scholarly journals Development of Wireless Controlling and Monitoring System for Robotic Hand Using Zigbee Protocol

2018 ◽  
Vol 15 (2) ◽  
pp. 656-662 ◽  
Author(s):  
Huda Hatam Dalef ◽  
Faieza Abdul Aziz ◽  
Wan Zuha Wan Hasan ◽  
Mohd Khairol Anuar Mohd Ariffin
Keyword(s):  
Industrial Robot ◽  
Data Communication ◽  
Environmental Parameters ◽  
Empirical Method ◽  
Robotic Arm ◽  
Robotic Hand ◽  
Programming System ◽  
Experimental Conditions ◽  
Controlling System ◽  
Wired Communication

Nowadays, the robotic arm is fast becoming the most popular robotic form used in the industry among others. Therefore, the issues regarding remote monitoring and controlling system are very important, which measures different environmental parameters at a distance away from the room and sets various condition for a desired environment through a wireless communication system operated from a central room. Thus, it is crucial to create a programming system which can control the movement of each part of the industrial robot in order to ensure it functions properly. EDARM ED-7100 is one of the simplest models of the robotic arm, which has a manual controller to control the movement of the robotic arm. In order to improve this control system, a new controller system was redesigned in this work by using Zigbee. It is a communication protocol for safety and economic data communication in an industrial field, where the wired communication is either expensive or difficult under physical and experimental conditions, such as the worker cannot recognize the error through the manufacturing process. Hence, this paper introduced a system that used microcontroller (AT89S52) with wireless devices (Zigbee) and sensors to control the robotic hand (EDARM ED-7100) and to monitor the information regarding the robot's parameter using WiFi technology. A mathematical model was derived through an empirical method to specify the robot's configuration changes. In this work, the ability of controlling system had increased, as well as hardware, while the necessities of other similar equipment for data communication were minimized. In addition, it presents the comparison of two controlling systems: using the Zigbee and without using it. Based from the experiment it can be safely concluded that the robotic arm's movement had followed a linear function.

Cerebral Pulse Controlled Robotic Hand for Effective Paralytic Movements

2021 ◽  
Vol 9 (8) ◽  
pp. 2201-2204
Author(s):  
Abhay Patil
Keyword(s):  
Basic Assumption ◽  
Brain Computer Interface ◽  
Computer Interface ◽  
Robotic Arm ◽  
Human Hand ◽  
Robotic Hand ◽  
Handicapped People ◽  
Alpha Beta

Abstract: There are roughly 21 million handicapped people in India, which is comparable to 2.2% of the complete populace. These people are affected by various neuromuscular problems. To empower them to articulate their thoughts, one can supply them with elective and augmentative correspondence. For this, a Brain-Computer Interface framework (BCI) has been assembled to manage this specific need. The basic assumption of the venture reports the plan, working just as a testing impersonation of a man's arm which is intended to be powerfully just as kinematically exact. The conveyed gadget attempts to take after the movement of the human hand by investigating the signs delivered by cerebrum waves. The cerebrum waves are really detected by sensors in the Neurosky headset and produce alpha, beta, and gamma signals. Then, at that point, this sign is examined by the microcontroller and is then acquired onto the engineered hand by means of servo engines. A patient that experiences an amputee underneath the elbow can acquire from this specific biomechanical arm. Keywords: Brainwaves, Brain Computer Interface, Arduino, EEG sensor, Neurosky Mindwave Headset, Robotic arm

Walk-through programming for robotic manipulators based on admittance control

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1143-1153 ◽  
Author(s):  
Luca Bascetta ◽  
Gianni Ferretti ◽  
Gianantonio Magnani ◽  
Paolo Rocco
Keyword(s):  
Robot Control ◽  
Industrial Robot ◽  
Robotic Manipulators ◽  
Programming System ◽  
Admittance Control ◽  
Safety Issues ◽  
Safety Strategies ◽  
Programming Techniques ◽  
Tool Centre Point ◽  
Safety Limit

