scholarly journals Cartesian coordinate control for teleoperated construction machines

2021 ◽  
Vol 5 (1) ◽  
pp. 1-11
Author(s):  
Hyung Joo Lee ◽  
Sigrid Brell-Cokcan
Keyword(s):  
Low Cost ◽  
Inverse Kinematic ◽  
Visual Programming ◽  
Prototype System ◽  
Construction Sites ◽  
Construction Machinery ◽  
Local Accuracy ◽  
Cartesian Coordinate ◽  
Autonomous Machine ◽  
Advanced Robotics

AbstractDespite the continuous development of the hardware, most construction machines are exclusively teleoperated limiting the control to a single paradigm. The operators usually have to move different joints of the machine in a coordinated way solely relied on their experiences leading to reduced local accuracy and work efficiency. Automation of construction machinery can open up new possibilities to improve efficiency and safety during the construction process. This work introduces a generic method that can adapt construction machines that have been already used in the field for decades, so that a more intuitive and versatile control paradigm can be allowed. We introduce the system architecture with the necessary hardware extension and the closed-loop inverse kinematic based motion controller implemented in a visual programming environment. In contrast to existing works, which are mostly based on developing entirely new systems, an autonomous machine suited for construction sites and other hazardous environments can be obtained at a reduced effort. Because of its low cost and generality, this approach can be widely utilized in construction industries opening possibilities for a combination of the advanced robotics technology with proven machines from construction sites. We present our first prototype system based on a BROKK 170 demolition machine and highlight its capabilities but also the inherent limitations of the proposed method.

scholarly journals An Anti-Counterfeiting Architecture for Traceability System Based on Modified Two-Level Quick Response Codes

Electronics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 320
Author(s):  
Shundao Xie ◽  
Hong-Zhou Tan
Keyword(s):  
Product Life Cycle ◽  
Low Cost ◽  
Prototype System ◽  
Qr Code ◽  
Quick Response ◽  
Copy Detection ◽  
Traceability System ◽  
Scanned Image ◽  
Promising Solution ◽  
Product Package

Traceability is considered a promising solution for product safety. However, the data in the traceability system is only a claim rather than a fact. Therefore, the quality and safety of the product cannot be guaranteed since we cannot ensure the authenticity of products (aka counterfeit detection) in the real world. In this paper, we focus on counterfeit detection for the traceability system. The risk of counterfeiting throughout a typical product life cycle in the supply chain is analyzed, and the corresponding requirements for the tags, packages, and traceability system are given to eliminate these risks. Based on the analysis, an anti-counterfeiting architecture for traceability system based on two-level quick response codes (2LQR codes) is proposed, where the problem of counterfeit detection for a product is transformed into the problem of copy detection for the 2LQR code tag. According to the characteristics of the traceability system, the generation progress of the 2LQR code is modified, and there is a corresponding improved algorithm to estimate the actual location of patterns in the scanned image of the modified 2LQR code tag to improve the performance of copy detection. A prototype system based on the proposed architecture is implemented, where the consumers can perform traceability information queries by scanning the 2LQR code on the product package with any QR code reader. They can also scan the 2LQR code with a home-scanner or office-scanner, and send the scanned image to the system to perform counterfeit detection. Compared with other anti-counterfeiting solutions, the proposed architecture has advantages of low cost, generality, and good performance. Therefore, it is a promising solution to replace the existing anti-counterfeiting system.

scholarly journals A V-SLAM Guided and Portable System for Photogrammetric Applications

2021 ◽  
Vol 13 (12) ◽  
pp. 2351
Author(s):  
Alessandro Torresani ◽  
Fabio Menna ◽  
Roberto Battisti ◽  
Fabio Remondino
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Motion Blur ◽  
Guidance System ◽  
Prototype System ◽  
Active Sensors ◽  
Localization And Mapping ◽  
Acquisition Speed ◽  
Mobile Mapping System ◽  
Slam Algorithm

Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes. While most of the research and commercial systems are based on active sensors, solutions employing only cameras and photogrammetry are attracting more and more interest due to their significantly minor costs, size and power consumption. In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm. The prototype system, named GuPho (Guided Photogrammetric System) also integrates an in-house guidance system which enables optimized image acquisitions, robust management of the cameras and feedback on positioning and acquisition speed. The presented results show the effectiveness of the developed prototype in mapping large scenarios, enabling motion blur prevention, robust camera exposure control and achieving accurate 3D results.

scholarly journals BIM and IoT Sensors Integration: A Framework for Consumption and Indoor Conditions Data Monitoring of Existing Buildings

2021 ◽  
Vol 13 (8) ◽  
pp. 4496
Author(s):  
Giuseppe Desogus ◽  
Emanuela Quaquero ◽  
Giulia Rubiu ◽  
Gianluca Gatto ◽  
Cristian Perra
Keyword(s):  
Energy Consumption ◽  
Low Cost ◽  
Application Programming Interface ◽  
Visual Programming ◽  
Information Modeling ◽  
Sensor Data ◽  
Time Data ◽  
Existing Building ◽  
Building Maintenance ◽  
Indoor Conditions

