The document summarizes 3 research projects conducted by the author:
1. Independent research designing an improved modular robot called 360botG2 with enhanced mobility for exploration tasks. Prototypes were fabricated with 3D printing to reduce costs.
2. Designing a clearing device for a power line maintenance robot to remove hazardous entanglements. The developed device uses heating and blade tools controlled by a lifting mechanism. Experiments demonstrated its effectiveness.
3. As an undergraduate, designing and building a novel self-reconfigurable modular robot called 360bot with independent rotational mobility of each module. Prototypes were tested and a journal paper was published on this first robot design.
Virtual Prototype with Rigid and Flexi-body Concept to Develpoment of Multifu...Journal For Research
In the actual world, any unremitting medium deforms under the application of force. Rigid body simulations do not confine such deformations and may lead to inexact results. As a virtual prototype replaces physical prototype, tests can be carried out to validate the design of the product. Virtual prototype of multifunctional robot is developed to simulate the system level working with live stress distribution, which is designed to lift a specific payload. Robot arm is converted into flexi-body as it is critical component, the maximum live Vonmises stress developed in the robot arm is less than yield stress of the steel material considered and found that the working of actual robot found satisfactory. In this work design and analysis will rely heavily on tool namely, CATIA V5R19 and NASTRAN/PATRAN.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Gear is a widely used mechanical component whose primary use is to transmit power from one shaft to
other. Gears are of many types namely spur gear, helical gears, worm gears etc. Gear drives are used in various
kinds of machines like automobiles, metal cutting tools, material handling equipment’s, rolling mills, marine
power plants etc. MATLAB is extensively used for scientific & research purposes. It is accurate & also has a
number of built in functions which makes it versatile. Gear Measurement has been carried out by focusing two
features of gear image object. The problems are to measure the gear features of gear image object, in the sense the
measurement of the area of the gear image object and as well the teeth of the gear will be counted. MATLAB tool
is used to develop a code which overcomes these problems and measures the area as well as teeth of the gear
image object counted.
Road network such as bridges, culverts have vital role before, during and after extreme events to reduce the vulnerability of the community being served. The bridge may be damaged due to severe accidents occurring over it. The bridge may be damaged fully or partially due to heavy and unexpected gale. The cost for the maintenance may be high enough and still no one can ensure us about safety of the bridges or any other structure in future. Whenever there is disaster, there is damage to the public property.
4 ijaems dec-2015-10-realization of astrosat model with fused deposition mode...INFOGAIN PUBLICATION
The current work focuses on the challenges faced while realizing the 3D Model of ASTROSAT using Fused Deposition Modelling (FDM) - A material extrusion based additive manufacturing technology. Initially, the entire assembly of the ASTROSAT was studied and modified appropriately to suit the demonstration model. The modified assembly was scaled down to 1:6 scale. The scaled down model was then re-modified at the local subsystems (or individual component) level, according to the manufacturability through FDM and this was the major challenge faced due to constraint on minimum printable feature size. All the subsystems or individual components were converted to STL format and were printed on FORTUS 400MC of Stratasys. Thus obtained 3D printed parts were assembled as per the assembly drawing. It was found that, the FDM technology and Additive Manufacturing technology as a whole, is very useful in realizing the complicated demonstration modelsin a very short duration, without compromising the prominent engineering features.