SUMMARYThe present paper addresses the issues that should be covered in order to develop walk-through programming techniques (i.e. a manual guidance of the robot) in an industrial scenario. First, an exact formulation of the dynamics of the tool the human should feel when interacting with the robot is presented. Then, the paper discusses a way to implement such dynamics on an industrial robot equipped with an open robot control system and a wrist force/torque sensor, as well as the safety issues related to the walk-through programming. In particular, two strategies that make use of admittance control to constrain the robot motion are presented. One slows down the robot when the velocity of the tool centre point exceeds a specified safety limit, the other one limits the robot workspace by way of virtual safety surfaces. Experimental results on a COMAU Smart Six robot are presented, showing the performance of the walk-through programming system endowed with the two proposed safety strategies.

scholarly journals LabHorta: a controlled aquarium system for monitoring physiological characteristics of the hydrothermal vent mussel Bathymodiolus azoricus

2010 ◽  
Vol 68 (2) ◽  
pp. 349-356 ◽  
Author(s):  
Ana Colaço ◽  
Raul Bettencourt ◽  
Valentina Costa ◽  
Silvia Lino ◽  
Humberto Lopes ◽  
...  
Keyword(s):  
Deep Sea ◽  
Hydrothermal Vent ◽  
Hydrothermal Vents ◽  
Experimental Studies ◽  
Environmental Parameters ◽  
Condition Index ◽  
Physiological Characteristics ◽  
Good Tool ◽  
Experimental Conditions ◽  
Menez Gwen

AbstractColaço, A., Bettencourt, R., Costa, V., Lino, S., Lopes, H., Martins, I., Pires, L., Prieto, C., and Serrão Santos, R. 2011. LabHorta: a controlled aquarium system for monitoring physiological characteristics of the hydrothermal vent mussel Bathymodiolus azoricus. – ICES Journal of Marine Science, 68: 349–356. LabHorta is a facility composed of laboratories and retrievable deep-sea cages created to support and expand the capabilities of research cruises. It also enhances the ability to conduct experimental studies with organisms from deep-sea hydrothermal vents and other deep-sea environments, while keeping them under controlled conditions of pressure and water chemistry. This paper presents a case study with the vent mussel Bathymodiolus azoricus (which harbours a dual symbiosis) collected at the Menez Gwen hydrothermal vent field at 840-m depth, transported to experimental aquaria at atmospheric pressure and maintained under four different controlled experimental conditions to study their comparative condition index (CI). Environmental parameters were monitored daily and efforts were made to keep these constant. During the first few months, there were differences between the CI scores of mussels kept under the various conditions. After 6 months, the differences are not so clear but mussels still had sulphur-oxidizing bacteria when fed with sulphide. The methane oxidizer bacteria disappear even in the presence of methane. A range of CI scores appeared as a function of the culture type. The LabHorta facility is a good tool for performing long-term physiological studies of deep-sea organisms, simulating possible changes in the natural environmental where they normally thrive.

CUBot: Computer Vision on the Eye–Hand Coordination with a Computer-Using Robot and its Implementation

2017 ◽  
Vol 32 (04) ◽  
pp. 1855005 ◽  
Author(s):  
Yung-Sheng Chen ◽  
Kun-Li Lin
Keyword(s):  
Computer Vision ◽  
Visual Perception ◽  
Data Communication ◽  
Object Perception ◽  
Robotic Hand ◽  
Human Visual Perception ◽  
Robotic Vision ◽  
Research Areas ◽  
Hand Coordination ◽  
And Control

Eye–hand coordination (EHC) is of great importance in the research areas of human visual perception, computer vision and robotic vision. A computer-using robot (CUBot) is designed for investigating the EHC mechanism and its implementation is presented in this paper. The CUBot possesses the ability of operating a computer with a mouse like a human being. Based on the three phases of people using computer with a mouse, i.e. watching the screen, recognizing the graphical objects on the screen as well as controlling the mouse to let the cursor approach to the target, our CUBot can also perceive information merely through its vision and control the mouse by its robotic hand without any physical data communication connected to the operated computer. The CUBot is mainly composed of “Mouse-Hand” for operating the mouse, “mind” for realizing the object perception, cursor tracking, and EHC. Two experiments used for testing the ability of our EHC algorithm and the perception of CUBot confirm the feasibility of the proposed approach.