The low accessibility to the information regarding buildings current performances causes deep difficulties in planning appropriate interventions. Internet of Things (IoT) sensors make available a high quantity of data on energy consumptions and indoor conditions of an existing building that can drive the choice of energy retrofit interventions. Moreover, the current developments in the topic of the digital twin are leading the diffusion of Building Information Modeling (BIM) methods and tools that can provide valid support to manage all data and information for the retrofit process. This paper shows the aim and the findings of research focused on testing the integrated use of BIM methodology and IoT systems. A common data platform for the visualization of building indoor conditions (e.g., temperature, luminance etc.) and of energy consumption parameters was carried out. This platform, tested on a case study located in Italy, is developed with the integration of low-cost IoT sensors and the Revit model. To obtain a dynamic and automated exchange of data between the sensors and the BIM model, the Revit software was integrated with the Dynamo visual programming platform and with a specific Application Programming Interface (API). It is an easy and straightforward tool that can provide building managers with real-time data and information about the energy consumption and the indoor conditions of buildings, but also allows for viewing of the historical sensor data table and creating graphical historical sensor data. Furthermore, the BIM model allows the management of other useful information about the building, such as dimensional data, functions, characteristics of the components of the building, maintenance status etc., which are essential for a much more conscious, effective and accurate management of the building and for defining the most suitable retrofit scenarios.

DEVELOPMENT OF INTELLECTUAL CONTROL ALGORITHMS FOR PLASTER MECHATRON COMPLEXES FOR AGRICULTURAL ENTERPRISES

2020 ◽  
Author(s):  
O.L. Cvetkova ◽  
◽  
A.R. Ajdinyan
Keyword(s):  
Low Cost ◽  
Inverse Kinematic ◽  
Control Algorithms ◽  
High Quality ◽  
Inverse Kinematic Problem ◽  
Intelligent Algorithms ◽  
Agricultural Enterprises ◽  
Computational Costs ◽  
Control Actions ◽  
Intellectual Control

Agricultural enterprises are interested in high-quality and low-cost plastering of technological and warehouse premises. It is proposed to solve the problem using mechatronic complexes intended for plastering surfaces characterized by different features of irregularities. The work considers intelligent algorithms for controlling the actions of a stucco robot based on the use of an artificial neural network. Intelligent algorithms will provide the formation of control actions for the robot when applying the mortar to the surface, with a rough leveling of the mortar layer, will allow solving the inverse kinematic problem of position for the plastering robot with less computational costs.

The Gear Bearing Drive: A Novel Compact Actuator for Robotic Joints

2013 ◽  
Author(s):  
Elias Brassitos ◽  
Constantinos Mavroidis ◽  
Brian Weinberg
Keyword(s):  
High Speed ◽  
High Efficiency ◽  
Low Cost ◽  
Planetary Gear ◽  
Mechanical Efficiency ◽  
Torsional Stiffness ◽  
Maximum Output ◽  
Torque Density ◽  
Robotic Joints ◽  
Advanced Robotics

Advanced robotics requires a new generation of actuators able to exhibit a number of desirable characteristics ranging from high power density and high efficiency, high positioning resolution, high torque capacity and torsional stiffness, lightweight designs and low-cost packages. In this paper, we present the development and the experimental evaluation of a new actuator, aimed at improving the torque density and mechanical efficiency of actuated robotic joints, and enhancing the portability and effectiveness of robotic systems engaged in biomechanical applications such as rehabilitation robots and wearable exoskeletons. The new actuator, called the Gear Bearing Drive (GBD), consists of a two-stage planetary gear arrangement coupled through the planets and driven by an external rotor brushless motor that is inscribed within the input stage sun gear. This planetary configuration enables for incredible high-speed reductions and allows for embedding the motor directly within the gearbox saving significant space on the actuator length. Our initial experimental prototypes have demonstrated impressive performance with the potential to deliver more than 30Nm of continuous torque with 85% mechanical efficiency and 0.0005 degree of backlash, and up to 200 rpm maximum output speed in a highly compact and robust package.

Marker-guided auto-landing on a moving platform

2017 ◽  
Vol 5 (1) ◽  
pp. 28-42 ◽  
Author(s):  
Iryna Borshchova ◽  
Siu O’Young
Keyword(s):  
Image Processing ◽  
Visual Servoing ◽  
Low Cost ◽  
Field Tests ◽  
Processing Algorithm ◽  
Prototype System ◽  
Image Processing Algorithm ◽  
Suggested Approach ◽  
Content Type ◽  
Moving Platform

Purpose The purpose of this paper is to develop a method for a vision-based automatic landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving platform. The landing system must be highly accurate and meet the size, weigh, and power restrictions of a small UAV. Design/methodology/approach The vision-based landing system consists of a pattern of red markers placed on a moving target, an image processing algorithm for pattern detection, and a servo-control for tracking. The suggested approach uses a color-based object detection and image-based visual servoing. Findings The developed prototype system has demonstrated the capability of landing within 25 cm of the desired point of touchdown. This auto-landing system is small (100×100 mm), light-weight (100 g), and consumes little power (under 2 W). Originality/value The novelty and the main contribution of the suggested approach are a creative combination of work in two fields: image processing and controls as applied to the UAV landing. The developed image processing algorithm has low complexity as compared to other known methods, which allows its implementation on general-purpose low-cost hardware. The theoretical design has been verified systematically via simulations and then outdoors field tests.