A Design Of Omni-Directional Mobile Robot Based On Mecanum WheelsIJRESJOURNAL
ABSTRACT:As one of the important branch of mobile robotics, wheel mobile robot has long been paid atten tion to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies suc-h as control theory, computer tech nology, sensor technology, etc. Therefore, research on the mobile robot has important significance
Virtual Prototype with Rigid and Flexi-body Concept to Develpoment of Multifu...Journal For Research
In the actual world, any unremitting medium deforms under the application of force. Rigid body simulations do not confine such deformations and may lead to inexact results. As a virtual prototype replaces physical prototype, tests can be carried out to validate the design of the product. Virtual prototype of multifunctional robot is developed to simulate the system level working with live stress distribution, which is designed to lift a specific payload. Robot arm is converted into flexi-body as it is critical component, the maximum live Vonmises stress developed in the robot arm is less than yield stress of the steel material considered and found that the working of actual robot found satisfactory. In this work design and analysis will rely heavily on tool namely, CATIA V5R19 and NASTRAN/PATRAN.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Gear is a widely used mechanical component whose primary use is to transmit power from one shaft to
other. Gears are of many types namely spur gear, helical gears, worm gears etc. Gear drives are used in various
kinds of machines like automobiles, metal cutting tools, material handling equipment’s, rolling mills, marine
power plants etc. MATLAB is extensively used for scientific & research purposes. It is accurate & also has a
number of built in functions which makes it versatile. Gear Measurement has been carried out by focusing two
features of gear image object. The problems are to measure the gear features of gear image object, in the sense the
measurement of the area of the gear image object and as well the teeth of the gear will be counted. MATLAB tool
is used to develop a code which overcomes these problems and measures the area as well as teeth of the gear
image object counted.
Road network such as bridges, culverts have vital role before, during and after extreme events to reduce the vulnerability of the community being served. The bridge may be damaged due to severe accidents occurring over it. The bridge may be damaged fully or partially due to heavy and unexpected gale. The cost for the maintenance may be high enough and still no one can ensure us about safety of the bridges or any other structure in future. Whenever there is disaster, there is damage to the public property.
4 ijaems dec-2015-10-realization of astrosat model with fused deposition mode...INFOGAIN PUBLICATION
The current work focuses on the challenges faced while realizing the 3D Model of ASTROSAT using Fused Deposition Modelling (FDM) - A material extrusion based additive manufacturing technology. Initially, the entire assembly of the ASTROSAT was studied and modified appropriately to suit the demonstration model. The modified assembly was scaled down to 1:6 scale. The scaled down model was then re-modified at the local subsystems (or individual component) level, according to the manufacturability through FDM and this was the major challenge faced due to constraint on minimum printable feature size. All the subsystems or individual components were converted to STL format and were printed on FORTUS 400MC of Stratasys. Thus obtained 3D printed parts were assembled as per the assembly drawing. It was found that, the FDM technology and Additive Manufacturing technology as a whole, is very useful in realizing the complicated demonstration modelsin a very short duration, without compromising the prominent engineering features.
A Design Of Omni-Directional Mobile Robot Based On Mecanum WheelsIJRESJOURNAL
ABSTRACT:As one of the important branch of mobile robotics, wheel mobile robot has long been paid atten tion to by the research people at home and abroad for its high load ability, positioning accuracy, high efficiency, simple control, etc. Mobile robot has close relation to many technologies suc-h as control theory, computer tech nology, sensor technology, etc. Therefore, research on the mobile robot has important significance
Omni-directional Vision and 3D Animation Based Teleoperation of Hydraulically Actuated Hexapod Robot COMET-IV
H. Ohroku and K. Nonami
Graduate School of Science and Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan
High-Speed Neural Network Controller for Autonomous Robot Navigation using FPGAiosrjce
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
Neural Network based Vehicle Classification for Intelligent Traffic Controlijseajournal
Nowadays, number of vehicles has been increased and traditional systems of traffic controlling couldn’t be
able to meet the needs that cause to emergence of Intelligent Traffic Controlling Systems. They improve
controlling and urban management and increase confidence index in roads and highways. The goal of this
article is vehicles classification base on neural networks. In this research, it has been used a immovable
camera which is located in nearly close height of the road surface to detect and classify the vehicles. The
algorithm that used is included two general phases; at first, we are obtaining mobile vehicles in the traffic
situations by using some techniques included image processing and remove background of the images and
performing edge detection and morphology operations. In the second phase, vehicles near the camera are
selected and the specific features are processed and extracted. These features apply to the neural networks
as a vector so the outputs determine type of vehicle. This presented model is able to classify the vehicles in
three classes; heavy vehicles, light vehicles and motorcycles. Results demonstrate accuracy of the
algorithm and its highly functional level.
