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competitions</title> <meta name="description" content="Search results for: robotic competitions"> <meta name="keywords" content="robotic competitions"> <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 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action="https://publications.waset.org/search"> <div 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="robotic competitions"> <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> 164</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: robotic competitions</h1> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">164</span> Proposing Robotics Challenge Centered on Material Transportation in Smart Manufacturing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Brehme%20D%E2%80%99napoli%20Reis%20de%20Mesquita">Brehme D’napoli Reis de Mesquita</a>, <a href="https://publications.waset.org/search?q=Marcus%20Vin%C2%B4%C4%B1cius%20de%20Souza%20Almeida"> Marcus Vin´ıcius de Souza Almeida</a>, <a href="https://publications.waset.org/search?q=Caio%20Vin%C2%B4%C4%B1cius%20Silva%20do%20Carmo"> Caio Vin´ıcius Silva do Carmo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Educational robotics has emerged as a pedagogical tool, utilizing technological artifacts to engage students’ curiosity and interest. It fosters active learning of STEM education competencies while also cultivating essential behavioral skills. Robotic competitions provide students with platforms to collaboratively devise diverse solutions to shared problems, fostering experience exchange, collaboration, and personal growth. Despite the prevalence of current robotic competitions, especially in Brazil, simulating real-world challenges like natural disasters, there is a notable absence of industry-related tasks. This article presents an educational robotics initiative centered around material transportation within smart manufacturing using automated guided vehicles. The proposed robotics challenge was executed in a competition held in Ac¸ailˆandia city, Maranh˜ao, Brazil, yielding satisfactory results and inspiring teams to develop time-limited solution strategies.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Educational%20robotics" title="Educational robotics">Educational robotics</a>, <a href="https://publications.waset.org/search?q=STEM%20education" title=" STEM education"> STEM education</a>, <a href="https://publications.waset.org/search?q=robotic%20competitions" title=" robotic competitions"> robotic competitions</a>, <a href="https://publications.waset.org/search?q=material%20transportation" title=" material transportation"> material transportation</a>, <a href="https://publications.waset.org/search?q=smart%20manufacturing." title=" smart manufacturing."> smart manufacturing.</a> </p> <a href="https://publications.waset.org/10013239/proposing-robotics-challenge-centered-on-material-transportation-in-smart-manufacturing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10013239/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10013239/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10013239/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10013239/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10013239/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10013239/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10013239/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10013239/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10013239/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10013239/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10013239.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">293</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">163</span> Movement Optimization of Robotic Arm Movement Using Soft Computing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=V.%20K.%20Banga">V. K. Banga</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Artificial%20intelligence" title="Artificial intelligence">Artificial intelligence</a>, <a href="https://publications.waset.org/search?q=kinematics" title=" kinematics"> kinematics</a>, <a href="https://publications.waset.org/search?q=robotic%20arm" title=" robotic arm"> robotic arm</a>, <a href="https://publications.waset.org/search?q=neural%20networks" title=" neural networks"> neural networks</a>, <a href="https://publications.waset.org/search?q=fuzzy%20logic." title=" fuzzy logic."> fuzzy logic.</a> </p> <a href="https://publications.waset.org/10005652/movement-optimization-of-robotic-arm-movement-using-soft-computing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005652/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005652/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005652/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005652/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005652/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005652/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005652/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005652/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005652/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005652/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005652.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">1778</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">162</span> Conceptual Design of a Wi-Fi and GPS Based Robotic Library Using an Intelligent System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=M.%20S.%20Sreejith">M. S. Sreejith</a>, <a href="https://publications.waset.org/search?q=Steffy%20Joy"> Steffy Joy</a>, <a href="https://publications.waset.org/search?q=Abhishesh%20Pal"> Abhishesh Pal</a>, <a href="https://publications.waset.org/search?q=Beom-Sahng%20Ryuh"> Beom-Sahng Ryuh</a>, <a href="https://publications.waset.org/search?q=V.%20R.%20Sanal%20Kumar"> V. R. Sanal Kumar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, an attempt has been made for the design of a robotic library using an intelligent system. The robot works on the ARM microprocessor, motor driver circuit with 5 degrees of freedom with Wi-Fi and GPS based communication protocol. The authenticity of the library books is controlled by RFID. The proposed robotic library system is facilitated with embedded system and ARM. In this library issuance system, the previous potential readers’ authentic review reports have been taken into consideration for recommending suitable books to the deserving new users and the issuance of books or periodicals is based on the users’ decision. We have conjectured that the Wi-Fi based robotic library management system would allow fast transaction of books issuance and it also produces quality readers. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=GPS%20based%20based%20robotic%20library" title="GPS based based robotic library">GPS based based robotic library</a>, <a href="https://publications.waset.org/search?q=library%0D%0Amanagement%20system" title=" library management system"> library management system</a>, <a href="https://publications.waset.org/search?q=robotic%20library" title=" robotic library"> robotic library</a>, <a href="https://publications.waset.org/search?q=Wi-Fi%20library." title=" Wi-Fi library."> Wi-Fi library.</a> </p> <a href="https://publications.waset.org/10003251/conceptual-design-of-a-wi-fi-and-gps-based-robotic-library-using-an-intelligent-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003251/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003251/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003251/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003251/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003251/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003251/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003251/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003251/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003251/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003251/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003251.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">2282</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">161</span> Scorbot-ER 4U Using Forward Kinematics Modelling and Analysis</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=D.%20Maneetham">D. Maneetham</a>, <a href="https://publications.waset.org/search?q=L.%20Sivhour"> L. Sivhour</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Forward%20kinematics" title="Forward kinematics">Forward kinematics</a>, <a href="https://publications.waset.org/search?q=D-H%20model" title=" D-H model"> D-H model</a>, <a href="https://publications.waset.org/search?q=robotic%20toolbox" title=" robotic toolbox"> robotic toolbox</a>, <a href="https://publications.waset.org/search?q=PC-and%20EtherCAT%20based%20control." title=" PC-and EtherCAT based control."> PC-and EtherCAT based control.