Many service mobile robots have an articulated robotic manipulator mounted on their platform. The mobile platform extends the workspace of the arm, whereas the arm offers several operational ...functionalities. The basic idea is to mount two cameras to the robotic arm. One camera provides the perception of the surrounding environment and navigation of the robot, the second one located on the robot arm provides for the perception of the object of cooperation. This paper deals with an early-stage design process of the mentioned robotic manipulator using dual visual perception. It includes kinematic, dynamic and stress-strength analysis. For the kinematic analysis the homogeneous matrix method and for dynamic analysis the Newton-Euler method has been used. These analyses are required for control solution.
Manipulator End-Effector Position Control Virgala, Ivan; Gmiterko, Alexander; Surovec, Róbert ...
Procedia engineering,
2012, 2012-00-00, Letnik:
48
Journal Article
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The paper deals with manipulator end-effector position control. At first the problem of inverse kinematics is introduced. The dynamic model of manipulator by Euler – Lagrange method is derived. In ...order to achieve required end-effector position the feedback control method is introduced for non-linear differential equations system. In the conclusion all mentioned methods are demonstrated on 2 DOF planar manipulator.
This article deals with an undercarriage design of robot vehicle that will be able to work in broken terrain. It is a frequently solved problem in mechatronics. High requirements for its application ...in area of rescue assistance, fire fighting, in nuclear and space industry as well are taken into consideration. Within the frame of designing commercially available software, e.g., MATLAB/Simulink and SolidWorks have been used to analyze a one degree mathematical model and a six-wheeled spatial model. A series of computation have been performed to determine the appropriate stiffness and damping parameters.
This article deals with problem solution affecting the magnetic field of permanent magnets by change of their position. This article proves the possibility of magnetic field influence on individual ...construction parts of a positioning mechanism. The first part of the article deals with the problem of magnetic surface levitation of diamagnetic object and with the description of principle of mechatronic positioning mechanism. Specifically, functions of individual construction parts in term of mechanics are described. Positioning levitating mechanism uses for magnetic field generation the matrix NdFeB 32, which is the matrix of permanent magnets arranged in a particular configuration. Linear actuators working on piezoelectric principle were chosen for magnets positioning. The next part of this article deals with numerical solution of magnetic field using calculation software FEMM, for five different configuration positions of permanent magnets. Using the postprocessor mechanism, outputs, for magnetic induction, for lines of force and for vector fields of each position, are subsequently created. In almost the last part the calculation of energies and forces acting in direction of magnetic field axes X and Y is done. The conclusion involves a summary of the possible influence of magnetic field by the change of magnets position and its subsequent influence on the levitating pyrolitic graphite, which is represented by the diamagnetic object.
This thesis concerns on dynamical systems whose behavior can be described as a deterministic in time thus based on initial conditions it is possible to predict how the system will behave. The main ...goal of the work is to analyze deterministic chaos with special attention to usability of this phenomenon in mechanical systems in everyday life, moreover the work indicate the typical symptoms, circumstances that germinate and support their occurrence. The project is an attempt to correctly identify and describe definitions of: deterministic chaos, chaos quantifiers, attractors, fractals and of course chaos in conservative systems. Experimental part of my work represents the basic chaotic event that can be noticed in daily life.
This paper is dedicated to the development and implementation of a robotic vehicle in the intermediate category suitable for deployment in rough terrain for rescue and recovery purposes 1. The ...requirements on the part of potential users have been clarified with the relevant departments such as the police, civil protection, Fire Corps, and army EOD specialists. On basis of analysis, categories of requirements were defined in the field of terrain and environment characteristics. The result of the development is a compact vehicle equipped with 6-legs for walking in combination with wheels at the end of the each leg for fast driving. In the front section there is free space for a special-purpose superstructure, in the standard package it consists of a handling arm with 6 degrees of freedom with a deadweight capacity of 200kg. All actuators, including the wheel drive, are hydraulic, the hydraulic pump and electric generator are driven by built-in internal combustion engine.
Reconfigurable robot is solution for unknown environment with various obstacles. Also energy consumption is better, when suitable locomotion mode is selected. Proposed service robot is able to ...locomotes via using of wheels or legs. The design of such structure has several advantage as better ability to cross the various types of terrain. The prototype of the designed robot will be used as educational tool.
Unattended, home-based polysomnography (PSG) is increasingly used in both research and clinical settings as an alternative to traditional laboratory-based studies, although the reliability of the ...scoring of these studies has not been described. The purpose of this study is to describe the reliability of the PSG scoring in the Sleep Heart Health Study (SHHS), a multicenter study of the relation between sleep-disordered breathing measured by unattended, in-home PSG using a portable sleep monitor, and cardiovascular outcomes.
The reliability of SHHS scorers was evaluated based on 20 randomly selected studies per scorer, assessing both interscorer and intrascorer reliability.
Both inter- and intrascorer comparisons on epoch-by-epoch sleep staging showed excellent reliability (kappa statistics >0.80), with stage 1 having the greatest discrepancies in scoring and stage 3/4 being the most reliably discriminated. The arousal index (number of arousals per hour of sleep) was moderately reliable, with an intraclass correlation (ICC) of 0.54. The scorers were highly reliable on various respiratory disturbance indices (RDIs), which incorporate an associated oxygen desaturation in the definition of respiratory events (2% to 5%) with or without the additional use of associated EEG arousal in the definition of respiratory events (ICC>0.90). When RDI was defined without considering oxygen desaturation or arousals to define respiratory events, the RDI was moderately reliable (ICC=0.74). The additional use of associated EEG arousals, but not oxygen desaturation, in defining respiratory events did little to increase the reliability of the RDI measure (ICC=0.77).
The SHHS achieved a high degree of intrascorer and interscorer reliability for the scoring of sleep stage and RDI in unattended in-home PSG studies.
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