scholarly journals Design and Control of Underwater Robots with Rotating Thrusters

2016 ◽  
Vol 5 (4) ◽  
pp. 284
Author(s):  
Ali Jebelli ◽  
M. C.E. Yagoub ◽  
B. S. Dhillon
Keyword(s):  
Degrees Of Freedom ◽  
Energy Change ◽  
Underwater Robot ◽  
Robot Design ◽  
Minimal Energy ◽  
Underwater Robots ◽  
Robust Approach ◽  
New Type ◽  
Linear Force ◽  
And Control

Among other robots, underwater robot design involves critical control issues due to complex non-linear force and turns controlling. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom. Also, by designing a new type of a pair of thruster with the ability to 360 degree rotation along with a mass shifter, it gives this possibility to the robot that easily and with a minimal energy, change its depth quickly, preserving its balance best possible at the same time.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

scholarly journals Soft Robotics: Biological Inspiration, State of the Art, and Future Research

2008 ◽  
Vol 5 (3) ◽  
pp. 99-117 ◽  
Author(s):  
Deepak Trivedi ◽  
Christopher D. Rahn ◽  
William M. Kier ◽  
Ian D. Walker
Keyword(s):  
Degrees Of Freedom ◽  
State Of The Art ◽  
Future Research ◽  
Robot Design ◽  
The Novel ◽  
Soft Robots ◽  
Biological Inspiration ◽  
End Effectors ◽  
And Control ◽  
Complex Movement

Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks) are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

Design and implementation of underwater search for salvage robot power system

2021 ◽  
pp. 1-10
Author(s):  
Junbing Qian ◽  
Zhongru Xu ◽  
Yongyou Luo ◽  
Nan Pan ◽  
Yi Liu
Keyword(s):  
Electronic Device ◽  
Water Pressure ◽  
Wind Waves ◽  
Water Area ◽  
Underwater Robot ◽  
Underwater Robots ◽  
Automatic Stabilization ◽  
Shallow Water Area ◽  
Dynamics And Control ◽  
And Control

Most of the underwater salvage operations work in shallow waters. The underwater environment is complex and varied. There are many risks and unpredictable conditions such as turbulence, eddies, wind, waves and deep water pressure. The motion and control cause serious interference, and the flexibility of automatic stabilization and multi-dimensional motion under external disturbances is increasingly becoming a key element in the design process of underwater robots. In this paper, the structure, driving and control design of an underwater dynamic search and underwater robot based on 6-DOF driving is proposed, and its dynamics and control system are analyzed. Different from the traditional underwater robot technology, the method proposed in this paper is more suitable for shallow water area and multi DOF driving control technology. The driving structure and electronic device of the robot are introduced. Several experiments were carried out in the controlled environment. The experimental results demonstrate the correctness and effectiveness of the design and analysis.

Study on Design and Combined Adaptive Control for a Remotely Operated Vehicle (VIAM-ROV900)

2020 ◽  
Vol 902 ◽  
pp. 13-22
Author(s):  
Ngoc Huy Tran ◽  
Thanh Nam Nguyen
Keyword(s):  
Degrees Of Freedom ◽  
Main Task ◽  
Remotely Operated Vehicle ◽  
Underwater Robots ◽  
Model Base ◽  
Model Control ◽  
Simulation Results ◽  
6 Degrees Of Freedom ◽  
And Control ◽  
Base Design

This paper presents the research of model-base design and control of Remotely Operated Vehicle (ROV) built in VietNam Automation & Mechatronics Laboratory (VIAMLAB). This is one of the most important types of underwater robots used in water environments for many purposes, especially for navy and marine industries. The design keeps our tethered ROV self-stabilized in the horizontal plane. It is also equipped with thrusters and sensor feedbacks, allowing 6 degrees-of-freedom motion. Moreover, cameras and grabber integrated into ROV support underwater survey tasks. In addition, the paper also simulates controllers with the main task of keeping depth for ROV. The controllers designed and surveyed here include: PID, optimal control (LQR), standard model control (MRAC) and combination controller between LQR and MRAC. The performance of the algorithm will be evaluated through simulation results using Matlab / Simulink.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2017 ◽  
Vol 9 (2) ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Preliminary Testing ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees-of-freedom in movement and flexible design. However, to take full advantage of these properties, a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable, and power routing systems and increased design difficulty. Here, we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture, and simulations of TT-3, an untethered, fully actuated cable-driven six-bar spherical tensegrity robot. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system's behavior and performance and is evaluated against previous models of tensegrity robots developed at UC Berkeley and elsewhere.