</a> </p> <a href="https://publications.waset.org/10008605/scorbot-er-4u-using-forward-kinematics-modelling-and-analysis" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10008605/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10008605/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10008605/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10008605/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10008605/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10008605/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10008605/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10008605/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10008605/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10008605/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10008605.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">1814</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">160</span> A Robotic Rehabilitation Arm Driven by Somatosensory Brain-Computer Interface</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jiewei%20Li">Jiewei Li</a>, <a href="https://publications.waset.org/search?q=Hongyan%20Cui"> Hongyan Cui</a>, <a href="https://publications.waset.org/search?q=Chunqi%20Chang"> Chunqi Chang</a>, <a href="https://publications.waset.org/search?q=Yong%20Hu"> Yong Hu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is a new modality BCI. The use of somatosensory stimulation is not only an input for BCI, but also a electrical stimulation for treatment of hemiparesis to strengthen the arm and improve its range of motion. A trial of this robotic rehabilitation arm was performed in a stroke patient with pure motor hemiparesis. The initial trial showed a promising result from the patient with great motivation and function improvement. It suggests that robotic rehabilitation arm driven by somatosensory BCI can enhance the rehabilitation performance and progress for hemiparetic patients after stroke.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robotic%20rehabilitation%20arm" title="Robotic rehabilitation arm">Robotic rehabilitation arm</a>, <a href="https://publications.waset.org/search?q=brain%20computer%20interface%20%28BCI%29" title=" brain computer interface (BCI)"> brain computer interface (BCI)</a>, <a href="https://publications.waset.org/search?q=hemiparesis" title=" hemiparesis"> hemiparesis</a>, <a href="https://publications.waset.org/search?q=stroke" title=" stroke"> stroke</a>, <a href="https://publications.waset.org/search?q=somatosensory%20stimulation." title=" somatosensory stimulation."> somatosensory stimulation.</a> </p> <a href="https://publications.waset.org/9998418/a-robotic-rehabilitation-arm-driven-by-somatosensory-brain-computer-interface" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9998418/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9998418/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9998418/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9998418/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9998418/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9998418/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9998418/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9998418/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9998418/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9998418/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9998418.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">2236</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">159</span> Robotic Arm Control with Neural Networks Using Genetic Algorithm Optimization Approach</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=A.%20Pajaziti">A. Pajaziti</a>, <a href="https://publications.waset.org/search?q=H.%20Cana"> H. Cana</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robotic%20Arm" title="Robotic Arm">Robotic Arm</a>, <a href="https://publications.waset.org/search?q=Neural%20Network" title=" Neural Network"> Neural Network</a>, <a href="https://publications.waset.org/search?q=Genetic%20Algorithm" title=" Genetic Algorithm"> Genetic Algorithm</a>, <a href="https://publications.waset.org/search?q=Optimization." title=" Optimization."> Optimization.</a> </p> <a href="https://publications.waset.org/9999081/robotic-arm-control-with-neural-networks-using-genetic-algorithm-optimization-approach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9999081/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9999081/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9999081/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9999081/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9999081/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9999081/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9999081/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9999081/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9999081/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9999081/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9999081.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">3595</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">158</span> On Climbing Winding Stairs for a Robotic Wheelchair</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Chun-Ta%20Chen">Chun-Ta Chen</a>, <a href="https://publications.waset.org/search?q=Te-Tan%20Liao"> Te-Tan Liao</a>, <a href="https://publications.waset.org/search?q=Hoang-Vuong%20Pham"> Hoang-Vuong Pham</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety. Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs. Since the robotic wheelchair must climb a winding staircase stably, the winding trajectory becomes a constraint equation to be followed, and the Baumgarte-s method is used to solve for the constrained dynamics equations. Experimental results validate the behavior of the prototype as it climbs a winding stair. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Climb" title="Climb">Climb</a>, <a href="https://publications.waset.org/search?q=robotic%20wheelchair" title=" robotic wheelchair"> robotic wheelchair</a>, <a href="https://publications.waset.org/search?q=skid-steering" title=" skid-steering"> skid-steering</a>, <a href="https://publications.waset.org/search?q=windingstair%20." title=" windingstair ."> windingstair .</a> </p> <a href="https://publications.waset.org/4096/on-climbing-winding-stairs-for-a-robotic-wheelchair" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/4096/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/4096/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/4096/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/4096/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/4096/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/4096/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/4096/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/4096/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/4096/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/4096/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/4096.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">2262</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">157</span> Modeling and Simulation of Robotic Arm Movement using Soft Computing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=V.%20K.%20Banga">V. K. Banga</a>, <a href="https://publications.waset.org/search?q=Jasjit%20Kaur"> Jasjit Kaur</a>, <a href="https://publications.waset.org/search?q=R.%20Kumar"> R. Kumar</a>, <a href="https://publications.waset.org/search?q=Y.%20Singh"> Y. Singh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this research paper we have presented control architecture for robotic arm movement and trajectory planning using Fuzzy Logic (FL) and Genetic Algorithms (GAs). This architecture is used to compensate the uncertainties like; movement, friction and settling time in robotic arm movement. The genetic algorithms and fuzzy logic is used to meet the objective of optimal control movement of robotic arm. This proposed technique represents a general model for redundant structures and may extend to other structures. Results show optimal angular movement of joints as result of evolutionary process. This technique has edge over the other techniques as minimum mathematics complexity used. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Kinematics" title="Kinematics">Kinematics</a>, <a href="https://publications.waset.org/search?q=Genetic%20algorithms%20%28GAs%29" title=" Genetic algorithms (GAs)"> Genetic algorithms (GAs)</a>, <a href="https://publications.waset.org/search?q=Fuzzy%20logic%28FL%29" title=" Fuzzy logic(FL)"> Fuzzy logic(FL)</a>, <a href="https://publications.waset.org/search?q=Optimal%20control." title=" Optimal control."> Optimal control.</a> </p> <a href="https://publications.waset.org/521/modeling-and-simulation-of-robotic-arm-movement-using-soft-computing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/521/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/521/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/521/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/521/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/521/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/521/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/521/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/521/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/521/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/521/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/521.