ABSTRACT
In view of the fact that Covid-19 is highly contagious, which poses great threat and inconvenience to people's production and life, a multifunctional robot control system with single-chip microcomputer as the control core is designed, aiming at the problems of centralized isolation points in communities, complicated situation and difficult management. Firstly, Gmapping algorithm is used to realize the robot's autonomous positioning and avoidance. Secondly, a three-degree-of-freedom robot arm is designed to disinfect any indoor space. Finally, Gmapping algorithm is used to recognize and measure the temperature of human face. Through the simulation experiment, this method can improve the efficiency of searching the shortest path and carry out disinfection work while reducing human contact, improving public safety and has practical value. © 2023 IEEE.
ABSTRACT
The COVID-19 pandemic has emphasized the need for non-contact medical robots to alleviate the heavy workload and emotional stress experienced by healthcare professionals while preventing infection. In response, we propose a non-contact robotic diagnostic system for otolaryngology clinics, utilizing a digital twin model for initial design optimization. The system employs a master-slave robot architecture, with the slave robot comprising a flexible endoscope manipulation robot and a parallel robot arm for controlling additional medical instruments. The novel 4 degrees of freedom (DOF) control mechanism enables the single robotic arm to handle the endoscope, facilitating the process compared to the traditional two-handed approach. Phantom experiments were conducted to evaluate the effectiveness of the proposed flexible endoscope manipulation system in terms of diagnosis completion time, NASA task load index (NASA-TLX), and subjective risk score. The results demonstrate the system's usability and its potential to alternate conventional diagnosis. © 2013 IEEE.
ABSTRACT
A one-degree-of-freedom (1-Dol) copter is designed, implemented, and controlled by an electronically programmed PID controller. The control of (1-DOF) copter leads to rising of the required vision for controlling stability in the designing of (2-Dofs) quadcopter;were copters are used in many fields. Nowadays, the Covid-19 pandemic causes many challenges in health sectors, especially in patient's isolation centers, which forces the health team to take a lot of precautions when dealing with the patient, by using an optimally controlled quadcopter for dealing patients, one can prevent them from infection. The required dealing involves pharmaceutical submission and temperature monitoring which can be handled by these copters with specific sensors and vision. So, there is a need for high stability and accuracy in the movement with a high speed of balancing. This work is testing one axis of these copters by designing, implementing, and controlling a one-axis copter with a simple PID controller, the controller is implemented by using an Arduino controller, with a satisfaction measure for the required balancing of 97% accuracy. © 2022 IEEE.
ABSTRACT
With the onset of the Covid-19 pandemic, the health of people has become more of a concern. With this, temperature measurement has gained even more significance. Non-contact thermometers give the advantage of being used in extreme infectious environments, lightweight, repeatability, and many more. Thermal screening helps in identifying people with a high body temperature who are potentially at risk. This research work focuses on the non-contact human body temperature measurement with the assistance of a robotic arm. The robotic arm is used to dispense the power of mobility to the system. The robotic arm, interfaced with Raspberry PI, is used to dispense the power of mobility to the system. Non-contact infrared temperature sensor, MLX90614, is interfaced with Arduino Nano and is used to measure human body temperature. The temperature obtained from the thermal gun is fed to the serial monitor app in the mobile that is connected through the USB cable to Arduino Nano. The temperature sensor's data is displayed on a mobile phone in Celsius unit. The format in which the sensor data is displayed is programmed using Arduino IDE. © 2022 IEEE
ABSTRACT
Work-from-home policies have been the standard since the worldwide pandemic breakout, and this has spurred the fast development of applications in the area of IoT for remotely monitoring and managing applications. This has encouraged us to design and develop a remotely controlled robotic arm that can be used in applications where the engaging human hazardous environment (such as quarantined rooms of COVID affected patients) is dangerous. This has led to the development of a B-rover called a robotic arm, which the technicians remotely control to reduce the direct contact between the technician and the hazardous environment. It has various applications, such as a health monitoring system for monitoring the patient's health conditions, sample collection from the patients and the capability of the Robotic Arm to deliver medications to the COVID affected patients without engaging humans. It is proposed to design a 3DOF(degrees of freedom) robotic arm with stepper motor which is controlled through Wi-Fi using the BlynkIoT App with widgets like Joystick and Sliders. This will pick and drop the objects from one place to another. The results show that the designed robotic arm shows a 3% variation from the simulated and actual results when the slider is adjusted. © 2022
ABSTRACT
