scholarly journals Design and development of 6-DOF system for Virtual Bicycle

2016 ◽  
Vol 5 (2) ◽  
Author(s):  
Hwa Jen Yap ◽  
Jenn Guey NG ◽  
Zanatul Aqillah ZAKARIA ◽  
Zahari Taha ◽  
Siow-Wee Chang ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Low Cost ◽  
Control Algorithms ◽  
Practical Training ◽  
Motion Platform ◽  
Optical Encoder ◽  
Construction Time ◽  
Further Development ◽  
Design Dimension ◽  
Track Cycling

There are many variations to the competition that takes place in Olympic track cycling. Hence, a bicycle simulator will bring a lot of benefits to the coaches and the athletes in a practical training. It is extremely low cost compared to a real Velodrome track which is required long construction time due to the unique geometry and size. In this project, a 6-degree-of-freedom (6-DOF) motion platform is designed and developed to simulate the Velodrome track cycling. The parallel manipulator was chosen to control the moving platform because of higher accuracy and greater weight to strength ratio compare to serial manipulator. The 6-DOF platform is controlled by linear actuators and micro-controller. An optical encoder was installed for closed-loop position feedback control. An inverse kinematics model was developed to obtain the movement of the platform, and it was validated with its CAD model. Besides, a design feasibility program was developed to calculate the optimum design dimension of the motion platform. All the positions (3-axes) and orientations (3-rotational axes) data are tracked for analysis purpose. A lab-scale prototype was successfully built for the analysis and validation purpose. A standard Velodrome track dimensions was chosen to be simulated. On the other hand, a gyro accelerometer was installed at the platform to acquire the actual motion of the platform. The data will be used to validate the control algorithms and accuracy of the motion platform. The experiment was conducted and the results are analyzed for further development.

scholarly journals The Use of Low-Budget Self-Assembly Sets for Research and Robotics Education

2019 ◽  
Vol 27 (1) ◽  
pp. 55-62
Author(s):  
Piotr Cheluszka
Keyword(s):  
Self Assembly ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Practical Knowledge ◽  
Low Cost ◽  
Serial Communication ◽  
Control Algorithms ◽  
Robotics Education ◽  
Drive Systems ◽  
And Robotics

AbstractThe article presents the possibilities of using easily accessible and inexpensive educational sets in scientific research and the process of robotics education. Such kits allow the exploration of theoretical and practical knowledge taking into account aspects of engineering, such as: mechanics, drive systems, sensor systems, control and programming of robots. Models of robots built from inexpensive components can also be used to test new solutions in the field of construction or control algorithms before they are used in real applications. As an example, the model of the palletizing manipulator for self-assembly was shown, the control of which was based on the Arduino Uno controller, while the drives were implemented using low-cost hobby-grade servos. For the kinematic structure of this manipulator, the forward and inverse kinematics task for the position has been discussed. This constituted the basis for the development of a manual control algorithm implemented in the controller – using a joystick and programmed – based on the data sent to the controller using serial communication from a PC. The article presents the results of the computer simulation of the manipulator kinematics, the hardware and software implementation of the robot model and the effects of its operation. The possibility of expanding the control system with additional elements to increase its functionality was indicated.

scholarly journals Design and development of a spatial immersive track cycling simulator

2018 ◽  
Vol 7 (2) ◽  
Author(s):  
Hwa Jen Yap
Keyword(s):  
Virtual World ◽  
Force Feedback ◽  
Dental Treatment ◽  
Low Cost ◽  
Simulator Training ◽  
Motion Platform ◽  
Large Space ◽  
Head Mounted Display ◽  
Track Condition ◽  
Track Cycling

Virtual Reality (VR) is a technology that makes use of computer graphics, algorithms and special hardware to simulate the real world in real time. There are four main elements required to make the VR system success, namely virtual world, immersion, sensory feedback and interactivity. The virtual world created must be as real as possible, users should have a sense of immersion in the virtual world, position tracking is usually implant in the VR system for visual, sound and force feedback on the users and the virtual objects in the VR world must be interact-able with the users. VR has proven to be effective in training and widely used in many areas, for example medical surgery, dental treatment, psychology treatment for phobia, engineering design, maintenance and repair, sports and many more. By implementing VR technology in training, users are able to reduce the training cost and time. VR training is also safer to the users, which the harsh environments can be simulated despite the environment and/or human factor. On the other hand, the physical facilities and infrastructures of the track cycling are very costly. In track cycling, the game field is called velodrome and needs a large space of area. It requires a huge amount of financial budget and a number of professional manpower to maintain these facilities. Therefore, the proposed spatial immersive track cycling simulator is invented to overcome these issues. The aim of this study is to simulate the velodrome track cycling in VR environment and synchronize with the 6 degree-of-freedom motion platform. The simulator is aimed to be low cost and minimal space requirement compared to actual velodrome. Trainee who undergoes VR track cycling simulator training has to put on a head-mounted-display (HMD) to visualize the VR environment. An actual bike will be mounted on the 6-DOF motion platform, which the platform will synchronize with the VR environment to simulate the track condition for the training purposes. An encoder is placed at the bicycle wheel to feedback the moving speed and synchronize the visualize feedback to the HMD. 