An ASP-Based Product Customization Service System for SMEs

2010 ◽  
pp. 262-278
Keyword(s):  
Service System ◽  
Low Cost ◽  
Product Configuration ◽  
Data Mapping ◽  
Application Service Provider ◽  
Product Data ◽  
Construction Machinery ◽  
Current Product ◽  
Resource Collection ◽  
Product Customization

A product customization system with integrated application services is helpful for small to medium-sized enterprises (SMEs). The mode of application service provider (ASP) particularly targets SMEs by providing integrated applications. The current product customization system seldom considers integrating with ASPs and orienting product lifecycle. In this article, an ASP-based product customization service system operating in lifecycle-oriented customization mode is proposed. Resource share, product data transform, and product configuration are three important aspects for effectively supporting lifecycleoriented product customization service. A resource collection method for distributed resource share is put forward. An XML-based data mapping model for isomeric/isomorphic product data transform is presented. A new algorithm for rapid product configuration is designed, and an interactive virtual environment for collaborative configuration is suggested. Using this system, SMEs can develop their Internet-based sales and customization systems smoothly, in a short time, and at low cost. A construction machinery oriented product customization service platform is introduced as a case study.

DuBot

2021 ◽  
pp. 329-353
Author(s):  
Avraam Chatzopoulos ◽  
Michail Kalogiannakis ◽  
Stamatios Papadakis ◽  
Michail Papoutsidakis ◽  
Dethe Elza ◽  
...  
Keyword(s):  
Action Research ◽  
Programming Language ◽  
Low Cost ◽  
Visual Programming ◽  
Initial Evaluation ◽  
Educational Robotics ◽  
Internet Connection ◽  
Engineering Mathematics ◽  
Visual Programming Language ◽  
The University

This chapter presents the design and development of an open-source, low-cost robot for K12 students, suitable for use in educational robotics and science, technology, engineering, mathematics (STEM). The development of DuΒot is a continuation of previous research and robot's innovation is based on three axes: (a) its specifications came from the 1st cycle of action research; (b) robot's visual programming language is integrated into the robot, taking advantage of the fact that it can be programmed from any device (smartphone, tablet, PC) with an internet connection and without the need to install any software or app; (c) is low-cost with no “exotic” parts robot than anyone can build with less than 50€. Furthermore, the robot's initial evaluation is presented -from distance due to emergency restrictions of Covid-19 is presented by the University of Crete, Department of Preschool Education's students.

Evaluation of Encryption Procedure for User Attestation System Using a Cellular Phone

2012 ◽  
Vol 3 (3) ◽  
pp. 15-26
Author(s):  
Noriyasu Yamamoto ◽  
Toshihiko Wakahara
Keyword(s):  
Low Cost ◽  
Digital Camera ◽  
Cellular Phone ◽  
Prototype System ◽  
Color Code ◽  
Experimental Prototype

To provide a low-cost and simple user attestation method, the authors previously proposed a method with strong authentication using the digital camera of a cellular phone. This method used 2D color code, and as such, there are some process costs like create and decode 2D color code. In this paper, the authors present an improved attestation system using a cellular phone and 2D color code. They compare the performance of the encryption methods and the efficiency of the proposed attestation method, which is confirmed using an experimental prototype system.

scholarly journals A Prototype Photoplethysmography Electronic Device that Distinguishes Congestive Heart Failure from Healthy Individuals by Applying Natural Time Analysis

Electronics ◽  
2019 ◽  
Vol 8 (11) ◽  
pp. 1288 ◽  
Author(s):  
George Baldoumas ◽  
Dimitrios Peschos ◽  
Giorgos Tatsis ◽  
Spyridon K. Chronopoulos ◽  
Vasilis Christofilakis ◽  
...  
Keyword(s):  
Heart Failure ◽  
Congestive Heart Failure ◽  
Electronic Device ◽  
Low Cost ◽  
Prototype System ◽  
Healthy Individuals ◽  
Time Analysis ◽  
Clear Separation ◽  
Natural Time ◽  
Natural Time Analysis

In this paper, a prototype photoplethysmography (PPG) electronic device is presented for the distinction of individuals with congestive heart failure (CHF) from the healthy (H) by applying the concept of Natural Time Analysis (NTA). Data were collected simultaneously with a conventional three-electrode electrocardiography (ECG) system and our prototype PPG electronic device from H and CHF volunteers at the 2nd Department of Cardiology, Medical School of Ioannina, Greece. Statistical analysis of the results show a clear separation of CHF from H subjects by means of NTA for both the conventional ECG system and our PPG prototype system, with a clearly better distinction for the second one which additionally inherits the advantages of a low-cost portable device.

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