We design a central controller system (CCS) and a tele-controlled system (TCS) with an aim of developing the integrated tele-monitoring/operation system that can enable the medical staff to tele-monitor the state of therapeutic devices utilized in the isolation intensive care unit (ICU) and to tele-operate its user interfaces. To achieve this aim, we survey the medical staff for medical requirements first and define the design guideline for tele-monitoring/operation functionality and field applicability. In designing the CCS, we focus on realizing the device having intuitive and user-friendly interfaces so that the medical staff can use the device conveniently without pre-training. Further, we attempt to implement the TCS capable of manipulating various types of user interfaces of the therapeutic device (e.g., touch screen, buttons, and knobs) without failure. As two core components of the TCS, the precision XY-positioner having a maximum positioning error of about 0.695 mm and the end-effector having three-degrees-of-freedom motion (i.e., pressing, gripping, and rotating) are applied to the system. In the experiment conducted for assessing functionality, it is investigated that the time taken to complete the tele-operation after logging into the CCS is less than 1 minute. Furthermore, the result of field demonstration for focus group shows that the proposed system could be applied practically to the medical fields when the functional reliability is improved. IEEE
ABSTRACT
Since the beginning of 2020, Peru has been exposed to the inevitable spread of Covid-19, a highly contagious disease that is increasing around the world rapidly. Scientists and researchers propose various solutions to mitigate its effects or reduce infections, from simple procedures to complex systems such as robots or vaccines. For this reason, innovative research was carried out from 2020 to 2021 under the supervision of the school of Mechatronics Engineering at U niversidad Tecnologica del Peru, so, this article, presents a SCARA robot prototype capable of performing rapid tests with blood samples to detect Covid-19. In addition, the robot has 4 servomotors and impactive end effector. In addition, this robot has 4 degrees of freedom, and this type was chosen for its speed and flexibility. This study develops a mechatronics conceptual design and kinematic analysis using the Denavit Hartenberg method using Matlab and, CAD in SolidWorks 2021. In conclusion, the purpose is to decrease the workload and protect the lives of people who perform the lab tests, being able to process them with greater precision. © 2022 IEEE.
ABSTRACT
The COVID-19 pandemic has brought crisis to people from around the world resulting to a transition from face-to-face classes to an online class in the academic sector. Graduation ceremonies also transition into an online ceremony where students passively attend the session. In this study, a Social Robot named 'Gradbot' is developed to help the students participate actively in their online ceremonies. The Body frame was designed using Fusion360. The Gradbot is compose of the Arduino microcontroller, servo motors, Bluetooth module, mounted on a 2WD car chassis and was simulated using Tinkercad and MATLAB. This study also includes the investigation of the degrees of freedom, type of joints, workspace, and the cartesian product of the developed Gradbot. © 2021 IEEE.
ABSTRACT
Exploring planets requires cooperative robotics technologies that make it possible to act independently of human influence. So-called multi-robot teams, consisting of different and synchronized robots, can solve problems that cannot be handled by a single robot. The PRO-ACT (Planetary RObots deployed for Assembly and Construction Tasks) project aimed to develop and demonstrate key technologies for robot collaboration in the construction of future ISRU (In-Situ Resource Utilization) facilities on the Moon. To this end, the following robots were used: Veles-a rover with six wheels and a 7-DoF (Degree of Freedom) arm, Mantis-a six-legged walking system, and a mobile gantry that can be used for payload manipulation or 3D printing. The project further developed existing software and hardware developed in previous space robotics projects and integrated them into the robotic systems involved. The software enables collaborative tasks such as transportation, mapping and navigation. Due to the Covid-19 situation, the final demonstration was performed remotely for defined mission scenarios. The intensive remote test campaigns provided valuable lessons learned that are directly applicable to future space missions. In addition, PRO-ACT opens a new way for multi-robot collaboration. The paper describes the developed robotic software and hardware as well as the final mission scenarios performed in lunar analogues with Mantis tested in the test field with granules in the DFKI Space Hall in Bremen, Germany, with Veles tested in Warsaw, Poland and with the mobile gantry tested in Elgoibar, Spain. In addition one mission scenario, manipulation tasks with two robotic systems, was performed with two Panda robotic arms in Toulouse, France. The paper concludes with the results of the final demonstration of the multi-robotics team. © 2021 International Astronautical Federation, IAF. All rights reserved.
ABSTRACT
Since 2020, there has been a critical health situation in the entire population of Peru due to the appearance of the COVID-19 virus. People who have to work or leave home, put their families at risk because they can infect or transmit the virus. Therefore, this research, conducted under the supervision of the School of Mechatronics Engineering of the Ricardo Palma University, aims to design a mobile robot that emits ultraviolet-UV rays for the disinfection of rooms in houses, in order to disinfect possible contaminated areas. The robot has a mechanical design that consists of 4 mecanum type wheels and a robotic arm of 2 degrees of freedom -DOF. The motion system is controlled by 4 direct current-DC motors and its respective controller, connected to the Raspberry Pi microprocessor, and it is also powered by 2 batteries of 12 V. The robot's function is to sterilize the virus both with its main structure and its extension. This study presents a mechatronic conceptual design using SolidWorks 2020 software for the development of the 3D mechanical systems, Proteus 8 for the technical schematics of the electrical and electronic circuits, and in addition, MATLAB 2020a for the kinematic motion tests of the robotic platform and Gazebo for the motion simulation. This paper has centered on the study of the platform motion and its mechanical design. In conclusion, due to the good results of the mobile prototype and UV rays as a disinfection method, the integration of the first prototype is planned for February 2022 for its first application in some houses in Peru. © 2021 IEEE.