scholarly journals Robust Feedback Control Design of Underactuated Robotic Hands with Selectively Lockable Switches for Amputees

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Bilal M. Yousuf ◽  
Asim Mehdi ◽  
Abdul Saboor Khan ◽  
Aqib Noor ◽  
Arslan Ali
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Second Step ◽  
Robotic Hand ◽  
Effective Solution ◽  
Robotic Hands ◽  
Daily Lives ◽  
Mechanical Hand ◽  
Controlling System ◽  
The Coefficient Of Friction

In recent years, reproduction of human mechanical hand with upgraded abilities is one of the major concerns. This paper addresses the problems of underactuated robotic hand with low cost design as it avoids electromyogram (EMG) sensors. The main goal is to balance the hand in the way, like grabbing, speed, and power, and provide a more robust and cost effective solution. All fingers have some mechanical consistency for picking up objects in a better way. A Flex sensor is attached to all fingers and it is interfaced with a computer using Arduino UNO microcontroller. The sensor aids the arm in three different directions: at first it senses whether an object is grasped or not. In the second step, it determines the coefficient of friction between the objects. Finally it grasps the object and stops. One of the primary issues of prosthetic hand is to have the capacity to satisfy every detail of torque, speed, and latency. In this research, we have developed a model of robotic hand with some modifications. The adaptability of grasping is compared with the degree of freedom (DOF) along with the quantity of fingers. We are controlling our hands via sensors based signal controlling system. The idea is to design a robotic hand, which has low cost, is easy to use, and is light in weight, which helps the amputees to use it with ease in their daily lives. The efficacy of the proposed control is verified and validated using simulations.

scholarly journals An Automated Greenhouse Monitoring and Controlling System using Sensors and Solar Power

2020 ◽  
Vol 5 (4) ◽  
pp. 510-515
Author(s):  
MD Jiabul Hoque ◽  
Md. Razu Ahmed ◽  
Saif Hannan
Keyword(s):  
Soil Moisture ◽  
Solar Power ◽  
Environmental Parameters ◽  
Farming System ◽  
Process Data ◽  
Traditional Farming ◽  
Moisture Sensor ◽  
Android Apps ◽  
Controlling System ◽  
Continuous Power

In traditional farming, farmer has to visit the farming land regularly to measure the various environmental parameters such as temperature, humidity, light intensity and soil moisture to cultivate the right crops at right time in right soil. Even though this traditional farming system have been used for years, the system is hectic and fail to prove high productivity rate as farmer usually unable to measure all the parameter accurately [1]. In contrast, greenhouse farming is a system where farmer cultivate crops in ecosystem environments where all environmental parameters are adjusted based on crops types. Automation in greenhouse is a method where farmer is able to monitor and control the greenhouse environment automatically from anywhere in the world any time [3]. In this paper, authors proposed an automated greenhouse monitoring and controlling system that incorporate various sensors such as temperature sensor, humidity sensor, light sensor and soil moisture sensor to collect possible environmental parameters of greenhouse as well as integrate Arduino Uno R3 (to store and process data), GSM module (to send the measured value of the various parameters to the user cell phone via SMS to ensure efficient growth of plants), solar power system with rechargeable battery (to make sure continuous power supply to the greenhouse system). Moreover, Internet of Things (IoT) is used to store data to a database and process the collected data and finally send the information to the android apps which has been developed for monitoring and controlling of greenhouse by the user. Moreover, the authors compared the proposed greenhouse model with some recent works and found the proposed system cost effective, efficient and effective by analyzing major environmental parameters. Finally, authors analyze the cost associated with the deployment of proposed greenhouse model which depict quite affordable for farmers and worth deploying.