Effects of Dynamic Model Errors in Task-Priority Operational Space Control

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Paolo Di Lillo ◽  
Gianluca Antonelli ◽  
Ciro Natale
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Null Space ◽  
Control Algorithms ◽  
Model Errors ◽  
Operational Space ◽  
Dynamic Level ◽  
Concurrent Tasks ◽  
Modeling Errors

SUMMARY Control algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

scholarly journals Simultaneously Regulating Uniform Zn2+ Flux and Electron Conduction by MOF/rGO Interlayers for High-Performance Zn Anodes

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Ziqi Wang ◽  
Liubing Dong ◽  
Weiyuan Huang ◽  
Hao Jia ◽  
Qinghe Zhao ◽  
...  
Keyword(s):  
High Performance ◽  
Surface Passivation ◽  
Coulombic Efficiency ◽  
Low Cost ◽  
Metal Organic Framework ◽  
Growth Surface ◽  
Electron Conduction ◽  
Reduced Graphene ◽  
Metal Organic ◽  
Further Development

AbstractOwing to the merits of low cost, high safety and environmental benignity, rechargeable aqueous Zn-based batteries (ZBs) have gained tremendous attention in recent years. Nevertheless, the poor reversibility of Zn anodes that originates from dendrite growth, surface passivation and corrosion, severely hinders the further development of ZBs. To tackle these issues, here we report a Janus separator based on a Zn-ion conductive metal–organic framework (MOF) and reduced graphene oxide (rGO), which is able to regulate uniform Zn2+ flux and electron conduction simultaneously during battery operation. Facilitated by the MOF/rGO bifunctional interlayers, the Zn anodes demonstrate stable plating/stripping behavior (over 500 h at 1 mA cm−2), high Coulombic efficiency (99.2% at 2 mA cm−2 after 100 cycles) and reduced redox barrier. Moreover, it is also found that the Zn corrosion can be effectively retarded through diminishing the potential discrepancy on Zn surface. Such a separator engineering also saliently promotes the overall performance of Zn|MnO2 full cells, which deliver nearly 100% capacity retention after 2000 cycles at 4 A g−1 and high power density over 10 kW kg−1. This work provides a feasible route to the high-performance Zn anodes for ZBs.

scholarly journals A Proposal of a Motion Measurement System to Support Visually Impaired People in Rehabilitation Using Low-Cost Inertial Sensors

Entropy ◽  
2021 ◽  
Vol 23 (7) ◽  
pp. 848
Author(s):  
Karla Miriam Reyes Leiva ◽  
Milagros Jaén-Vargas ◽  
Miguel Ángel Cuba ◽  
Sergio Sánchez Lara ◽  
José Javier Serrano Olmedo
Keyword(s):  
Visually Impaired ◽  
Inertial Sensors ◽  
Personal Autonomy ◽  
Low Cost ◽  
Step Length ◽  
Hand Position ◽  
Visually Impaired People ◽  
Gait Parameters ◽  
Impaired Person ◽  
Further Development

The rehabilitation of a visually impaired person (VIP) is a systematic process where the person is provided with tools that allow them to deal with the impairment to achieve personal autonomy and independence, such as training for the use of the long cane as a tool for orientation and mobility (O&M). This process must be trained personally by specialists, leading to a limitation of human, technological and structural resources in some regions, especially those with economical narrow circumstances. A system to obtain information about the motion of the long cane and the leg using low-cost inertial sensors was developed to provide an overview of quantitative parameters such as sweeping coverage and gait analysis, that are currently visually analyzed during rehabilitation. The system was tested with 10 blindfolded volunteers in laboratory conditions following constant contact, two points touch, and three points touch travel techniques. The results indicate that the quantification system is reliable for measuring grip rotation, safety zone, sweeping amplitude and hand position using orientation angles with an accuracy of around 97.62%. However, a new method or an improvement of hardware must be developed to improve gait parameters’ measurements, since the step length measurement presented a mean accuracy of 94.62%. The system requires further development to be used as an aid in the rehabilitation process of the VIP. Now, it is a simple and low-cost technological aid that has the potential to improve the current practice of O&M.

scholarly journals Recent Developments of Antimony-Based Anodes for Sodium- and Potassium-Ion Batteries

2021 ◽  
Author(s):  
Bochao Chen ◽  
Ming Liang ◽  
Qingzhao Wu ◽  
Shan Zhu ◽  
Naiqin Zhao ◽  
...  
Keyword(s):  
Structural Characteristics ◽  
Low Cost ◽  
Potassium Ion ◽  
Research Progress ◽  
Research Directions ◽  
Weak Charge ◽  
Recent Developments ◽  
High Theoretical Capacity ◽  
Further Development ◽  
Sodium And Potassium

AbstractThe development of sodium-ion (SIBs) and potassium-ion batteries (PIBs) has increased rapidly because of the abundant resources and cost-effectiveness of Na and K. Antimony (Sb) plays an important role in SIBs and PIBs because of its high theoretical capacity, proper working voltage, and low cost. However, Sb-based anodes have the drawbacks of large volume changes and weak charge transfer during the charge and discharge processes, thus leading to poor cycling and rapid capacity decay. To address such drawbacks, many strategies and a variety of Sb-based materials have been developed in recent years. This review systematically introduces the recent research progress of a variety of Sb-based anodes for SIBs and PIBs from the perspective of composition selection, preparation technologies, structural characteristics, and energy storage behaviors. Moreover, corresponding examples are presented to illustrate the advantages or disadvantages of these anodes. Finally, we summarize the challenges of the development of Sb-based materials for Na/K-ion batteries and propose potential research directions for their further development.