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">3009</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">156</span> Multi-Robotic Partial Disassembly Line Balancing with Robotic Efficiency Difference via HNSGA-II</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Tao%20Yin">Tao Yin</a>, <a href="https://publications.waset.org/search?q=Zeqiang%20Zhang"> Zeqiang Zhang</a>, <a href="https://publications.waset.org/search?q=Wei%20Liang"> Wei Liang</a>, <a href="https://publications.waset.org/search?q=Yanqing%20Zeng"> Yanqing Zeng</a>, <a href="https://publications.waset.org/search?q=Yu%20Zhang"> Yu Zhang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>To accelerate the remanufacturing process of electronic waste products, this study designs a partial disassembly line with the multi-robotic station to effectively dispose of excessive wastes. The multi-robotic partial disassembly line is a technical upgrade to the existing manual disassembly line. Balancing optimization can make the disassembly line smoother and more efficient. For partial disassembly line balancing with the multi-robotic station (PDLBMRS), a mixed-integer programming model (MIPM) considering the robotic efficiency differences is established to minimize cycle time, energy consumption and hazard index and to calculate their optimal global values. Besides, an enhanced NSGA-II algorithm (HNSGA-II) is proposed to optimize PDLBMRS efficiently. Finally, MIPM and HNSGA-II are applied to an actual mixed disassembly case of two types of computers, the comparison of the results solved by GUROBI and HNSGA-II verifies the correctness of the model and excellent performance of the algorithm, and the obtained Pareto solution set provides multiple options for decision-makers.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Waste%20disposal" title="Waste disposal">Waste disposal</a>, <a href="https://publications.waset.org/search?q=disassembly%20line%20balancing" title=" disassembly line balancing"> disassembly line balancing</a>, <a href="https://publications.waset.org/search?q=multi-robot%20station" title=" multi-robot station"> multi-robot station</a>, <a href="https://publications.waset.org/search?q=robotic%20efficiency%20difference" title=" robotic efficiency difference"> robotic efficiency difference</a>, <a href="https://publications.waset.org/search?q=HNSGA-II." title=" HNSGA-II."> HNSGA-II.</a> </p> <a href="https://publications.waset.org/10012643/multi-robotic-partial-disassembly-line-balancing-with-robotic-efficiency-difference-via-hnsga-ii" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10012643/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10012643/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10012643/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10012643/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10012643/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10012643/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10012643/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10012643/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10012643/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10012643/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10012643.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">524</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">155</span> Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jolly%20Shah">Jolly Shah</a>, <a href="https://publications.waset.org/search?q=S.S.Rattan"> S.S.Rattan</a>, <a href="https://publications.waset.org/search?q=B.C.Nakra"> B.C.Nakra</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 2-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Artificial%20Neural%20Network" title="Artificial Neural Network">Artificial Neural Network</a>, <a href="https://publications.waset.org/search?q=Forward%20Kinematics" title=" Forward Kinematics"> Forward Kinematics</a>, <a href="https://publications.waset.org/search?q=Inverse%20Kinematics" title="Inverse Kinematics">Inverse Kinematics</a>, <a href="https://publications.waset.org/search?q=Robotic%20Manipulator" title=" Robotic Manipulator"> Robotic Manipulator</a> </p> <a href="https://publications.waset.org/3137/kinematic-analysis-of-2-dof-planer-robot-using-artificial-neural-network" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/3137/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/3137/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/3137/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/3137/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/3137/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/3137/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/3137/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/3137/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/3137/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/3137/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/3137.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">4364</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">154</span> Cybersecurity Awareness through Laboratories and Cyber Competitions in the Education System: Practices to Promote Student Success</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Haydar%20Teymourlouei">Haydar Teymourlouei </a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Cybersecurity is one of the greatest challenges society faces in an age revolving around technological development. With cyber-attacks on the continuous rise, the nation needs to understand and learn ways that can prevent such attacks. A major contribution that can change the education system is to implement laboratories and competitions into academia. This method can improve and educate students with more hands-on exercises in a highly motivating setting. Considering the fact that students are the next generation of the nation’s workforce, it is important for students to understand concepts not only through books, but also through actual hands-on experiences in order for them to be prepared for the workforce. An effective cybersecurity education system is critical for creating a strong cyber secure workforce today and for the future. This paper emphasizes the need for awareness and the need for competitions and cybersecurity laboratories to be implemented into the education system.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Awareness" title="Awareness">Awareness</a>, <a href="https://publications.waset.org/search?q=competition" title=" competition"> competition</a>, <a href="https://publications.waset.org/search?q=cybersecurity" title=" cybersecurity"> cybersecurity</a>, <a href="https://publications.waset.org/search?q=laboratories" title=" laboratories"> laboratories</a>, <a href="https://publications.waset.org/search?q=workforce." title=" workforce."> workforce.</a> </p> <a href="https://publications.waset.org/10004034/cybersecurity-awareness-through-laboratories-and-cyber-competitions-in-the-education-system-practices-to-promote-student-success" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10004034/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10004034/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10004034/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10004034/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10004034/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10004034/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10004034/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10004034/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10004034/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10004034/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10004034.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">1517</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">153</span> Tele-Operated Anthropomorphic Arm and Hand Design</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Namal%20A.%20Senanayake">Namal A. Senanayake</a>, <a href="https://publications.waset.org/search?q=Khoo%20B.%20How"> Khoo B. How</a>, <a href="https://publications.waset.org/search?q=Quah%20W.