A Hardware Architecture and Physical Prototype for General-Purpose Swarm Minirobotics: Proteus II

Author(s):  
Nureddin Moustafa ◽  
Andrés Iglesias ◽  
Akemi Gálvez
2014 ◽  
Vol 4 (1) ◽  
pp. 54-75
Author(s):  
Marcilyanne M. Gois ◽  
Paulo Matias ◽  
André B. Perina ◽  
Vanderlei Bonato ◽  
Alexandre C. B. Delbem

Many problems involving network design can be found in the real world, such as electric power circuit planning, telecommunications and phylogenetic trees. In general, solutions for these problems are modeled as forests represented by a graph manipulating thousands or millions of input variables, making it hard to obtain the solutions in a reasonable time. To overcome this restriction, Evolutionary Algorithms (EAs) with dynamic data structures (encodings) have been widely investigated to increase the performance of EAs for Network Design Problems (NDPs). In this context, this paper proposes a parallelization of the node-depth encoding (NDE), a data structure especially designed for NDPs. Based on the NDE the authors have developed a parallel algorithm and a hardware architecture implemented on FPGA (Field-Programmable Gate Array), denominated Hardware Parallelized NDE (HP-NDE). The running times obtained in a general purpose processor (GPP) and the HP-NDE are compared. The results show a significant speedup in relation to the GPP solution, solving NDP in a time limited by a constant. Such time upper bound can be satisfied for any size of network until the hardware resources available on the FPGA are depleted. The authors evaluated the HP-NDE on a Stratix IV FPGA with networks containing up to 2048 nodes.


Author(s):  
Daniel Cascado-Caballero ◽  
Fernando Diaz-del-Rio ◽  
Daniel Cagigas-Muñiz ◽  
Antonio Rios-Navarro ◽  
Jose-Luis Guisado-Lizar ◽  
...  

Author(s):  
Mustafa Berkant Selek ◽  
Aykut Solmaz ◽  
Emrah Cetintas ◽  
Kaan Ugur ◽  
Yalcin Isler

Thanks to developing technology, robots have been integrated into many parts of daily life. Robots are called programmable, multifunctional, work, and timesaving devices. In this study, it is aimed to enhance a robotic arm to become a new tool for transferring an object to the virtual environment by integrating a three-dimensional digitizing property to the robotic arm. The robotic arm is developed using the software of Autodesk Fusion 360 and its physical prototype is implemented using PLA filament in three dimensional printers. A general-purpose microcontroller board of Arduino Mega 2560 model connected to motor drivers is used to control stepper motors that conduct robotic arm actions. Encoders used in the threedimensional digitizer are connected to digital pins of the Arduino board to calculate the X-Y-Z coordinates of the object in the space. The proposed system is controlled via the interface program, which is developed in Python programming language. As a result, a device to use in clinical applications is available in our biomechanics laboratuary, now.


Author(s):  
Andri Setyorini ◽  
Niken Setyaningrum

Background: Elderly is the final stage of the human life cycle, that is part of the inevitable life process and will be experienced by every individual. At this stage the individual undergoes many changes both physically and mentally, especially setbacks in various functions and abilities he once had. Preliminary study in Social House Tresna Wreda Yogyakarta Budhi Luhur Units there are 16 elderly who experience physical immobilization. In the social house has done various activities for the elderly are still active, but the elderly who experienced muscle weakness is not able to follow the exercise, so it needs to do ROM (Range Of Motion) exercise.   Objective: The general purpose of this research is to know the effect of Range Of Motion (ROM) Active Assitif training to increase the range of motion of joints in elderly who experience physical immobility at Social House of Tresna Werdha Yogyakarta unit Budhi Luhur.   Methode: This study was included in the type of pre-experiment, using the One Group Pretest Posttest design in which the range of motion of the joints before (pretest) and posttest (ROM) was performed  ROM. Subjects in this study were all elderly with impaired physical mobility in Social House Tresna Wreda Yogyakarta Unit Budhi Luhur a number of 14 elderly people. Data analysis in this research use paired sample t-test statistic  Result: The result of this research shows that there is influence of ROM (Range of Motion) Active training to increase of range of motion of joints in elderly who experience physical immobility at Social House Tresna Wredha Yogyakarta Unit Budhi Luhur.  Conclusion: There is influence of ROM (Range of Motion) Active training to increase of range of motion of joints in elderly who experience physical immobility at Social House Tresna Wredha Yogyakarta Unit Budhi Luhur.


2016 ◽  
Vol 12 (2) ◽  
pp. 188-197
Author(s):  
A yahoo.com ◽  
Aumalhuda Gani Abood aumalhuda ◽  
A comp ◽  
Dr. Mohammed A. Jodha ◽  
Dr. Majid A. Alwan

2014 ◽  
Vol 28 (2) ◽  
pp. 337-360
Author(s):  
Inyong Shin ◽  
Hyunho Kim

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