DESIGN AND 3D PRINT OF AN EXPLORER ROBOTmeijjournal
This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is based in the robots sent into space. Also, it describes of software to acquire the image in real time and the control of robot. It should be noted that space exploration has been a feature of governments for many years. Nowadays there are companies that can transport loads to space; There are also companies that have made great advances in robotics and manufacturing.These technological advances can help in space exploration, either by making robots lighter and easier to manufacture or even by creating pieces and tools from space.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
Extraction of Buildings from Satellite ImagesAkanksha Prasad
Buildings are termed as important components for various applications. Building extraction is defined as a sub-problem of Object Recognition. Though, numerous building extraction techniques have been proposed in the literature. But still they often exhibit limited success in the real scenarios. The main purpose of this research is to develop an algorithm which is able to detect and extract buildings from satellite images. In the proposed approach feature-based extraction process is used to extract buildings from satellite images. The overall system is tested and high performance detection is achieved which shows the effectiveness of proposed approach.
SIMULTANEOUS MAPPING AND NAVIGATION FOR RENDEZVOUS IN SPACE APPLICATIONS Nandakishor Jahagirdar
The project is to develop a autonomous navigation system along with mapping of the path.
A robot which senses the edges of the object in the path and move without colliding the object. This application equipped with camera as main component which captures the images and transmitted to workstation through wireless antenna.
The processing of the image is done on a workstation or computer using MATLAB-2013a. An IR ranging device, which senses any objects ahead of it and accordingly the robot change its direction to avoid any collision.
Thus we ensure that even in cases of circumstances leading to errors in the output of the image processing algorithm, a decision can be made using the input from the IR sensors.
AUTOMATIC IMAGE PROCESSING ENGINE ORIENTED ON QUALITY CONTROL OF ELECTRONIC B...sipij
We propose in this work a study of an image processing engine able to detect automatically the features of
electronic board weldings. The engine has been developed by using ImageJ and OpenCV libraries.
Specifically the image processing segmentation has been improved by watershed approach. After a
complete design of the automation processes, different test have been performed showing the engine
efficiency in terms of features extraction, scale setting and thresholding calibration. The engine provides as
outputs the storage of the cropped images of each single defects. The proposed engine together with the
post-processing 3D imaging represent a good tool for the management of the production quality of
electronic boards.
Material de apoyo preparado para el dictado del Módulo Investigación de mercados e inteligencia competitiva de la 6ta cohorte del Diplomado en Mercadeo y Ventas promovido y organizado por RS MARKETING-RS TRAINING y el IUTCM, Mérida, Venezuela.
Palestra - Mídias Sociais e Mobilização pela internet Fernando Souza
Palestra realizada para a capacitação dos Gestores Culturais do http://www.pontosmis.org.br/ do Museu da Imagem e do Som
A união e a mobilização das pessoas na internet não é de hoje, e cada vez mais vemos uma crescente de acontecimentos onde podemos comprovar a força que as redes sociais têm e o potencial que estão alcançando. O fenômeno revela que as mídias sociais se tornaram fundamentais para os indivíduos exercerem sua cidadania, se agruparem, conhecerem novas culturas, terem acesso a uma gama maior de informação e principalmente conectar pessoas, instituições, ONGs, projetos sociais, entidades e empresas de uma maneira rápida e efetiva.