%20Wai"> Quah W. Wai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. The circuit board enables user to completely control the robotic arm and moreover, enables feedbacks from user. The control circuit board uses a powerful integrated microcontroller, a PIC (Programmable Interface Controller). The PIC is firstly programmed using BASIC (Beginner-s All-purpose Symbolic Instruction Code) and it is used as the 'brain' of the robot. In addition a user friendly Graphical User Interface (GUI) is developed as the serial servo interface software using Microsoft-s Visual Basic 6. The second part of the project is to use speech recognition control on the robotic arm. A speech recognition circuit board is constructed with onboard components such as PIC and other integrated circuits. It replaces the computers- Graphical User Interface. The robotic arm is able to receive instructions as spoken commands through a microphone and perform operations with respect to the commands such as picking and placing operations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Tele-operated%20Anthropomorphic%20Robotic%20Arm%20and%0D%0AHand" title="Tele-operated Anthropomorphic Robotic Arm and Hand">Tele-operated Anthropomorphic Robotic Arm and Hand</a>, <a href="https://publications.waset.org/search?q=Robot%20Motion%20System" title=" Robot Motion System"> Robot Motion System</a>, <a href="https://publications.waset.org/search?q=Serial%20Servo%20Controller" title=" Serial Servo Controller"> Serial Servo Controller</a>, <a href="https://publications.waset.org/search?q=Speech%0D%0ARecognition%20Controller." title=" Speech Recognition Controller."> Speech Recognition Controller.</a> </p> <a href="https://publications.waset.org/5853/tele-operated-anthropomorphic-arm-and-hand-design" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5853/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/5853/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/5853/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/5853/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/5853/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/5853/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/5853/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/5853/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/5853/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/5853/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/5853.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">1766</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">152</span> Robotic Hands: Design Review and Proposal of New Design Process</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jimmy%20W.%20Soto%20Martell">Jimmy W. Soto Martell</a>, <a href="https://publications.waset.org/search?q=Giuseppina%20Gini"> Giuseppina Gini</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design approach, involving cutting edge technologies in motion capture. After an initial description of the capabilities and complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the mechanical and kinematical structure of some important works carried out all around the world in the last three decades and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an experimental setup for the first stage using recent developments in human body motion capture systems that might lead to lighter and always more dexterous robotic hands.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Dexterous%20manipulation" title="Dexterous manipulation">Dexterous manipulation</a>, <a href="https://publications.waset.org/search?q=grasp" title=" grasp"> grasp</a>, <a href="https://publications.waset.org/search?q=multifingered%20endeffector" title=" multifingered endeffector"> multifingered endeffector</a>, <a href="https://publications.waset.org/search?q=robotic%20hand." title="robotic hand.">robotic hand.</a> </p> <a href="https://publications.waset.org/9034/robotic-hands-design-review-and-proposal-of-new-design-process" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9034/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9034/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9034/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9034/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9034/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9034/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9034/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9034/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9034/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9034/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9034.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">3940</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">151</span> Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=T.%20C.%20Kuo">T. C. Kuo</a>, <a href="https://publications.waset.org/search?q=Y.%20J.%20Huang"> Y. J. Huang</a>, <a href="https://publications.waset.org/search?q=B.%20W.%20Hong"> B. W. Hong</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robotic%20manipulators" title="Robotic manipulators">Robotic manipulators</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=adaptive%20law" title=" adaptive law"> adaptive law</a>, <a href="https://publications.waset.org/search?q=Lyapunov%20theorem" title=" Lyapunov theorem"> Lyapunov theorem</a>, <a href="https://publications.waset.org/search?q=robustness." title=" robustness."> robustness.</a> </p> <a href="https://publications.waset.org/15705/design-of-adaptive-sliding-mode-controller-for-robotic-manipulators-tracking-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15705/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15705/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15705/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15705/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15705/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15705/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15705/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15705/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15705/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15705/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15705.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">3046</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">150</span> Formulation, Analysis and Validation of Takagi-Sugeno Fuzzy Modeling For Robotic Monipulators</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Rafael%20Jorge%20Menezes%20Santos">Rafael Jorge Menezes Santos</a>, <a href="https://publications.waset.org/search?q=Ginalber%20Luiz%20de%20Oliveira%20Serra"> Ginalber Luiz de Oliveira Serra</a>, <a href="https://publications.waset.org/search?q=Carlos%20C%C3%A9sar%20Teixeira%20Ferreira"> Carlos César Teixeira Ferreira</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes a methodology for analysis of the dynamic behavior of a robotic manipulator in continuous time. Initially this system (nonlinear system) will be decomposed into linear submodels and analyzed in the context of the Linear and Parameter Varying (LPV) Systems. The obtained linear submodels, which represent the local dynamic behavior of the robotic manipulator in some operating points were grouped in a Takagi-Sugeno fuzzy structure. The obtained fuzzy model was analyzed and validated through analog simulation, as universal approximator of the robotic manipulator. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=modeling%20of%20nonlinear%20dynamic%20systems" title="modeling of nonlinear dynamic systems">modeling of nonlinear dynamic systems</a>, <a href="https://publications.waset.org/search?q=Takagi-%20Sugeno%20fuzzy%20model" title=" Takagi- Sugeno fuzzy model"> Takagi- Sugeno fuzzy model</a>, <a href="https://publications.waset.org/search?q=Linear%20and%20Parameter%20Varying%20%28LPV%29%20System." title=" Linear and Parameter Varying (LPV) System."> Linear and Parameter Varying (LPV) System.</a> </p> <a href="https://publications.waset.org/6476/formulation-analysis-and-validation-of-takagi-sugeno-fuzzy-modeling-for-robotic-monipulators" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6476/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6476/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6476/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6476/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6476/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6476/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6476/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6476/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6476/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6476/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6476.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">2609</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">149</span> Vision Based Robotic Interception in Industrial Manipulation Tasks</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ahmet%20Denker">Ahmet Denker</a>, <a href="https://publications.waset.org/search?q=Tu%C4%9Frul%20Ad%C4%B1g%C3%BCzel"> Tuğrul Adıgüzel</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=robotics" title="robotics">robotics</a>, <a href="https://publications.waset.org/search?q=robot%20vision" title=" robot vision"> robot vision</a>, <a href="https://publications.waset.org/search?q=rendezvous%20planning" title=" rendezvous planning"> rendezvous planning</a>, <a href="https://publications.waset.org/search?q=self%20organizingmaps." title=" self organizingmaps."> self organizingmaps.