Development of Lower Body for Vehicle Driving Robot, HART

2018 ◽  
Author(s):  
Kiwon Sohn ◽  
Mark Markiewicz ◽  
Stefan Keilich
Keyword(s):  
Low Cost ◽  
Control Input ◽  
Lower Body ◽  
Ground Vehicles ◽  
Vehicle Handling ◽  
Assistive Robot ◽  
Different Types ◽  
Hardware Configuration ◽  
Design Requirements ◽  
Low Cost Manufacturing

This paper presents the development of a lower body for a full-size humanoid platform, HART (Human Assistive RoboT). The design objective of HART is to enable the robot to drive off-the-shelf vehicles in human-centered environments. To accomplish the goal, two technical design requirements which include kinematic adaptation and low-cost manufacturing are addressed and explored in this study. First, the overall hardware configuration and software control architecture of HART are presented. Then, the kinematic and dynamic specification of each joint and its design process are described. The kinematic analysis and motion planning of HART are also provided for the vehicle handling task such as control input manipulation. Last, the built platform is tested and evaluated through experimentations using two different types of ground vehicles.

Mobile Carrying Platform: i-Explore

2020 ◽  
Author(s):  
Kiwon Sohn ◽  
Aurian Emami ◽  
Jaesung Yang
Keyword(s):  
Mobile Robot ◽  
Kinematic Analysis ◽  
Mechanical Design ◽  
Physical Disabilities ◽  
Low Cost ◽  
Indoor Environments ◽  
Technical Design ◽  
Assistive Robot ◽  
Design Requirements ◽  
Low Cost Manufacturing

Abstract This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.

Re-Sizable Quadrupedal Robot Platform: HARQ

2020 ◽  
Author(s):  
Kiwon Sohn ◽  
Salman Hussain ◽  
Matthew Bradnan ◽  
Owen May
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Work Environments ◽  
Outdoor Environment ◽  
Whole Body ◽  
Simulated Environment ◽  
Assistive Robot ◽  
Design Requirements ◽  
Low Cost Manufacturing ◽  
Robot Platform

Abstract This paper presents the development of kinematically adjustable quadrupedal robot platform, HARQ (Human Assistive and Robust Quadruped) which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2019. The main objective of HARQ is to assist various tasks of human workers in dangerous work environments such as disasters. In this paper, the mechanical design and building processes of HARQ which focused on kinematic adaptivity and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the quadrupedal robot are described. Lastly, HARQ is tested and evaluated both in a simulated environment using its virtual model and in an outdoor environment using the physically built platform with various whole body motions which are designed for the robot’s navigation.

Upper Body Development of Full-Sized Humanoid, HART, for Vehicle-Driving Task

2019 ◽  
Author(s):  
Kiwon Sohn ◽  
Mark Markiewicz
Keyword(s):  
Low Cost ◽  
Upper Body ◽  
Whole Body ◽  
Steering Wheel ◽  
Body Development ◽  
Hardware Configuration ◽  
Driving Task ◽  
Electrical Components ◽  
Low Cost Manufacturing ◽  
Control System Architecture

Abstract In this paper, the development of an upper body for the full-sized humanoid, HART is presented. The main design objective of HART platform is to enable the bipedal robot to drive off-the-shelf vehicles in real world environments. Continued from the previous efforts which focused on the lower body, the same technical design requirements, kinematic adaptation and low cost manufacturing, were kept being explored for HART’s upper body building in this study. First, the control system architecture and whole body hardware configuration of the robot are presented. Then, the mechanical and electrical components of each joint and its design process are described. The kinematic analysis and motion trajectory generation are also provided for the vehicle-driving task such as steering-wheel manipulation. Last, the built platform is tested through experimentation using physical vehicles to evaluate the presented design.

Glycans in scaffold design in tissue reconstruction

2021 ◽  
pp. 088391152199784
Author(s):  
Nipun Jain ◽  
Shashi Singh
Keyword(s):  
Cell Attachment ◽  
Low Cost ◽  
Growth Conditions ◽  
Downstream Signaling ◽  
Cell Carrier ◽  
Wide Range ◽  
Proliferation And Differentiation ◽  
Different Types ◽  
Tissue Reconstruction ◽  
A Cell

Development of an artificial tissue by tissue engineering is witnessed to be one of the long lasting clarified solutions for the damaged tissue function restoration. To accomplish this, a scaffold is designed as a cell carrier in which the extracellular matrix (ECM) performs a prominent task of controlling the inoculated cell’s destiny. ECM composition, topography and mechanical properties lead to different types of interactions between cells and ECM components that trigger an assortment of cellular reactions via diverse sensing mechanisms and downstream signaling pathways. The polysaccharides in the form of proteoglycans and glycoproteins yield better outcomes when included in the designed matrices. Glycosaminoglycan (GAG) chains present on proteoglycans show a wide range of operations such as sequestering of critical effector morphogens which encourage proficient nutrient contribution toward the growing stem cells for their development and endurance. In this review we discuss how the glycosylation aspects are of considerable importance in everyday housekeeping functions of a cell especially when placed in a controlled environment under ideal growth conditions. Hydrogels made from these GAG chains have been used extensively as a resorbable material that mimics the natural ECM functions for an efficient control over cell attachment, permeability, viability, proliferation, and differentiation processes. Also the incorporation of non-mammalian polysaccharides can elicit specific receptor responses which authorize the creation of numerous vigorous frameworks while prolonging the low cost and immunogenicity of the substance.

scholarly journals A Low-Cost Assistive Robot for Children with Neurodevelopmental Disorders to Aid in Daily Living Activities

