ABSTRACT
In recent years, due to the impact of COVID-19, the market prospect of non-contact handling has improved and the development potential is huge. This paper designs an intelligent truck based on Azure Kinect, which can save manpower and improve efficiency, and greatly reduce the infection risk of medical staff and community workers. The target object is visually recognized by Azure Kinect to obtain the center of mass of the target, and the GPS and Kalman filter are used to achieve accurate positioning. The 4-DOF robot arm is selected to grasp and transport the target object, so as to complete the non-contact handling work. In this paper, different shapes of objects are tested. The experiment shows that the system can accurately complete the positioning function, and the accuracy rate is 95.56%. The target object recognition is combined with the depth information to determine the distance, and the spatial coordinates of the object centroid are obtained in real time. The accuracy rate can reach 94.48%, and the target objects of different shapes can be recognized. When the target object is grasped by the robot arm, it can be grasped accurately according to the depth information, and the grasping rate reaches 92.67%. © 2023, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.
ABSTRACT
In 2019, the Novel Coronavirus Disease (COVID-19) was categorized as a pandemic. This disease can be transmitted via droplets on items or surfaces within several hours. Therefore, the researchers aimed to develop a wirelessly controlled robot arm and platform capable of picking up objects detected via object detection. Robot arm movements are done via the use of inverse kinematics. Meanwhile, a custom object detection model that can detect objects of interest will be trained and implemented in this project. To achieve this, the researchers utilize various open-source libraries, microcontrollers, and readily available materials to construct and program the entire system. At the end of this research, the prototype could reliably detect objects of interest, along with a grab-and-dispose success rate of 88%. Instruction data can be properly sent and received, and dual web cam image transfer reaches up to 1.72 frames per second. © 2023 IEEE.
ABSTRACT
In order to cope with the changing era of the innovative management paradigm of the manufacturing industry, it is necessary to advance the construction of smart factories in the domestic manufacturing industry, and in particular, the 3D design and manufacturing content sector is highly growthable. In particular, the core technologies that enable digital transformation VR (Virtual Reality)/AR (Augmented Reality) technologies have developed rapidly in recent years, but have not yet achieved any particular results in industrial engineering. In the manufacturing industry, digital threads and collaboration systems are needed to reduce design costs that change over and over again due to the inability to respond to various problems and demands that should be considered when designing products. To this end, we propose a VR/AR collaboration model that increases efficiency of manufacturing environments such as inspection and maintenance as well as design simultaneously with participants through 3D rendering virtualization of facilities or robot 3D designs in VR/AR. We implemented converting programs and middleware CPS (Cyber Physical System) servers that convert to BOM (Bill of Material)-based 3D graphics models and CPS models to test the accuracy of data and optimization of 3D modeling and study their performance through robotic arms in real factories.
ABSTRACT
Currently, robots can be used for additional purposes, people trying to perform difficult tasks. These robots also have the potential to become more powerful and use sensors not available to humans, giving supernatural abilities to guards that they may not have. Robotic arms are widely used for industry, hospitals, and education. The main function of the robotic arm is to control movement. The robotic arm is operated manually by humans. Since being attacked by this covid 19 epidemic, robotic learning has been difficult to implement where students are forced to go through online learning. Therefore, the research is allowing the students to implement robotic arms through online learning. The purpose of this study is to implement a robotic arm using the Internet of Things (IoT). The robotic arm has been developed with four Degrees of Freedom (DOF). The robotic arm can operate and be controlled by Blynk applications. By using the esp8266 Wi-Fi module, the robot arm can directly connect to the internet. In this study, the most important is to determine to move robotic arms using IoT. Thus, experiments for robotic arms using IoT were carried out.
ABSTRACT
Recently, the coronavirus pandemic has led to a new normal lifestyle, and reducing contact with humans by 70% is necessary in order for preventing infection. Therefore, in order to reduce the chances of contact between humans to the greatest degree possible, we propose a prototype method for remotely controlling a robot arm using human hand gestures in a non-contact manner. By multithread processing of involving hand gesture recognition using a Kinect device, and conversion between the camera coordinate system and the robot coordinate system, smooth operation of the robot arm is realized by asynchronous communication using exclusive control (mutex class in C++) and queue buffering (queue class on C++). © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
ABSTRACT
Purpose>The disinfection robot developed by the authors and team focuses on achieving fast and precise disinfection under a given or specific disinfection zone. This looks to solve problems with traditional robots that pay less attention to the level, efficiency and zones of disinfection. To effectively support and guarantee normal running for the whole system, a digital twin system is applied to the disinfection robot. This study aims to achieve fast, precise and thorough disinfection via the developed mobile robot.Design/methodology/approach>The designed robot is composed primarily of the following three parts: a mobile platform, a six-axis robotic arm and a ultraviolet-C (UVC) LED array. The UVC LED array is installed on the end-effector to achieve large-scale, precise manipulation. The adoption of all types of advanced sensors and the development of an intuitive and user-friendly client interface are helpful in achieving remote control, path planning, data monitoring and custom disinfection functions.Findings>Disinfection of three different locations in the laboratory was performed;the dosage distribution of the surface as radiated by the UVC robot was detected;and feasibility of development was validated.Originality/value>The developed disinfection robot achieved fast, precise and thorough disinfection for a given or specific disinfection zone.