Omni-directional Vision and 3D Animation Based Teleoperation of Hydraulically Actuated Hexapod Robot COMET-IV
H. Ohroku and K. Nonami
Graduate School of Science and Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan
High-Speed Neural Network Controller for Autonomous Robot Navigation using FPGAiosrjce
IOSR Journal of Electronics and Communication Engineering(IOSR-JECE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of electronics and communication engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in electronics and communication engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
Neural Network based Vehicle Classification for Intelligent Traffic Controlijseajournal
Nowadays, number of vehicles has been increased and traditional systems of traffic controlling couldn’t be
able to meet the needs that cause to emergence of Intelligent Traffic Controlling Systems. They improve
controlling and urban management and increase confidence index in roads and highways. The goal of this
article is vehicles classification base on neural networks. In this research, it has been used a immovable
camera which is located in nearly close height of the road surface to detect and classify the vehicles. The
algorithm that used is included two general phases; at first, we are obtaining mobile vehicles in the traffic
situations by using some techniques included image processing and remove background of the images and
performing edge detection and morphology operations. In the second phase, vehicles near the camera are
selected and the specific features are processed and extracted. These features apply to the neural networks
as a vector so the outputs determine type of vehicle. This presented model is able to classify the vehicles in
three classes; heavy vehicles, light vehicles and motorcycles. Results demonstrate accuracy of the
algorithm and its highly functional level.
DESIGN AND 3D PRINT OF AN EXPLORER ROBOTmeijjournal
This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is based in the robots sent into space. Also, it describes of software to acquire the image in real time and the control of robot. It should be noted that space exploration has been a feature of governments for many years. Nowadays there are companies that can transport loads to space; There are also companies that have made great advances in robotics and manufacturing.These technological advances can help in space exploration, either by making robots lighter and easier to manufacture or even by creating pieces and tools from space.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
Extraction of Buildings from Satellite ImagesAkanksha Prasad
Buildings are termed as important components for various applications. Building extraction is defined as a sub-problem of Object Recognition. Though, numerous building extraction techniques have been proposed in the literature. But still they often exhibit limited success in the real scenarios. The main purpose of this research is to develop an algorithm which is able to detect and extract buildings from satellite images. In the proposed approach feature-based extraction process is used to extract buildings from satellite images. The overall system is tested and high performance detection is achieved which shows the effectiveness of proposed approach.
SIMULTANEOUS MAPPING AND NAVIGATION FOR RENDEZVOUS IN SPACE APPLICATIONS Nandakishor Jahagirdar
The project is to develop a autonomous navigation system along with mapping of the path.
A robot which senses the edges of the object in the path and move without colliding the object. This application equipped with camera as main component which captures the images and transmitted to workstation through wireless antenna.
The processing of the image is done on a workstation or computer using MATLAB-2013a. An IR ranging device, which senses any objects ahead of it and accordingly the robot change its direction to avoid any collision.
Thus we ensure that even in cases of circumstances leading to errors in the output of the image processing algorithm, a decision can be made using the input from the IR sensors.
AUTOMATIC IMAGE PROCESSING ENGINE ORIENTED ON QUALITY CONTROL OF ELECTRONIC B...sipij
We propose in this work a study of an image processing engine able to detect automatically the features of
electronic board weldings. The engine has been developed by using ImageJ and OpenCV libraries.
Specifically the image processing segmentation has been improved by watershed approach. After a
complete design of the automation processes, different test have been performed showing the engine
efficiency in terms of features extraction, scale setting and thresholding calibration. The engine provides as
outputs the storage of the cropped images of each single defects. The proposed engine together with the
post-processing 3D imaging represent a good tool for the management of the production quality of
electronic boards.
Material de apoyo preparado para el dictado del Módulo Investigación de mercados e inteligencia competitiva de la 6ta cohorte del Diplomado en Mercadeo y Ventas promovido y organizado por RS MARKETING-RS TRAINING y el IUTCM, Mérida, Venezuela.