</a> </p> <a href="https://publications.waset.org/10747/vision-based-robotic-interception-in-industrial-manipulation-tasks" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10747/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10747/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10747/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10747/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10747/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10747/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10747/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10747/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10747/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10747/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10747.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">1475</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">148</span> A Robotic Cube to Preschool Children for Acquiring the Mathematical and Colours Concepts</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ahmed%20Amin%20Mousa">Ahmed Amin Mousa</a>, <a href="https://publications.waset.org/search?q=Tamer%20M.%20Ismail"> Tamer M. Ismail</a>, <a href="https://publications.waset.org/search?q=M.%20Abd%20El%20Salam"> M. Abd El Salam</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p class="Abstract" style="text-indent:10.2pt"><span lang="EN-US">This work presents a robot called Conceptual Robotic Cube, CR-Cube. The robot can be used as an educational tool for children from the age of three. It has a cube shape attached with a camera colours sensor. In addition, it contains four wheels to move smoothly. The researchers prepared a questionnaire to measure the efficiency of the robot. The design and the questionnaire was presented to 11 experts who agreed that the robot is appropriate for learning numbering and colours for preschool children.<o:p></o:p></span></p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=CR-Cube" title="CR-Cube">CR-Cube</a>, <a href="https://publications.waset.org/search?q=robotic%20cube" title=" robotic cube"> robotic cube</a>, <a href="https://publications.waset.org/search?q=conceptual%20robot" title=" conceptual robot"> conceptual robot</a>, <a href="https://publications.waset.org/search?q=conceptual%20cube" title=" conceptual cube"> conceptual cube</a>, <a href="https://publications.waset.org/search?q=colour%20concept" title=" colour concept"> colour concept</a>, <a href="https://publications.waset.org/search?q=early%20childhood%20education." title=" early childhood education."> early childhood education.</a> </p> <a href="https://publications.waset.org/10007463/a-robotic-cube-to-preschool-children-for-acquiring-the-mathematical-and-colours-concepts" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10007463/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10007463/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10007463/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10007463/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10007463/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10007463/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10007463/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10007463/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10007463/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10007463/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10007463.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">1188</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">147</span> Technological Development and Implementation of a Robotic Arm Motioned by Programmable Logic Controller</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=J.%20G.%20Batista">J. G. Batista</a>, <a href="https://publications.waset.org/search?q=L.%20J.%20de%20Bessa%20Neto"> L. J. de Bessa Neto</a>, <a href="https://publications.waset.org/search?q=M.%20A.%20F.%20B.%20Lima"> M. A. F. B. Lima</a>, <a href="https://publications.waset.org/search?q=J.%20R.%20Leite"> J. R. Leite</a>, <a href="https://publications.waset.org/search?q=J.%20I.%20de%20Andrade%20Nunes"> J. I. de Andrade Nunes</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The robot manipulator is an equipment that stands out for two reasons: Firstly because of its characteristics of movement and reprogramming, resembling the arm; secondly, by adding several areas of knowledge of science and engineering. The present work shows the development of the prototype of a robotic manipulator driven by a Programmable Logic Controller (PLC), having two degrees of freedom, which allows the movement and displacement of mechanical parts, tools, and objects in general of small size, through an electronic system. The aim is to study direct and inverse kinematics of the robotic manipulator to describe the translation and rotation between two adjacent links of the robot through the Denavit-Hartenberg parameters. Currently, due to the many resources that microcomputer systems offer us, robotics is going through a period of continuous growth that will allow, in a short time, the development of intelligent robots with the capacity to perform operations that require flexibility, speed and precision.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Direct%20and%20inverse%20kinematics" title="Direct and inverse kinematics">Direct and inverse kinematics</a>, <a href="https://publications.waset.org/search?q=Denavit-Hartenberg" title=" Denavit-Hartenberg"> Denavit-Hartenberg</a>, <a href="https://publications.waset.org/search?q=microcontrollers" title=" microcontrollers"> microcontrollers</a>, <a href="https://publications.waset.org/search?q=robotic%20manipulator." title=" robotic manipulator."> robotic manipulator.</a> </p> <a href="https://publications.waset.org/10006472/technological-development-and-implementation-of-a-robotic-arm-motioned-by-programmable-logic-controller" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10006472/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10006472/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10006472/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10006472/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10006472/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10006472/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10006472/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10006472/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10006472/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10006472/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10006472.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">1079</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">146</span> Robotic Assistance in Nursing Care: Survey on Challenges and Scenarios</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Pascal%20Gliesche">Pascal Gliesche</a>, <a href="https://publications.waset.org/search?q=Kathrin%20Seibert"> Kathrin Seibert</a>, <a href="https://publications.waset.org/search?q=Christian%20Kowalski"> Christian Kowalski</a>, <a href="https://publications.waset.org/search?q=Dominik%20Domhoff"> Dominik Domhoff</a>, <a href="https://publications.waset.org/search?q=Max%20Pfingsthorn"> Max Pfingsthorn</a>, <a href="https://publications.waset.org/search?q=Karin%20Wolf-Ostermann"> Karin Wolf-Ostermann</a>, <a href="https://publications.waset.org/search?q=Andreas%20Hein"> Andreas Hein</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Robotic assistance in nursing care is an increasingly important area of research and development. Facing a shortage of labor and an increasing number of people in need of care, the German Nursing Care Innovation Center (Pflegeinnovationszentrum, PIZ) aims to address these challenges from the side of technology. Little is known about nurses experiences with existing robotic assistance systems. Especially nurses perspectives on starting points for the development of robotic solutions, that target recurring burdensome tasks in everyday nursing care, are of interest. This paper presents findings focusing on robotics resulting from an explanatory mixed-methods study on nurses experiences with and their expectations for innovative technologies in nursing care in stationary and ambulant care facilities and hospitals in Germany. Based on the findings, eight scenarios for robotic assistance are identified based on the real needs of practitioners. An initial system addressing a single use-case is described to show perspectives for the use of robots in nursing care. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robotics%20and%20automation" title="Robotics and automation">Robotics and automation</a>, <a href="https://publications.waset.org/search?q=engineering%20management" title=" engineering management"> engineering management</a>, <a href="https://publications.waset.org/search?q=engineering%20in%20medicine%20and%20biology" title=" engineering in medicine and biology"> engineering in medicine and biology</a>, <a href="https://publications.waset.org/search?q=medical%20services" title=" medical services"> medical services</a>, <a href="https://publications.waset.org/search?q=public%0D%0Ahealthcare." title=" public healthcare."> public healthcare.