ABSTRACT
This paper presents an integrated mapping of motion and visualization scheme based on a Mixed Reality (MR) subspace approach for the intuitive and immersive telemanipulation of robotic arm-hand systems. The effectiveness of different control-feedback methods for the teleoperation system is validated and compared. The robotic arm-hand system consists of a 6 Degrees-of-Freedom (DOF) industrial manipulator and a low-cost 2-finger gripper, which can be manipulated in a natural manner by novice users physically distant from the working site. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time 3D visual feedback from the robot working site. Imitation-based velocity-centric motion mapping is implemented via the MR subspace to accurately track operator hand movements for robot motion control and enables spatial velocity-based control of the robot Tool Center Point (TCP). The user control space and robot working space are overlaid through the MR subspace, and the local user and a digital twin of the remote robot share the same environment in the MR subspace. The MR-based motion and visualization mapping scheme for telerobotics is compared to conventional 2D Baseline and MR tele-control paradigms over two tabletop object manipulation experiments. A user survey of 24 participants was conducted to demonstrate the effectiveness and performance enhancements enabled by the proposed system. The MR-subspace-integrated 3D mapping of motion and visualization scheme reduced the aggregate task completion time by 48% compared to the 2D Baseline module and 29%, compared to the MR SpaceMouse module. The perceived workload decreased by 32% and 22%, compared to the 2D Baseline and MR SpaceMouse approaches.
ABSTRACT
This article describes the development and assessment of RaspyLab which is a low-cost Remote Laboratory (RL) to learn and teach programming with Raspberry Pi and Python language. The RL is composed of 16 stations or nodes that contain hardware components such as display LCD, robotic arm, temperature sensor, among others, and two modes of programming (graphical and text-based) for the students to experiment with their designed algorithms. The concept of the RL was conceived as a pedagogical tool to support the students of Engineering and Computer Science (CS) in an online learning format, given the context of the COVID-19 pandemic. The laboratory has been used by ([Formula Omitted]) CS students during the second semester of 2020 in the subject of mathematical logic through the methodology of Problem-Based Learning (PBL). To evaluate preliminary the laboratory, it was used a survey with 3 open-ended questions and 12 closed-ended questions on a Likert scale according to the Technology Acceptance Model (TAM). The outcomes show a good reception of the laboratory, an enhancement of the students’ learning regarding the concepts addressed in the course, and an interest of the students for the laboratory to be included in other subjects of the curricula.
ABSTRACT
This article presents the concept of a robotic system for aliquoting of biomaterial, consisting of a serial manipulator in combination with a parallel Delta-like robot. The paper describes a mathematical formulation for approximating the geometric constraints of the parallel robot as a set of solutions to a system of nonlinear inequalities. The analysis of the workspace is carried out, taking into account singularity zones, using a method based on the analysis of the Jacobian matrix of the mechanism and the interference of links. An optimal design procedure is proposed for the dimensional synthesis based on a criterion for maximizing the volume of the workspace, taking into account the ambiguity of the solution of the inverse kinematics. Simulation results are reported and discussed to propose a suitable design solution.
ABSTRACT
Taking under the current situation of COVID-19, there is need of social distancing. So, the machine can be used to transport basic amenities to the patients with not physical contact. If used in defence it can be used to remotely scan the laying objects. With the arm detached it can be used to remotely transport the goods. The trolley is a radio controlled or an automated machine which can be used for multiple purposes. The four wheeled trolley can be easily access to place where human contact should be less. Due to the long transmission and receiving range it can be controlled from distance. With the help of the cameras, we can monitor every action it does. The trolley can be programmed as per the user requirement and can be fully automated or radio controlled as per requirement. This trolley will be a prototype model which will demonstrate all the functions. Humans can eventually perform two tasks simultaneously and can perform two different tasks at different places using the detachable body concept. If used in defence it can be used to remotely scan the laying objects. With the arm detached it can be used to remotely transport the goods.