Performance of 4G-LTE Communication and Navigation System in Blended Wing-Body UAS

2019 ◽  
Vol 8 (4) ◽  
pp. 9538-9542
Keyword(s):  
Satellite Communication ◽  
Line Of Sight ◽  
Multiple Factors ◽  
The World ◽  
New Type ◽  
Blended Wing Body ◽  
4G Lte ◽  
The Right ◽  
And Control ◽  
Technology Demonstrator

In vision of searching for the right Unmanned Aerial System (UAS) for a specific mission, there are multiple factors to be considered by the operator such as mission, endurance, type of payload and range of the telemetry and control. This research is focusing on extending control range of the UAS by using 4G-LTE network to enable beyond-line-of-sight flying for the commercial UAS. Major UAS such Global Hawk, Predator MQ-1 are able to fly thousands of kilometers by the use of satellite communication. However, the satellite communication annual license subscription can be very expensive. With this situation in mind, a new type of flight controller with 4G-LTE communication has been developed and tested. Throughout the research, blended-wing-body (BWB) Baseline B2S is used as the platform for technology demonstrator. Result from this analysis has proven that the proposed system is capable to control a UAS from as far as United Kingdom, with a latency less than 881 ms in average. The new added capability can potentially give the commercial UAS community a new horizon to be able to control their UAS from anywhere around the world with the availability of 4G-LTE connection

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

scholarly journals The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors

2021 ◽  
pp. 1-1
Author(s):  
Diego S.Dantonio ◽  
Gustavo A. Cardona ◽  
David Saldana
Keyword(s):  
Robot Design ◽  
And Control

scholarly journals Using Wearable Sensors and a Convolutional Neural Network for Catch Detection in American Football

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6722
Author(s):  
Bernhard Hollaus ◽  
Sebastian Stabinger ◽  
Andreas Mehrle ◽  
Christian Raschner
Keyword(s):  
Neural Network ◽  
Degrees Of Freedom ◽  
Wearable Sensors ◽  
Professional Sports ◽  
American Football ◽  
Data Logging ◽  
Sensor Platform ◽  
Magnetometer Data ◽  
Audio Data ◽  
New Type

Highly efficient training is a must in professional sports. Presently, this means doing exercises in high number and quality with some sort of data logging. In American football many things are logged, but there is no wearable sensor that logs a catch or a drop. Therefore, the goal of this paper was to develop and verify a sensor that is able to do exactly that. In a first step a sensor platform was used to gather nine degrees of freedom motion and audio data of both hands in 759 attempts to catch a pass. After preprocessing, the gathered data was used to train a neural network to classify all attempts, resulting in a classification accuracy of 93%. Additionally, the significance of each sensor signal was analysed. It turned out that the network relies most on acceleration and magnetometer data, neglecting most of the audio and gyroscope data. Besides the results, the paper introduces a new type of dataset and the possibility of autonomous training in American football to the research community.

scholarly journals Dark Photon Searches at BESIII

2018 ◽  
Vol 46 ◽  
pp. 1860046 ◽  
Author(s):  
Dayong Wang
Keyword(s):  
Degrees Of Freedom ◽  
New Physics ◽  
Beyond The Standard Model ◽  
Gauge Bosons ◽  
Data Set ◽  
Decay Modes ◽  
Dark Photon ◽  
The Standard Model ◽  
New Type ◽  
Low Mass

Many models beyond the Standard Model, motivated by the recent astrophysical anomalies, predict a new type of weak-interacting degrees of freedom. Typical models include the possibility of the low-mass dark gauge bosons of a few GeV and thus making them accessible at the BESIII experiment running at the tau-charm region. The BESIII has recently searched such dark bosons in several decay modes using the high statistics data set collected at charmonium resonaces. This talk will summarize the recent BESIII results of these dark photon searches and related new physics studies.

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