Palestra - Mídias Sociais e Mobilização pela internet Fernando Souza
Palestra realizada para a capacitação dos Gestores Culturais do http://www.pontosmis.org.br/ do Museu da Imagem e do Som
A união e a mobilização das pessoas na internet não é de hoje, e cada vez mais vemos uma crescente de acontecimentos onde podemos comprovar a força que as redes sociais têm e o potencial que estão alcançando. O fenômeno revela que as mídias sociais se tornaram fundamentais para os indivíduos exercerem sua cidadania, se agruparem, conhecerem novas culturas, terem acesso a uma gama maior de informação e principalmente conectar pessoas, instituições, ONGs, projetos sociais, entidades e empresas de uma maneira rápida e efetiva.
DESIGN OF A DIFFERENTIAL DRIVE MOBILE ROBOT PLATFORM FOR USE IN CONSTRAINED E...ijiert bestjournal
Mobile robotics is a growing trend in recent years as mobile robots are being used in service as well as industrial sectors. This paper introduces a novel d esign of a mobile robot platform for use in constra ined workplaces. The constrained environments are nothin g but congested places,for example hospitals,ware houses,offices,shop floors where various equipmen ts and machineries are to be arranged in small area s. For robots mobility in such places,various methods are being used such as differential drive system,Omni- directional mobility etc. This paper presents the d esign of mobile robotic platform with application o f the differential drive system for enhancing mobility of the robotic platform. The 3-D Model of mobile robo t is prepared in CAD software CATIA V5R19. The shape of the robot is selected as rectangular,with two driving wheels and two caster wheels. The driving w heels are located at the front side of the robot,w hich helps the robot to drive on to the slope. Two cast er wheels are attached at the back side of the robo t for stability purpose. In this robotic platform,the tw o driving wheels are driven by using independent mo tors,for forward,backward as well as rotational motion. This designed and developed robotic platform has t he capability to implement algorithms for path plannin g,path control,dynamic steering,obstacle avoidan ce,position control,image recognition etc.
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
Design and development of a delta robot system to classify objects using imag...IJECEIAES
In this paper, a delta robot is designed to grasp objects in an automatic sorting system. The system consists of a delta robot arm for grasping objects, a belt conveyor for transmitting objects, a camera mounted above the conveyor to capture images of objects, and a computer for processing images to classify objects. The delta robot is driven by three direct current (DC) servo motors. The controller is implemented by an Arduino board and Raspberry Pi 4 computer. The Arduino is programmed to provide rotation to each corresponding motor. The Raspberry Pi 4 computer is used to process images of objects to classify objects according to their color. An image processing algorithm is developed to classify objects by color. The blue, green, red (BGR) image of objects is converted to HSV color space and then different thresholds are applied to recognize the object’s color. The robot grasps objects and put them in the correct position according to information received from Raspberry. Experimental results show that the accuracy when classifying red and yellow objects is 100%, and for green objects is 97.5%. The system takes an average of 1.8 s to sort an object.
Design and fabrication of wheeled pole climbing robot with payload capacitysohail2017
Nowadays Climbing robots are widely used in various applications in industrial and hazardous environment for inspection of vertical and inclined poles wiring on high voltage power transmission tower.Pole climbing for fixing any issues related to power transmission lines, bridge repair and maintenance, climbing trees, climbing lamp posts etc. In this papers project, this pole climber robot has a three 30 rpm Dc motor that have high torque, so that I can climb easily. The benefits of this work are to save human lives as numbers of people are died from electrical injuries almost every year.The most well-known application which is generally utilized by Pole climbing robot that is repairs of energy transmission lines, scaffolds and support of lamppost and climbing tree. Cleaning of electric lights on lampposts in parkways is remarkable and new errands.
The usual solution to camera surveillance is preinstalled cameras.
This is my internship report in Drona Automation, where I received tremendous opportunity as an Intern Design Engineer.
Over the course of the internship, I had cultivated and developed my engineering skills like idea generation, problem-solving, design/model/analysis of sewage robots, working with 3D printers, additive manufacturing, etc.