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.

scholarly journals Low-cost air traffic as a determinant of tourism development

2021 ◽  
Vol 10 (19) ◽  
pp. 43-57
Author(s):  
Filip Bugarčić ◽  
Marijana Bugarčić
Keyword(s):  
Information Technologies ◽  
Low Cost ◽  
Air Traffic ◽  
Air Transport ◽  
Passenger Transport ◽  
Economic Activities ◽  
Doing Business ◽  
Global Trend ◽  
The Cost ◽  
Further Development

Air transport as an organized form of service provision, especially in passenger transport, can be important for increasing the number of foreign tourists. Globalization and the development of information technologies have contributed to the development of the business model of airlines, which has enabled a significant reduction in the cost of air travel and the accelerated development of this industry. Therefore, the emphasis is placed on the global trend of development of low-cost airlines, their way of doing business and the effects they have on the development of tourism. The increase in the number of low-budget airlines has multiple effects on the development of international tourism and passenger transport due to cheaper transport, which is made possible by improving the competitiveness of air transport after its deregulation. In addition, lower prices and a better logistical position can contribute to an increase in the number of foreign tourists and a higher income for this industry, as well as other related economic activities. The aim of this paper is to examine through theoretical and empirical insight whether there is an impact of low-cost airlines on the volume of air traffic and the intensity of passenger transport, with an emphasis on existing literature, as well as empirical confirmation on the example of Serbia. The conducted research has important implications, since in pandemic conditions, further development of low-budget airlines is expected to contribute to the recovery of air traffic and tourism.

scholarly journals Effect of Corrugation Angle and Direction on the Performance of Corrugated Steel Plate Shear Walls

2018 ◽  
Vol 4 (11) ◽  
pp. 2667
Author(s):  
Hayder Fadhil ◽  
Amer Ibrahim ◽  
Mohammed Mahmood
Keyword(s):  
Steel Plate ◽  
Low Cost ◽  
Shear Walls ◽  
High Strength ◽  
Shear Wall ◽  
Initial Stiffness ◽  
Construction Time ◽  
Element Analysis ◽  
Steel Plate Shear Wall ◽  
Steel Shear Wall

Corrugated steel plate shear wall (CSPSW) is one of the lateral resistance systems which consists mainly of steel frame (beam and column) with vertical or horizontal corrugated steel plate connected to the frame by weld, bolts or both. This type of steel shear wall characterized by low cost and short construction time with high strength, ductility, initial stiffness and excellent ability to dissipate energy. The aim of this paper is to evaluate the effect of corrugation angle and its direction on the performance of CSPSW under cyclic loading. The Finite element analysis was employed to achieve the research aim. The FE models were validated with experimental data available in the literature. Results reveal that the corrugation angle has a clear influence on initial stiffness, strength, ductility, and energy dissipation of CSPSW. The optimum performance of CSPSW can be obtained with angles of 30o for CSPSW with vertical corrugation and 20o for CSPSW with horizontal corrugation. The use of CSPSW with vertical corrugation provides higher strength, stiffness, and ductility compared to CSPSW with horizontal corrugation. Therefore, it is recommended to use CSPSW with vertical corrugation.

scholarly journals Development of a Flexible, Extendable, and Low-Cost Control Unit for Surface Drifters

2017 ◽  
Vol 34 (3) ◽  
pp. 669-677
Author(s):  
Andrea Giudici ◽  
Tomas Torsvik ◽  
Tarmo Soomere
Keyword(s):  
Mobile Communications ◽  
Low Cost ◽  
Control Unit ◽  
Digital Data ◽  
Operational Testing ◽  
Small Footprint ◽  
Surface Drifters ◽  
Inland Water Bodies ◽  
To Receive ◽  
Further Development

AbstractAn extensible, low-cost drifter control unit (VELELLA) design is presented, developed for use in drifters that are deployed in inland water bodies or near-coast regions. The control unit is custom built from basic components built around a small footprint microcontroller, making use of a GPS receiver for position tracking, a Global System for Mobile Communications [Groupe SpécialMobile (GSM)] radio for data transmission, and two sensor buses to handle analog and digital data generated by an arbitrary array of external sensors. A cloud-based data collection platform has been implemented to receive and store data transmitted over general packet radio service (GPRS) from the drifter. The control unit was found to perform satisfactorily in operational testing, providing data at subhertz frequency for position and temperature during extended time. However, some issues related to temporary data loss and power consumption spikes were identified, indicating that some further development of the control unit is required to achieve a production-ready platform for extensive and prolonged field operations.

Sign in / Sign up

Export Citation Format

Share Document