a human-machine interface that allows the user to control certain features of each robot in the RME assistive robot device. This method allows the cleaning process to be done at a more rapid and efficient pace as the UV robot disinfects areas just by moving around in the environment while using the ultraviolet light system to kills germs. The RME system can be used in many applications including, public offices, stores, airports, hospitals, and schools. The RME system will be beneficial even after the COVID-19 pandemic. The Kennesaw State University will continue the research in the field of robotics, engineering, and technology and play its role to serve humanity. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=multi%20robot%20system" title="multi robot system">multi robot system</a>, <a href="https://publications.waset.org/abstracts/search?q=assistive%20robots" title=" assistive robots"> assistive robots</a>, <a href="https://publications.waset.org/abstracts/search?q=COVID-19%20pandemic" title=" COVID-19 pandemic"> COVID-19 pandemic</a>, <a href="https://publications.waset.org/abstracts/search?q=ultraviolent%20technology" title=" ultraviolent technology"> ultraviolent technology</a> </p> <a href="https://publications.waset.org/abstracts/136605/design-of-uv-based-unicycle-robot-to-disinfect-germs-and-communicate-with-multi-robot-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/136605.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">186</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">460</span> Motion Planning of SCARA Robots for Trajectory Tracking</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Giovanni%20Incerti">Giovanni Incerti</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifically developed program determines the motion laws of the actuators that enable the robot to generate the required movement; this software can be used in all industrial applications for which a SCARA robot has to be frequently reprogrammed, in order to generate various types of trajectories with different motion times. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=motion%20planning" title="motion planning">motion planning</a>, <a href="https://publications.waset.org/abstracts/search?q=SCARA%20robot" title=" SCARA robot"> SCARA robot</a>, <a href="https://publications.waset.org/abstracts/search?q=trajectory%20tracking" title=" trajectory tracking"> trajectory tracking</a>, <a href="https://publications.waset.org/abstracts/search?q=analytical%20form" title=" analytical form"> analytical form</a> </p> <a href="https://publications.waset.org/abstracts/19726/motion-planning-of-scara-robots-for-trajectory-tracking" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/19726.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">318</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">459</span> Exploring the Effectiveness of Robotic Companions Through the Use of Symbiotic Autonomous Plant Care Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Angelos%20Kaminis">Angelos Kaminis</a>, <a href="https://publications.waset.org/abstracts/search?q=Dakotah%20Stirnweis"> Dakotah Stirnweis</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Advances in robotic technology have driven the development of improved robotic companions in the last couple decades. However, commercially available robotic companions lack the ability to create an emotional connection with their user. By developing a companion robot that has a symbiotic relationship with a plant, an element of co-dependency is introduced into the human companion robot dynamic. This companion robot, while theoretically capable of providing most of the plant’s needs, still requires human interaction for watering, moving obstacles, and solar panel cleaning. To facilitate the interaction between human and robot, the robot is capable of limited auditory and visual communication to help express its and the plant’s needs. This paper seeks to fully describe the Autonomous Plant Care Robot system and its symbiotic relationship with its botanical ward and the plant and robot’s dependent relationship with their owner. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=symbiotic" title="symbiotic">symbiotic</a>, <a href="https://publications.waset.org/abstracts/search?q=robotics" title=" robotics"> robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=autonomous" title=" autonomous"> autonomous</a>, <a href="https://publications.waset.org/abstracts/search?q=plant-care" title=" plant-care"> plant-care</a>, <a href="https://publications.waset.org/abstracts/search?q=companion" title=" companion"> companion</a> </p> <a href="https://publications.waset.org/abstracts/147471/exploring-the-effectiveness-of-robotic-companions-through-the-use-of-symbiotic-autonomous-plant-care-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/147471.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">144</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">458</span> Design and Implementation of a Control System for a Walking Robot with Color Sensing and Line following Using PIC and ATMEL Microcontrollers</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ibraheem%20K.%20Ibraheem">Ibraheem K. Ibraheem</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avoid hitting moving objects that may pass in front of the robot. The programs have been written using micro c instructions, then converted into PIC16F887 ATmega48/88/168 microcontrollers counterparts. Practical simulations show that the walking robot accurately achieves line following action and exactly recognizes the colors and avoids any obstacle in front of it. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=color%20sensing" title="color sensing">color sensing</a>, <a href="https://publications.waset.org/abstracts/search?q=H-bridge" title=" H-bridge"> H-bridge</a>, <a href="https://publications.waset.org/abstracts/search?q=line%20following" title=" line following"> line following</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title=" mobile robot"> mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=PIC%20microcontroller" title=" PIC microcontroller"> PIC microcontroller</a>, <a href="https://publications.waset.org/abstracts/search?q=obstacle%20avoidance" title=" obstacle avoidance"> obstacle avoidance</a>, <a href="https://publications.waset.org/abstracts/search?q=phototransistor" title=" phototransistor"> phototransistor</a> </p> <a href="https://publications.waset.org/abstracts/7881/design-and-implementation-of-a-control-system-for-a-walking-robot-with-color-sensing-and-line-following-using-pic-and-atmel-microcontrollers" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/7881.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">398</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">457</span> Task Space Synchronization Control of Multi-Robot Arms with Position Synchronous Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Zijian%20Zhang">Zijian Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Yangyang%20Dong"> Yangyang Dong</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Synchronization is of great importance to ensure the multi-arm robot to complete the task. Therefore, a synchronous controller is designed to coordinate task space motion of the multi-arm in the paper. The position error, the synchronous position error, and the coupling position error are all considered in the controller. Besides, an adaptive control method is used to adjust parameters of the controller to improve the effectiveness of coordinated control performance. Simulation in the Matlab shows the effectiveness of the method. At last, a robot experiment platform with two 7-DOF (Degree of Freedom) robot arms has been established and the synchronous controller simplified to control dual-arm robot has been validated on the experimental set-up. Experiment results show the position error decreased 10% and the corresponding frequency is also greatly improved. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=synchronous%20control" title="synchronous control">synchronous control</a>, <a href="https://publications.waset.org/abstracts/search?q=space%20robot" title=" space robot"> space robot</a>, <a href="https://publications.waset.org/abstracts/search?q=task%20space%20control" title=" task space control"> task space control</a>, <a href="https://publications.waset.org/abstracts/search?q=multi-arm%20robot" title=" multi-arm robot"> multi-arm robot</a> </p> <a href="https://publications.waset.org/abstracts/97448/task-space-synchronization-control-of-multi-robot-arms-with-position-synchronous-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/97448.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">165</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">456</span> Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sumit%20Kumar">Sumit Kumar</a>, <a href="https://publications.waset.org/abstracts/search?q=Sunil%20Kumar"> Sunil Kumar</a>, <a href="https://publications.waset.org/abstracts/search?q=Chandan%20Deep%20Singh"> Chandan Deep Singh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the underwater robot is analyzed, which is the main focus of this investigation. The control of robot trajectory is not discussed in this paper. Simulation is performed using Symbol Shakti software. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=bond%20graph%20modeling" title="bond graph modeling">bond graph modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=dynamics.%20modeling" title=" dynamics. modeling"> dynamics. modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=rayleigh%20beam" title=" rayleigh beam"> rayleigh beam</a>, <a href="https://publications.waset.org/abstracts/search?q=underwater%20robot" title=" underwater robot"> underwater robot</a> </p> <a href="https://publications.waset.org/abstracts/33594/modeling-and-simulation-of-underwater-flexible-manipulator-as-raleigh-beam-using-bond-graph" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/33594.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> 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