International Journal of Engineering Inventions (IJEI)
ResearchExperience_Cao
1. -1-
Research Experience
1. Independent research of Second-generation of 360bot—360botG2
Self-funded research
Shenyang Institute of Automation, Chinese Academy of Sciences (SIACAS)
09/2012-Present
Project Summary:
As in my previous modular robot (explained in project 3), individual modules got
independent mobility. But the module's steering capability was not effective and this
would impede its application. Then I wanted to design another novel module or
make some improvement of previous version to bring modular robot into the real
world (Figure 1- 1). Driven by my dissatisfaction and deep interest, I began this
project in my spare time.
Figure 1- 1. Scenario that the 360botG2 system is taking exploration tasks
After all, I have considered four main aspects in the design of the unit module (1)
good locomotion capabilities, especially to strengthen steering capability, (2)
maximize the use of the DOFs for displacement and reconfiguration processes, (3) a
trade-off between the module’s mobility and the reconfiguration capability, and (4) a
simple mechanism design that reduces manufacturing cost, decreases the complexity
when controlling the modules and increases the overall robustness of the system.
2. -2-
Project Results:
Finally, a new version (called 360botG2, as shown in Figure 1- 2), which has a
breakthrough in the mobility, has been designed and implemented after enormous
efforts, and even the money to fabricate the prototypes was saved from my living
cost. Certainly, some methods were sought to reduce manufacturing cost like that 3D
printer technology were used to produce main structures. The individual module
uses only two continuous rotational DOFs (Figure 1- 3) that contribute to both
locomotion (Figure 1- 5, 7, and 8) and reconfiguration (Figure 1- 6). An integrated
active connection mechanism (mechanical latches based and active magnetic aided
mechanism) is designed to increase the fault-tolerance (Figure 1- 4). In locomotion
mode, it uses a rotating cube to provide forward locomotion (Figure 1- 5) and a
rotating plate to perform steering (Figure 1- 7). This design has shown to be quite
exceptional in rough terrain conditions as an independently mobile module (Figure 1-
8). Preliminary locomotion tests in different environments demonstrate its mobility
and potential applications for exploration. Besides, the module can be used as a pan
and tilt mount for a sensor and this sensor could be easily moved around in this
mode to scan areas for exploration or mapping. These presented with clarity in a
movie attachment.
Figure 1- 2. A overall view of 360botG2 with
standard orientation(a). Three sub-pictures
show the most used functions: going straight
(b), normal turning mode(c) and efficient
turning mode or a pan-tilt platform (d)
Figure 1- 3. Structure design and DOFs
arrangement
3. -3-
Figure 1- 4. Front view of integrated
connector with ACM and magnetic guidence
(a). The 3D model of ACM(b).
Prototype of ACM(c)
Figure 1- 5. The straight moving process of
360botG2
Figure 1- 6. Sub-picture(a) shows that right
module helps the left module recover from
invalid orientation. Configuration in (b)
shows that a module is lifted to assemble
three dimensional configurations.
Figure 1- 7. The steering strategies of
360botG2: normal steering mode (a),
and right angle steering mode(b)
Figure 1- 8. These video frames show the
exploration work in unstructured
environments: (a) on outdoor brick floor,
(b) and on grassland with weeds.
Conclusion:
This project is an extension of my previous research in Self-Reconfigurable Modular
Robot (SRMR) and is totally driven by my interest. An improved module, which has a
4. -4-
breakthrough in its mobility and brings SRMR into real world, has been designed and
fabricated successfully. All work, except the electrical part, is done by myself and I am
proud of this robot.