scholarly journals Industrial Robotic Arm for Chilli Milling Process

2020 ◽  
Vol 9 (12) ◽  
pp. 130-133
Keyword(s):  
Feeding Rate ◽  
Industrial Robot ◽  
Milling Process ◽  
Robotic Arm ◽  
Processing Plant ◽  
Sri Lankan ◽  
Dc Motors ◽  
Processing Plants ◽  
Wrinkled Surface ◽  
Industrial Level

Chilli (Capsicum annuum), one of the essential ingredients in Sri Lankan cuisine, is widely cultivated for producing dried chilli. The narrow conical-shaped chilli pods with wrinkled surface do not support much of the existing common mechanical feeding systems such as augers or bucket conveyorsin the chilli processing plants. Therefore, the objective of this study is to design and develop a robotic arm with a proper grabbing technique to feed chilli into the grinding mill. Furthermore, it is intended to install the developed robotic arm in an industrial level processing plant to test the feasibility of theindustrial application.The industrial robot designed in this study is primarily composed of three parts: the base, the arm and the wrist. These components connect with joints to form a unit. At the end of the wrist, an end-effector, which is a gripper for grasping chilli pods, is located.ATmega328 microcontroller, micro switches and DC motors were used to operate the robotic arm. The feeding rate is automatically controlled using a Hall Effect sensor. The robotic arm grabber was placed on top of the chilli containing trough (2.5m wide, 10.5m long, and 1.25m high) of an industrial level chilli processing plant.When operating, the grabber could grab 1.640±0.128 kg of chilli from the bulk in a single operation. The average time taken for one complete cycle of grabbing chilli, lifting the grabber, turning the arm on to the conveyer and releasing chilli on to the belt conveyor, varies from 20 s and 30 s depending on the height of chilli in the trough. The feeding rate varies from 440.6 kg/h and 218.66 kg/h when chilli is grabbed from the top and the bottom layers respectively. Therefore, this system can be recommended for maximum feeding rate of chilli up to 218.66 kg/h. Capacity can be increased by adding the same mechanism parallel or scaling up the existing system.

scholarly journals Indication of Electromagnetic Field Exposure via RBF-SVM Using Time-Series Features of Zebrafish Locomotion

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4818
Author(s):  
Yaqing He ◽  
Kim Fung Tsang ◽  
Richard Yuen-Chong Kong ◽  
Yuk-Tak Chow
Keyword(s):  
Time Series ◽  
Environmental Parameters ◽  
Empirical Method ◽  
Support Vector ◽  
The Novel ◽  
Adult Zebrafish ◽  
Field Exposure ◽  
Magnetic Exposure ◽  
Tank Test ◽  
The Impact

This paper introduces a novel model based on support vector machine with radial basis function kernel (RBF-SVM) using time-series features of zebrafish (Danio rerio) locomotion exposed to different electromagnetic fields (EMFs) to indicate the corresponding EMF exposure. A group of 14 adult zebrafish was randomly divided into two groups, 7 in each group; the fish of each group have the novel tank test under a sham or real magnetic exposure of 6.78 MHz and about 1 A/m. Their locomotion in the tests was videotaped to convert into the x, y coordinate time-series of the trajectories for reforming time-series matrices according to different time-series lengths. The time-series features of zebrafish locomotion were calculated by the comparative time-series analyzing framework highly comparative time-series analysis (HCTSA), and a limited number of the time-series features that were most relevant to the EMF exposure conditions were selected using the minimum redundancy maximum relevance (mRMR) algorithm for RBF-SVM classification training. Before this, ambient environmental parameters (AEPs) had little effect on the locomotion performance of zebrafish processed by the empirical method, which had been quantitatively verified by regression using another group of 14 adult zebrafish. The results have demonstrated that the purposed model is capable of accurately indicating different EMF exposures. All classification accuracies can be 100%, and the classification precision of several classifiers based on specific parameters and feature sets with specific dimensions can reach higher than 95%. The speculative reason for this result is that the specified EMF has affected the zebrafish neural aspect, which is then reflected in their behaviors. The outcomes of this study have provided a new indication model for EMF exposures and provided a reference for the investigation of the impact of EMF exposure.

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