Dynamic stability analysis of a tracked mobile robot based on human–robot interaction

2019 ◽  
Vol 40 (1) ◽  
pp. 143-154
Author(s):  
Chengguo Zong ◽  
Zhijian Ji ◽  
Haisheng Yu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Dynamic Stability ◽  
Stability Criterion ◽  
Human Robot Interaction ◽  
Theoretical Principle ◽  
Robot Interaction ◽  
Content Type ◽  
Tracked Mobile Robot ◽  
Climbing Stairs

Purpose This paper aims to provide a theoretical principle for the stability control of robot climbing stairs, autonomously based on human–robot interaction. Through this research, tracked mobile robots with human-robot interaction will be extensively used in rescue in disaster, exploration on planetary, fighting in battle, and searching for survivors in collapsed buildings. Design/methodology/approach This paper introduces the tracked mobile robot, based on human–robot interaction, and its six moving postures. The dynamic process of climbing stairs is analyzed, and the dynamic model of the robot is proposed. The dynamic stability criterion is derived when the tracked mobile robot contacts the stairs steps in one, two and more points. A further conduction of simulation on the relationship of the traction force and bearing force vs the velocity and acceleration in the three cases was carried out. Findings This paper explains that the tracked mobile robot, based on human–robot interaction, can stably climb stairs so long as the velocity and acceleration satisfy the dynamic stability criterion as noted above. In addition, the experiment tests the correctness of dynamic stability analysis when the tracked mobile robot contacts the stair steps in one, two or more points. Originality/value This paper provides the mechanical structure and working principle of the tracked mobile robot based on human–robot interaction and proposes an identification method of dynamic stability criterion when the robot contacts the stairs steps in one, two and more points.

scholarly journals Projection Surfaces Detection and Image Correction for Mobile Robots in HRI

2017 ◽  
Vol 2017 ◽  
pp. 1-16
Author(s):  
Enrique Fernández-Rodicio ◽  
Víctor González-Pacheco ◽  
José Carlos Castillo ◽  
Álvaro Castro-González ◽  
María Malfaz ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Vertical Plane ◽  
Vertical Surface ◽  
Human Robot Interaction ◽  
Image Correction ◽  
Robot Interaction ◽  
Kinect Camera ◽  
Fitting Algorithm ◽  
The Right ◽  
Large Groups

Projectors have become a widespread tool to share information in Human-Robot Interaction with large groups of people in a comfortable way. Finding a suitable vertical surface becomes a problem when the projector changes positions when a mobile robot is looking for suitable surfaces to project. Two problems must be addressed to achieve a correct undistorted image: (i) finding the biggest suitable surface free from obstacles and (ii) adapting the output image to correct the distortion due to the angle between the robot and a nonorthogonal surface. We propose a RANSAC-based method that detects a vertical plane inside a point cloud. Then, inside this plane, we apply a rectangle-fitting algorithm over the region in which the projector can work. Finally, the algorithm checks the surface looking for imperfections and occlusions and transforms the original image using a homography matrix to display it over the area detected. The proposed solution can detect projection areas in real-time using a single Kinect camera, which makes it suitable for applications where a robot interacts with other people in unknown environments. Our Projection Surfaces Detector and the Image Correction module allow a mobile robot to find the right surface and display images without deformation, improving its ability to interact with people.

AI and libraries: trends and projections

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Adetoun A. Oyelude
Keyword(s):  
Language Processing ◽  
Service Provision ◽  
Design Methodology ◽  
Human Robot Interaction ◽  
Human Intelligence ◽  
Library Service ◽  
Robot Interaction ◽  
Content Type ◽  
New Horizons ◽  
Advanced Technologies

Purpose This paper aims to focus on the trends and projection for future use of artificial intelligence (AI) in libraries. AI technologies is the latest among the technologies being used in libraries. The technology has systems that have natural language processing, machine learning and pattern recognition capabilities that make service provision easier for libraries. Design/methodology/approach Systematic literature review is done, exploring blogs and wikis, to collect information on the ways in which AI is used and can be futuristically used in libraries. Findings This paper found that uses of AI in libraries entailed enhanced services such as content indexing, document matching, content mapping content summarization and many others. AI possibilities were also found to include improving the technology of gripping, localizing and human–robot interaction and also having artificial superintelligence, the hypothetical AI that surpasses human intelligence and abilities. Originality/value It is concluded that advanced technologies that AI are, will help librarians to open up new horizons and solve challenges that crop up in library service delivery.