2. Design a Device for Power Transmission Line Maintenance Robot
to Remove Entanglements
Master Project, Project with the Northeast Power
State Key Laboratory of Robotics, SIACAS
03/2013-Present
Dr. Wang Hongguang, Professor
Dr. Chang Yong, Associate Professor
Project Summary:
External entanglements on transmission line always result in a flashover due to
insufficient dielectric distance, especially in rainy days, which causes great loss for
society. Most entanglements are removed manually by lineman up to now and this
work is very dangerous and laborious as shown in Figure 2- 1. This project is to
design a power transmission line maintenance robot to assist lineman to remove the
hazardous entanglements easily and efficiently. My main job in this project is to
design a clearing device for this robot.
Figure 2- 1. The entanglements clearing jobs by lineman
Project Results:
Finally, a power transmission line maintenance robot with a composite clearing
device has been designed and implemented (Figure 2-5). The clearing mechanism
consists of a heating cutting tool (Figure 2-2), a blade cutting tool (Figure 2-3) and a
lifting device (Figure 2-4). The heating cutting tool is mainly used to remove thread
like entanglements which is combustible. The blade cutting tool is used to remove
cloth like or incombustible entanglements. These two sub-tools can deal with most
kinds of entanglements on power lines. A special lifting device is installed and this
can control the movement of two sub-tools separately with one actuator. The
5. -5-
effectiveness of the proposed mechanical design is verified and demonstrated by
numerous experimental studies (Figure 2-6). Aim at the practical application, the
future work should mainly be oriented toward the optimum design of the
mechanical structure.
Figure 2- 5. Prototype of Entanglements
Clearing Robot (a) and Elements of Clearing
Device (b,c,d)
Figure 2- 6. Experiments photos of
clearing procedure. Pictures (b, c and d) show
that thread like entanglements are removed
by heating cutting tool, picture (f, g and h)
show that the cloth like entanglements are
removed by blade cutting tool
Conclusion:
A novel clearing device, which consists of more than a hundred of mechanical parts,
is implemented to remove entanglements on power line. This is the most complex
Ribbon Shape
Heating Wire
Support
Links
Figure 2- 4. Model of
lifting device
Figure 2- 2. Model of
heating cutting Tool
Figure 2- 3. Model of
blade cutting tool
6. -6-
mechanism I have ever made, no matter in design stage or assembly process, and
more than three innovations are realized in this product. Experiments are conducted
to validate the device's applicability.
Publications:
Cao Yanjun, Wang Hongguang, Chang Yong, etc. A Hazard Entanglements
Clearing Robot for Power Transmission Line with Composite Clearing Tool [C]
(Accepted by IEEE-CYBER2015).
Wang Hongguang, Cao Yanjun, Chang Yong, etc. A Device to Remove
Hazard Entanglements on Power Transmission Line [P] (Application Number:
201410826433.2)
3. Designed and Fabricated A novel Mobile Self-Reconfigurable
Modular Robots—360bot
National University Student Innovation Program (NUSIP), Graduation Project
Tianjin University of Technology
10/2009-06/2012
Dr. Ge Weimin, Professor
Project Summary:
The target of this project was to develop a robot that could change its shape to meet
the variable requirements in different tasks, like the rescue job after earthquake or
exploration in unstructured environments. Our dream was to design a robot like the
transformer in the movie, but we later knew that this was too difficult to realize by
several undergraduate students. After some idealistic and impracticable fancy
designs being denied, we were upset and became stuck. One day I watched a video
by accident, which showed that tons of small intelligent cubes were built into various
complex configurations. The robots, which were Self-Reconfigurable Modular Robots
(SRMR) that I knew later, astonished and sparked me at that moment. Then I turned
to this kind of robot to deal with our task. With further review, we figured that the
mobility of unit module was important to the self-reconfiguration and self-assembly.
To improve the mobility of unit module became our new goal. Finally, a novel
modular robot, named as 360bot (Figure 3- 1), was developed and experiments were
implemented.