</a> </p> <a href="https://publications.waset.org/10011459/robotic-assistance-in-nursing-care-survey-on-challenges-and-scenarios" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011459/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011459/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011459/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011459/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011459/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011459/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011459/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011459/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011459/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011459/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011459.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">2236</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">145</span> Using Electrical Impedance Tomography to Control a Robot</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Shayan%20Rezvanigilkolaei">Shayan Rezvanigilkolaei</a>, <a href="https://publications.waset.org/search?q=Shayesteh%20Vefaghnematollahi"> Shayesteh Vefaghnematollahi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Electrical impedance tomography is a non-invasive medical imaging technique suitable for medical applications. This paper describes an electrical impedance tomography device with the ability to navigate a robotic arm to manipulate a target object. The design of the device includes various hardware and software sections to perform medical imaging and control the robotic arm. In its hardware section an image is formed by 16 electrodes which are located around a container. This image is used to navigate a 3DOF robotic arm to reach the exact location of the target object. The data set to form the impedance imaging is obtained by having repeated current injections and voltage measurements between all electrode pairs. After performing the necessary calculations to obtain the impedance, information is transmitted to the computer. This data is fed and then executed in MATLAB which is interfaced with EIDORS (Electrical Impedance Tomography Reconstruction Software) to reconstruct the image based on the acquired data. In the next step, the coordinates of the center of the target object are calculated by image processing toolbox of MATLAB (IPT). Finally, these coordinates are used to calculate the angles of each joint of the robotic arm. The robotic arm moves to the desired tissue with the user command. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Electrical%20impedance%20tomography" title="Electrical impedance tomography">Electrical impedance tomography</a>, <a href="https://publications.waset.org/search?q=EIT" title=" EIT"> EIT</a>, <a href="https://publications.waset.org/search?q=Surgeon%20robot" title=" Surgeon robot"> Surgeon robot</a>, <a href="https://publications.waset.org/search?q=image%20processing%20of%20Electrical%20impedance%20tomography." title=" image processing of Electrical impedance tomography."> image processing of Electrical impedance tomography.</a> </p> <a href="https://publications.waset.org/10003835/using-electrical-impedance-tomography-to-control-a-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003835/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003835/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003835/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003835/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003835/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003835/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003835/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003835/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003835/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003835/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003835.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">2333</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">144</span> Development of a Three-Dimensional-Flywheel Robotic System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Chung-Chun%20Hsiao">Chung-Chun Hsiao</a>, <a href="https://publications.waset.org/search?q=Yu-Kai"> Yu-Kai</a>, <a href="https://publications.waset.org/search?q=Ting"> Ting</a>, <a href="https://publications.waset.org/search?q=Kai-Yuan%20Liu"> Kai-Yuan Liu</a>, <a href="https://publications.waset.org/search?q=Pang-Wei%20Yen"> Pang-Wei Yen</a>, <a href="https://publications.waset.org/search?q=Jia-Ying%20Tu"> Jia-Ying Tu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, a new design of spherical robotic system based on the concepts of gimbal structure and gyro dynamics is presented. Robots equipped with multiple wheels and complex steering mechanics may increase the weight and degrade the energy transmission efficiency. In addition, the wheeled and legged robots are relatively vulnerable to lateral impact and lack of lateral mobility. Therefore, the proposed robotic design uses a spherical shell as the main body for ground locomotion, instead of using wheel devices. Three spherical shells are structured in a similar way to a gimbal device and rotate like a gyro system. The design and mechanism of the proposed robotic system is introduced. In addition, preliminary results of the dynamic model based on the principles of planar rigid body kinematics and Lagrangian equation are included. Simulation results and rig construction are presented to verify the concepts.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Gyro" title="Gyro">Gyro</a>, <a href="https://publications.waset.org/search?q=gimbal" title=" gimbal"> gimbal</a>, <a href="https://publications.waset.org/search?q=Lagrange%20equation" title=" Lagrange equation"> Lagrange equation</a>, <a href="https://publications.waset.org/search?q=spherical%20robots." title=" spherical robots."> spherical robots.</a> </p> <a href="https://publications.waset.org/10001039/development-of-a-three-dimensional-flywheel-robotic-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10001039/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10001039/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10001039/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10001039/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10001039/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10001039/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10001039/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10001039/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10001039/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10001039/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10001039.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">2060</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">143</span> The Visual Inspection of Surgical Tasks Using Machine Vision: Applications to Robotic Surgery</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=M.%20Ovinis">M. Ovinis</a>, <a href="https://publications.waset.org/search?q=D.%20Kerr"> D. Kerr</a>, <a href="https://publications.waset.org/search?q=K.%20Bouazza-Marouf"> K. Bouazza-Marouf</a>, <a href="https://publications.waset.org/search?q=M.%20Vloeberghs"> M. Vloeberghs</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, the feasibility of using machine vision to assess task completion in a surgical intervention is investigated, with the aim of incorporating vision based inspection in robotic surgery systems. The visually rich operative field presents a good environment for the development of automated visual inspection techniques in these systems, for a more comprehensive approach when performing a surgical task. As a proof of concept, machine vision techniques were used to distinguish the two possible outcomes i.e. satisfactory or unsatisfactory, of three primary surgical tasks involved in creating a burr hole in the skull, namely incision, retraction, and drilling. Encouraging results were obtained for the three tasks under consideration, which has been demonstrated by experiments on cadaveric pig heads. These findings are suggestive for the potential use of machine vision to validate successful task completion in robotic surgery systems. Finally, the potential of using machine vision in the operating theatre, and the challenges that must be addressed, are identified and discussed.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Machine%20vision" title="Machine vision">Machine vision</a>, <a href="https://publications.waset.org/search?q=robotic%20surgery" title=" robotic surgery"> robotic surgery</a>, <a href="https://publications.waset.org/search?q=visual%20inspection." title=" visual inspection. "> visual inspection. </a> </p> <a href="https://publications.waset.org/9996974/the-visual-inspection-of-surgical-tasks-using-machine-vision-applications-to-robotic-surgery" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9996974/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9996974/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9996974/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9996974/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9996974/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9996974/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9996974/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9996974/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9996974/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9996974/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9996974.