scholarly journals A numerical study into the longitudinal dynamic stability of the tailless aircraft

2019 ◽  
Vol 91 (3) ◽  
pp. 428-436 ◽  
Author(s):  
Agnieszka Kwiek
Keyword(s):  
Stability Analysis ◽  
Dynamic Stability ◽  
Numerical Study ◽  
Aircraft Design ◽  
Content Type ◽  
Preliminary Stage ◽  
Longitudinal Dynamic ◽  
Stability Derivatives ◽  
The Impact ◽  
Tailless Aircraft

Purpose The purpose of this research is a study into a mathematical approach of a tailless aircraft dynamic stability analysis. This research is focused on investigation of influence of elevons (elevator) on stability derivatives and consequently on the aircraft longitudinal dynamic stability. The main research question is to determine whether this impact should be taken into account on the conceptual and preliminary stage of the analysis of the longitudinal dynamic stability. Design/methodology/approach Aerodynamic coefficients and longitudinal stability derivatives were computed by Panukl (panel methods). The analysis of the dynamic stability of the tailless aircraft was made by the Matlab code and SDSA package. Findings The main result of the research is a comparison of the dynamic stability of the tailless aircraft for different approaches, with and without the impact of elevator deflection on the trim drag and stability derivatives. Research limitations/implications This paper presents research that mostly should be considered on the preliminary stage of aircraft design and dynamic stability analysis. The impact of elevons deflection on the aircraft moment of inertia has been omitted. Practical implications The results of this research will be useful for the further design of small tailless unmanned aerial vehicles (UAVs). Originality/value This research reveals that in case of the analysis of small tailless UAVs, the impact of elevons deflection on stability derivatives is bigger than the impact of a Mach number. This impact should be taken into consideration, especially for a phugoid mode.

scholarly journals Conceptual design of an aircraft for Mars mission

2019 ◽  
Vol 91 (6) ◽  
pp. 886-892
Author(s):  
Agnieszka Kwiek
Keyword(s):  
Stability Analysis ◽  
Dynamic Stability ◽  
Conceptual Design ◽  
Design Stage ◽  
Content Type ◽  
Mars Mission ◽  
Longitudinal Dynamic ◽  
Short Period ◽  
The Impact ◽  
Tailless Aircraft

Purpose The purpose of this paper is to present the results of a conceptual design of Martian aircraft. This study focuses on the aerodynamic and longitudinal dynamic stability analysis. The main research questions are as follows: Does a tailless aircraft configuration can be used for Martian aircraft? How to the short period characteristic can be improved by side plates modification? Design/methodology/approach Because of a conceptual design stage of this Martian aircraft, aerodynamic characterises were computed by the Panukl package by using the potential flow model. The longitudinal dynamic stability was computed by MATLAB code, and the derivatives computed by the SDSA software were used as the input data. Different aircraft configurations have been studied, including different wing’s aerofoils and configurations of the side plate. Findings This paper presents results of aerodynamic characteristics computations and longitudinal dynamic stability analysis. This paper shows that tailless aircraft configuration has potential to be used as Martian aircraft. Moreover, the study of the impact of side plates’ configurations on the longitudinal dynamic stability is presented. This investigation reveals that the most effective method to improve the short period damping ratio is to change the height of the bottom plate. Practical implications The presented result might be useful in case of further design of the aircrafts for the Mars mission and designing the aircrafts in a tailless configuration. Social implications It is considered by the human expedition that Mars is the most probable planet to explore. This paper presents the conceptual study of aircraft which can be used to take the high-resolution pictures of the surface of Mars, which can be crucial to find the right place to establish a potential Martian base. Originality/value Most of aircrafts proposed for the Mars mission are designed in a configuration with a classic tail; this paper shows a preliminary calculation of the tailless Martian aircraft. Moreover, this paper shows the results of a dynamic stability analysis, where similar papers about aircrafts for the Mars mission do not show such outcomes, especially in the case of the tailless configuration. Moreover, this paper presents the results of the dynamic stability analysis of tailless aircraft with different configurations of the side plates.