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Figure 3- 1. “ Transformer” by 360bots and the prototype of 360bot
Project Results:
An innovative modular self-reconfigurable robot was designed and implemented,
namely 360bot, which had a continuous rotational degree of freedom. In addition to
the common features of conventional modular robots, each module could move
independently with its special and simple structure (Figure 3- 2, Figure 3- 3). The
mechanism of each module was designed with multiple connections, including four
connected faces and five connection modes, which enabled the modular unit
possessing multi-directional rotational degrees of freedom, and increased the
functions and types of the modular reconfiguration system. After structure design,
kinematic and dynamic modeling, and simulation, prototypes of 360bot were made
and evaluation was made by experiments. The configurations of double modules
were summarized and analyzed (Figure 3- 4). My BS thesis, which based on this
project, got the 2nd Prize in Graduation Design (Thesis) Competition of Tianjin
Division. A journal paper of this robot was published in the best academic journal in
robotic field in China.
Figure 3- 2. Independent mobility of 360bot
Figure 3- 3. The principle of 360bot’s steering capacity
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Figure 3- 4. Configurations with strengthened mobility by double modules
Conclusion:
In this project, I made my first practical robot of my life. A novel module, which had
good performance with simple structure, was designed and fabricated. I experienced
all procedures of a robot fabricating process and these strongly improved my
research ability. A journal paper of this robot was published in the best academic
journal in robotic field in China.
Publications:
CAO Yanjun, GE Weimin, ZHANG Huajin. Structure Design and Simulation
Analysis of an Innovative Modular Self-Reconfigurable Robot-360bot[J].
ROBOT, 2013,35(5): 568-575,606
Cao Yanjun, Ge Weimin, Wei Xuan. Modular Unit of Reconfigurable
Modular Robots [P], China: CN202225936U, 2012-05-23
Ge Weimin, Cao Yanjun, Wei Xuan. Reconfigurable Modular Robots [P],
China: CN102381378A, 2012-03-21
4. Structure design and Simulation of Insulator Detection Robot for
500kV Transmission Line
Project with the Northeast Power
State Key Laboratory of Robotics, SIACAS
01/2014-09/2014
Dr. Wang Hongguang, Professor
Dr. Pan Xinan, Associate Professor
Project Summary:
Power transmission line maintenance robot is designed to monitor the running
conditions and find out the damages of the power grids. The insulator detection
robot is designed mainly for detecting the vertical insulator strings with faulty
insulators on the strain tower. The functions of this robot include locomotion on
vertical insulator strings, protection of electromagnetic compatibility and insulation
design. My job in this project is to design a basic mechanism model and then make
simulations to evaluate the mechanism design and improve its moving performance.
Project Results:
The basic mechanism was designed as shown in Figure 4- 1. The working processes
that the robot climbed vertical insulators were simulated in RecurDyn (Figure 4- 2)
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after acquiring the kinematic model. The simulation results under different motion
definitions provided Information that was used to select the motors. Finally a
trade-off control plan between the velocity and the torque was designed to acquire
good working performance (Figure 4- 3).
Figure 4- 1. The mechanism design of insulator detection robot and its simplified model for
simulation
Figure 4- 2. Simulations of process of climbing up one unit insulator
Figure 4- 3. Optimized velocity of insulator detection robot
10. -10-
Conclusion:
What I have done in this project mainly included design of a basic mechanism model,
simulations to verify the working principle, evaluation of the mechanism design,
improvement to acquire better performance and to get the preliminary information
for motor selection.
5. Other projects
In addition to projects above, there are some other projects that give me a lot of
experience. In the 2009 National Undergraduate Engineering Training Integration
Ability Competition, experience from design to machining of a carbon-free car gave
me an important guidance for my subsequent studies. A competition in 2010, which
was to program a smart car to track the specified path, strengthened my programing
skill. Many small projects from when I was young also contributed to my manual
ability a lot. For example, when I was 14 and with my father’s help, I tried to make a
mechanism of wood to assist people to make dumplings. Although the results of
these projects were not always successful, they have brought significance for my
development.