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">1655</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">142</span> UTHM Hand: Mechanics Behind The Dexterous Anthropomorphic Hand</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Amran%20Mohd%20Zaid">Amran Mohd Zaid</a>, <a href="https://publications.waset.org/search?q=M.%20Atif%20Yaqub"> M. Atif Yaqub</a>, <a href="https://publications.waset.org/search?q=Mohd%20Rizal%20Arshad"> Mohd Rizal Arshad</a>, <a href="https://publications.waset.org/search?q=Md%20Saidin%20Wahab"> Md Saidin Wahab</a> </p> <p class="card-text"><strong>Abstract:</strong></p> A multi fingered dexterous anthropomorphic hand is being developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise of five fingers (four fingers and one thumb) each having four degrees of freedom (DOF) which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose pneumatic muscles and springs will be used. The paper exemplifies the mechanical design for the robotic hand. It also describes different mechanical designs that have been developed before date. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robotic%20hand" title="Robotic hand">Robotic hand</a>, <a href="https://publications.waset.org/search?q=Multi-fingered%20hand" title=" Multi-fingered hand"> Multi-fingered hand</a>, <a href="https://publications.waset.org/search?q=dextrous%20hand" title=" dextrous hand"> dextrous hand</a>, <a href="https://publications.waset.org/search?q=anthropomorphic%20hand" title="anthropomorphic hand">anthropomorphic hand</a>, <a href="https://publications.waset.org/search?q=pneumatic%20muscles." title=" pneumatic muscles."> pneumatic muscles.</a> </p> <a href="https://publications.waset.org/9570/uthm-hand-mechanics-behind-the-dexterous-anthropomorphic-hand" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9570/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9570/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9570/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9570/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9570/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9570/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9570/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9570/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9570/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9570/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9570.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">3262</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">141</span> Design of Reconfigurable Supernumerary Robotic Limb Based on Differential Actuated Joints</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Qinghua%20Zhang">Qinghua Zhang</a>, <a href="https://publications.waset.org/search?q=Yanhe%20Zhu"> Yanhe Zhu</a>, <a href="https://publications.waset.org/search?q=Xiang%20Zhao"> Xiang Zhao</a>, <a href="https://publications.waset.org/search?q=Yeqin%20Yang"> Yeqin Yang</a>, <a href="https://publications.waset.org/search?q=Hongwei%20Jing"> Hongwei Jing</a>, <a href="https://publications.waset.org/search?q=Guoan%20Zhang"> Guoan Zhang</a>, <a href="https://publications.waset.org/search?q=Jie%20Zhao"> Jie Zhao</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a wearable reconfigurable supernumerary robotic limb with differential actuated joints, which is lightweight, compact and comfortable for the wearers. Compared to the existing supernumerary robotic limbs which mostly adopted series structure with large movement space but poor carrying capacity, a prototype with the series-parallel configuration to better adapt to different task requirements has been developed in this design. To achieve a compact structure, two kinds of cable-driven mechanical structures based on guide pulleys and differential actuated joints were designed. Moreover, two different tension devices were also designed to ensure the reliability and accuracy of the cable-driven transmission. The proposed device also employed self-designed bearings which greatly simplified the structure and reduced the cost.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Cable-driven" title="Cable-driven">Cable-driven</a>, <a href="https://publications.waset.org/search?q=differential%20actuated%20joints" title=" differential actuated joints"> differential actuated joints</a>, <a href="https://publications.waset.org/search?q=reconfigurable" title=" reconfigurable"> reconfigurable</a>, <a href="https://publications.waset.org/search?q=supernumerary%20robotic%20limb." title=" supernumerary robotic limb."> supernumerary robotic limb.</a> </p> <a href="https://publications.waset.org/10011167/design-of-reconfigurable-supernumerary-robotic-limb-based-on-differential-actuated-joints" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011167/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011167/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011167/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011167/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011167/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011167/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011167/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011167/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011167/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011167/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011167.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">1011</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">140</span> Application of Robotics to Assemble a Used Fuel Container in the Canadian Used Fuel Packing Plant</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Dimitrie%20Marinceu">Dimitrie Marinceu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The newest Canadian Used Fuel Container (UFC)- (called also “Mark II”) modifies the design approach for its Assembly Robotic Cell (ARC) in the Canadian Used (Nuclear) Fuel Packing Plant (UFPP). Some of the robotic design solutions are presented in this paper. The design indicates that robots and manipulators are expected to be used in the Canadian UFPP. As normally, the UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, this paper suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity, and reliability. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Used%20fuel%20packing%20plant" title="Used fuel packing plant">Used fuel packing plant</a>, <a href="https://publications.waset.org/search?q=robotic%20assembly%20cell" title=" robotic assembly cell"> robotic assembly cell</a>, <a href="https://publications.waset.org/search?q=used%20fuel%20container" title=" used fuel container"> used fuel container</a>, <a href="https://publications.waset.org/search?q=deep%20geological%20repository." title=" deep geological repository."> deep geological repository.</a> </p> <a href="https://publications.waset.org/10006549/application-of-robotics-to-assemble-a-used-fuel-container-in-the-canadian-used-fuel-packing-plant" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10006549/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10006549/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10006549/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10006549/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10006549/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10006549/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10006549/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10006549/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10006549/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10006549/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10006549.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">876</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">139</span> Self-Propelled Intelligent Robotic Vehicle Based on Octahedral Dodekapod to Move in Active Branched Pipelines with Variable Cross-Sections</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Sergey%20N.%20Sayapin">Sergey N. Sayapin</a>, <a href="https://publications.waset.org/search?q=Anatoly%20P.%20Karpenko"> Anatoly P. Karpenko</a>, <a href="https://publications.waset.org/search?q=Suan%20H.%20Dang"> Suan H. Dang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Comparative analysis of robotic vehicles for pipe inspection is presented in this paper. The promising concept of self-propelled intelligent robotic vehicle (SPIRV) based on octahedral dodekapod for inspection and operation in active branched pipelines with variable cross-sections is reasoned. SPIRV is able to move in pipeline, regardless of its spatial orientation. SPIRV can also be used to move along the outside of the pipelines as well as in space between surfaces of annular tubes. Every one of faces of the octahedral dodekapod can clamp/unclamp a thing with a closed loop surface of various forms as well as put pressure on environmental surface of contact. These properties open new possibilities for its applications in SPIRV. We examine design principles of octahedral dodekapod as future intelligent building blocks for various robotic vehicles that can self-move and self-reconfigure. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Modular%20robot" title="Modular robot">Modular robot</a>, <a href="https://publications.waset.org/search?q=octahedral%20dodekapod" title=" octahedral dodekapod"> octahedral dodekapod</a>, <a href="https://publications.waset.org/search?q=pipe%20inspection%20robot" title=" pipe inspection robot"> pipe inspection robot</a>, <a href="https://publications.waset.org/search?q=spatial%20parallel%20structure." title=" spatial parallel structure."> spatial parallel structure.</a> </p> <a href="https://publications.waset.org/10003562/self-propelled-intelligent-robotic-vehicle-based-on-octahedral-dodekapod-to-move-in-active-branched-pipelines-with-variable-cross-sections" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003562/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003562/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003562/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003562/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003562/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003562/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003562/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003562/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003562/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003562/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003562.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">1126</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">138</span> Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Christopher%20Spiewak">Christopher Spiewak</a>, <a href="https://publications.waset.org/search?q=M.%20R.%20Islam"> M. R. Islam</a>, <a href="https://publications.waset.org/search?q=Mohammad%20Arifur%20Rahaman"> Mohammad Arifur Rahaman</a>, <a href="https://publications.waset.org/search?q=Mohammad%20H.%20Rahman"> Mohammad H. Rahman</a>, <a href="https://publications.waset.org/search?q=Roger%20Smith"> Roger Smith</a>, <a href="https://publications.waset.org/search?q=Maarouf%20Saad"> Maarouf Saad</a> </p> <p class="card-text"><strong>Abstract:</strong></p> For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Biorobotics" title="Biorobotics">Biorobotics</a>, <a href="https://publications.waset.org/search?q=rehabilitation" title=" rehabilitation"> rehabilitation</a>, <a href="https://publications.waset.org/search?q=nonlinear%20control" title=" nonlinear control"> nonlinear control</a>, <a href="https://publications.waset.org/search?q=robotic%20assistive%20device" title=" robotic assistive device"> robotic assistive device</a>, <a href="https://publications.waset.org/search?q=exoskeleton." title=" exoskeleton."> exoskeleton.</a> </p> <a href="https://publications.waset.org/10005022/modeling-and-control-of-a-4dof-robotic-assistive-device-for-hand-rehabilitation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005022/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005022/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005022/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005022/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005022/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005022/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005022/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005022/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005022/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005022/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005022.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">1723</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">137</span> Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=T.%20C.%20Kuo">T. C. Kuo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Fuzzy%20control" title="Fuzzy control">Fuzzy control</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=roboticmanipulator" title=" roboticmanipulator"> roboticmanipulator</a>, <a href="https://publications.waset.org/search?q=adaptive%20control." title=" adaptive control."> adaptive control.</a> </p> <a href="https://publications.waset.org/13174/trajectory-control-of-a-robotic-manipulator-utilizing-an-adaptive-fuzzy-sliding-mode" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/13174/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/13174/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/13174/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/13174/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/13174/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/13174/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/13174/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/13174/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/13174/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/13174/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/13174.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">1948</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">136</span> Design of the Roller Clamp Robotic Assembly System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=S.%20S.%20Ngu">S. S. Ngu</a>, <a href="https://publications.waset.org/search?q=L.%20C.%20Kho"> L. C. Kho</a>, <a href="https://publications.waset.org/search?q=T.%20P.%20Tan"> T. P. Tan</a>, <a href="https://publications.waset.org/search?q=M.%20S.%20Osman"> M. S. Osman</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This work deals with the design of the robotic assembly system for the roller clamps. The task is characterized by high speed, high yield and safety engagement. This paper describes the design of different parts of an automated high speed machine to assemble the parts of roller clamps. The roller clamp robotic assembly system performs various processes in the assembly line which include clamp body and roller feeding, inserting the roller into the clamp body, and dividing the rejected clamp and successfully assembled clamp into their own tray. The electrical/electronics design of the machine is discussed. The target is to design a cost effective, minimum maintenance and high speed machine for the industry applications. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Machine%20design" title="Machine design">Machine design</a>, <a href="https://publications.waset.org/search?q=assembly%20machine" title=" assembly machine"> assembly machine</a>, <a href="https://publications.waset.org/search?q=roller%20clamp" title=" roller clamp"> roller clamp</a>, <a href="https://publications.waset.org/search?q=industry%20applications." title=" industry applications."> industry applications.</a> </p> <a href="https://publications.waset.org/6203/design-of-the-roller-clamp-robotic-assembly-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6203/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6203/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6203/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6203/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6203/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6203/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6203/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6203/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6203/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6203/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6203.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">2166</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">135</span> Kinematic Optimal Design on a New Robotic Platform for Stair Climbing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Byung%20Hoon%20Seo">Byung Hoon Seo</a>, <a href="https://publications.waset.org/search?q=Hyun%20Gyu%20Kim"> Hyun Gyu Kim</a>, <a href="https://publications.waset.org/search?q=Tae%20Won%20Seo"> Tae Won Seo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Stair%20climbing%20robot" title="Stair climbing robot">Stair climbing robot</a>, <a href="https://publications.waset.org/search?q=Optimal%20design" title=" Optimal design"> Optimal design</a>, <a href="https://publications.waset.org/search?q=Taguchi%0Amethodology" title=" Taguchi methodology"> Taguchi methodology</a>, <a href="https://publications.waset.org/search?q=Caterpillar" title=" Caterpillar"> Caterpillar</a>, <a href="https://publications.waset.org/search?q=Kinematic%20parameters." title=" Kinematic parameters."> Kinematic parameters.</a> </p> <a href="https://publications.waset.org/5971/kinematic-optimal-design-on-a-new-robotic-platform-for-stair-climbing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5971/apa" target="_blank" rel="nofollow" class="btn btn-primary 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