The Pransky interview: Dr Cory Kidd, Founder and CEO at Catalia Health

2017 ◽  
Vol 44 (3) ◽  
pp. 259-263 ◽  
Author(s):  
Joanne Pransky
Keyword(s):  
Large Scale ◽  
Information Science ◽  
Industrial Robot ◽  
Human Robot Interaction ◽  
High Tech ◽  
Healthcare Applications ◽  
Robot Interaction ◽  
Wall Street ◽  
Content Type ◽  
Institute Of Technology

Purpose The purpose of this paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned-entrepreneur regarding the evolution, commercialization and challenges of bringing a technological invention to market. Design/methodology/approach The interviewee is Dr Cory Kidd, an inventor, entrepreneur and leading practitioner in the field of human–robot interaction. Dr Kidd shares his 20-year journey of working at the intersection of healthcare and technology and how he applied innovative technologies toward solving large-scale consumer healthcare challenges. Findings Dr Kidd received his BS degree in Computer Science from the Georgia Institute of Technology and earned a National Science Foundation Graduate Research Fellow in Computer and Information Science & Engineering. Dr Kidd received his MS and PhD degrees at the MIT Media Lab in human–robot interaction. While there, he conducted studies that showed the psychological and clinical advantages of using a physical robot over screen-based interactions. While finishing his PhD in 2007, he founded his first company, Intuitive Automata, which created interactive coaches for weight loss. Though Intuitive Automata ceased operations in 2013, Dr Kidd harnessed his extensive knowledge of the healthcare business and the experiences from patient engagement and launched Catalia Health in 2014 with a new platform centered specifically around patient behavior change programs for chronic disease management. Originality/value Dr Kidd is a pioneer of social robotics and has developed groundbreaking technology for healthcare applications that combines artificial intelligence, psychology and medical best practices to deliver everyday care to patients who are managing chronic conditions. He holds patents, including one entitled Apparatus and Method for Assisting in Achieving Desired Behavior Patterns and in an Interactive Personal Health Promoting Robot. Dr Kidd was awarded the inaugural Wall Street Journal and Credit Suisse Technopreneur of the Year in 2010, which is meant to “honor the entry that best applies technology with the greatest potential for commercial success”. He is also the Director of Business Development for the nonprofit Silicon Valley Robotics and is an impact partner for Fresco Capital. He consults, mentors and serves as a Board Member and Advisor to several high-tech startups.

Kalman filter-based yaw angle estimation by fusing inertial and magnetic sensing: a case study using low cost sensors

Sensor Review ◽  
2015 ◽  
Vol 35 (3) ◽  
pp. 244-250 ◽  
Author(s):  
Pedro Neto ◽  
Nuno Mendes ◽  
A. Paulo Moreira
Keyword(s):  
Kalman Filter ◽  
Inertial Sensor ◽  
Low Cost ◽  
Human Robot Interaction ◽  
Magnetic Sensor ◽  
Robot Interaction ◽  
Magnetic Sensing ◽  
Content Type ◽  
Reliable Estimation ◽  
Yaw Angle

Purpose – The purpose of this paper is to achieve reliable estimation of yaw angles by fusing data from low-cost inertial and magnetic sensing. Design/methodology/approach – In this paper, yaw angle is estimated by fusing inertial and magnetic sensing from a digital compass and a gyroscope, respectively. A Kalman filter estimates the error produced by the gyroscope. Findings – Drift effect produced by the gyroscope is significantly reduced and, at the same time, the system has the ability to react quickly to orientation changes. The system combines the best of each sensor, the stability of the magnetic sensor and the fast response of the inertial sensor. Research limitations/implications – The system does not present a stable behavior in the presence of large vibrations. Considerable calibration efforts are needed. Practical implications – Today, most of human–robot interaction technologies need to have the ability to estimate orientation, especially yaw angle, from small-sized and low-cost sensors. Originality/value – Existing methods for inertial and magnetic sensor fusion are combined to achieve reliable estimation of yaw angle. Experimental tests in a human–robot interaction scenario show the performance of the system.

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