2021 ◽  
Vol 18 (8) ◽  
pp. 3974
Author(s):  
Roberto J. López-Sastre ◽  
Marcos Baptista-Ríos ◽  
Francisco Javier Acevedo-Rodríguez ◽  
Soraya Pacheco-da-Costa ◽  
Saturnino Maldonado-Bascón ◽  
...  
Keyword(s):  
Neurodevelopmental Disorders ◽  
Low Cost ◽  
Children And Youth ◽  
Proof Of Concept ◽  
Robotic Platform ◽  
Assistive Robot ◽  
Technical Details ◽  
The Impact ◽  
Near Future ◽  
Everyday Living

In this paper, we present a new low-cost robotic platform that has been explicitly developed to increase children with neurodevelopmental disorders’ involvement in the environment during everyday living activities. In order to support the children and youth with both the sequencing and learning of everyday living tasks, our robotic platform incorporates a sophisticated online action detection module that is capable of monitoring the acts performed by users. We explain all the technical details that allow many applications to be introduced to support individuals with functional diversity. We present this work as a proof of concept, which will enable an assessment of the impact that the developed technology may have on the collective of children and youth with neurodevelopmental disorders in the near future.

Micromolding Fabrication of Biocompatible Dry Micro-Pyramid Array Electrodes for Wearable Biopotential Monitoring

2021 ◽  
Author(s):  
Marco Vinicio Alban ◽  
Haechang Lee ◽  
Hanul Moon ◽  
Seunghyup Yoo
Keyword(s):  
Large Scale ◽  
Low Cost ◽  
Skin Irritation ◽  
Electrode Impedance ◽  
Non Invasive ◽  
Solution Processes ◽  
Dry Electrodes ◽  
Array Electrode ◽  
Low Cost Manufacturing ◽  
Electromyography Signals

Abstract Thin dry electrodes are promising components in wearable healthcare devices. Assessing the condition of the human body by monitoring biopotentials facilitates the early diagnosis of diseases as well as their prevention, treatment, and therapy. Existing clinical-use electrodes have limited wearable-device usage because they use gels, require preparation steps, and are uncomfortable to wear. While dry electrodes can improve these issues and have demonstrated performance on par with gel-based electrodes, providing advantages in mobile and wearable applications; the materials and fabrication methods used are not yet at the level of disposable gel electrodes for low-cost mass manufacturing and wide adoption. Here, a low-cost manufacturing process for thin dry electrodes with a conductive micro-pyramidal array is presented for large-scale on-skin wearable applications. The electrode is fabricated using micromolding techniques in conjunction with solution processes in order to guarantee ease of fabrication, high device yield, and the possibility of mass production compatible with current semiconductor production processes. Fabricated using a conductive paste and an epoxy resin that are both biocompatible, the developed micro-pyramidal array electrode operates in a conformal, non-invasive manner, with low skin irritation, which ensures improved comfort for brief or extended use. The operation of the developed electrode was examined by analyzing electrode-skin-electrode impedance, electroencephalography, electrocardiography, and electromyography signals and comparing them with those measured simultaneously using gel electrodes.

Ground Transport for an Air Organisation

1928 ◽  
Vol 32 (211) ◽  
pp. 596-623 ◽  
Author(s):  
R. E. H. Allen
Keyword(s):  
British Empire ◽  
Air Force ◽  
Similar Magnitude ◽  
Ground Vehicles ◽  
Royal Air Force ◽  
Different Types ◽  
Aerial Transport ◽  
Different Parts

Probably few realise that a self–contained organisation for maintaining an air fleet would need many more different types of ground vehicles than aircraft. This is true in the case of the Royal Air Force even if all vehicles of a purely military nature are excluded. It is highly probable that a civilian air organisation of similar magnitude would have fewer types of aircraft, but if it were to be self–contained and operate in different parts of the globe, it could not do with many less types of ground vehicles than the R.A.F. finds necessary.Obviously this depends on the interpretation of the term “self–contained.” Most of the small aerial transport companies have their own ground transport organisations, but they are far from being self–contained in the sense in which the author wishes to use the term to–night. We would all like to see a vast civilian air organisation operating in and between all the different units which comprise the British Empire. Nothing would do more to knit us and the Dominions and Colonies into one impregnable whole.

scholarly journals Design and Implementation on Auto Test Set of an Airborne Radar

2013 ◽  
Vol 756-759 ◽  
pp. 489-492
Author(s):  
Fu Lu Jin ◽  
Yun Peng Li ◽  
Hong Rui Wang
Keyword(s):  
Software Design ◽  
Resource Sharing ◽  
Low Cost ◽  
Airborne Radar ◽  
Automatic Test ◽  
Test Set ◽  
Test Items ◽  
Different Types ◽  
And Performance ◽  
Test Process

To automatic test the function and performance of an airborne radar, changeable test adapter is adopted to implement the hardware and software design of the automatic test set of the antenna, transceiver and indicator of the radar based on AT89C52. Problems such as t the different types of interfaces, the various kinds of signals and the test of microwave signal are solved successfully and the objectives of resource sharing and automatic test are realized. The test software is designed by modular structure, and with the help of automatic test set hardware, the required test items of the radar system are experimented and the test process control succeeded. Experiment results show that the automatic test set performs steadily and the results meet the requirements of the airborne radar. The set has the advantages of intelligent, manageable and reducing artificial errors. It provides effective guarantees for radars maintenance, fault diagnosis and fault detection, and has a wide application prospect with low cost.

Sign in / Sign up

Export Citation Format

Share Document