ABSTRACT
Coupled oscillations can be found throughout the physical world on both micro and macro levels, from oscillating molecules to lattice vibrations in solids, up to the oscillations of macroscopic mechanical or electrical systems. Despite the fact that the dynamics of such systems is governed by forces originating from a variety of potentials, the harmonic-oscillator potential approximation can be used for almost every system close to equilibrium, which makes it fundamental in many fields of physics. The equations of motion of single harmonic-oscillators as well as of one-dimensional linear elastic multiple-degree-of-freedom systems can be solved analytically, which enables a quantitative study of idealized model systems and, furthermore, some qualitative insight into the behavior of more complex real-life systems. Multi-dimensional multiple-degree-of-freedom systems are, in general, no longer accessible to analytical solutions. A perpendicular spring configuration, for instance, introduces a nonlinearity of the Duffing type and can lead to chaotic behavior. In order to engage our students with the analysis of multiple-degree-of-freedom oscillatory systems, an interdisciplinary undergraduate student research project was initiated, which encompassed the development of computer programs for the simulation and visualization of elastically coupled particles aligned in a straight line, as well as for the simulation of two-dimensional arrays of coupled oscillators. The equation of motion of one-dimensional oscillatory systems was solved numerically and - for small systems - analytically in order to test the quality of the numerical integration. In the case of two-dimensional arrays, the conservation of total energy was used for validation. Three teams of three students each took up the challenge and worked simultaneously and competitively on that project, with the additional complication that the team members had to work in different locations due to the Covid-19 pandemic. The integration of the coupled systems of differential equations was programmed in C#, with a graphical user interface that provides a display of the vibrating systems, graphs of the mass displacements over time, and phase-space diagrams. The dynamic visual output of the program was designed to provide a playful insight into the behavior of multiple-degree-of-freedom lumped-mass systems. In this paper, the theoretical background, the approach to the problem and the outcome of the undergraduate student projects are presented and discussed. © American Society for Engineering Education, 2021
ABSTRACT
The primary goal of an engineering curriculum is to lay the groundwork for the remainder of the students' training. Traditionally, the curriculum primarily consists of lecture-based courses, with some hands-on work, mostly through demonstration. In recent years, the curriculum has started using more project-based courses. In these updated courses, the theory covered via lecture is merged with hands-on project work. This integrated approach is designed to not only give the students a foundation of the course theory, but to expand on that and give them practical, hands-on applications of that theory. Additionally, it gives the opportunity to learn skills in design, manufacturing, electronics, controls, and prototyping. This study looks at a mechanics of materials course project that has the students build a tensile-testing device from course-supplied kit to evaluate mechanical properties. The project detailed in this paper is a redesigned and scaled-down version of a project previously used for this course [1]. With the restrictions from COVID, the previously group-based project had to be revamped into an individual based project. Despite this change, this project still requires the students to combine knowledge from other areas, including circuits, controls, and mechanics of materials. They learn to build a microcontroller driven device, in conjunction with a load cell, to test the mechanical properties of a material. For analysis, an experimental section of this class was compared to a control section, using an engineering self-efficacy survey. While the two showed similar result on concepts learned, there were a few concepts where the experimental section was behind the control section. However, the main goal of this survey was to show that the project in the experimental section didn't cause those students to fall too far behind their counterparts. © American Society for Engineering Education, 2021
ABSTRACT
Humanity has always aspired to provide life-like traits and characteristics to its products to discover a replacement for himself to carry out his commands and also to adapt easily in an unfriendly environment. Since the late 2019, covid-19 pandemic has spread all over the world cause immense damage in the healthcare unit worldwide.To make a comeback into normal lifestyle towards medical unit robots are used for better treatment of patients. By considering these features, the authors have designed and developed a Low-Cost 3D printed humanoid robotic arm which can also be controlled and operated wirelessly. The proposed model in this paper uses a wireless RF module which acts as a common interface between the master and slave part of the prototype. The software platform Arduino IDE is used to give instructions to the hardware via high level code. The controller executes the program and performs the necessary movements and functions of the robotic arm in desired manner. The proposed model works on wireless technology which not only makes it more sophisticated at low cost but also provides six degrees of freedom. This model can be a key ingredient to free police workers in hazardous conditions, towards intelligent local traffic management systems and smart cities. © 2021 IEEE.