scholarly journals COMPLETE LOCOMOTION ANALYSIS OF A SMALL DIFFERENTIALDRIVE MOBILE ROBOTIC PLATFORM

2021 ◽  
Vol 9 (09) ◽  
pp. 53-62
Author(s):  
Murat Bakirci ◽  
Keyword(s):  
System Identification ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Theoretical Calculations ◽  
Robotic Platform ◽  
Research Areas ◽  
Task Variety ◽  
The Right ◽  
The Relationship ◽  
Velocity Input

Mobile robots are becoming a part of more and more research areas due to their structural advantages and the increase in usage areas. Differential drive mobile robots are among the most preferred of this type of robots due to the convenience that they provide in engineering studies. It is quite important to test and structurally investigate primary parts such as motors and its sensors before being used in research applications. Before proceeding to further studies, it is very useful to do such tests as they may provide critical information about the robot which can be quite beneficial in terms of time, effort, and cost. To achieve this task, variety of methods are available in the literature such as structural locomotion tests and system identifiaction. In the first part of this study, locomotion tests of a small mobile robot driven by servo motors and operating with a single microcontroller was performed using the velocity propulsion mode. Three different predefined routes were determined for the robot and the accuracy of the robot moving along these routes was investigated. Through these tests, it is aimed to examine how the robot interprets the basic movements such as rectilinear forward motion, curvilinear motion, and rotation around its own axis. The next part focuses on the system identification of the robot. A data-driven model for the robotic platform was developed to make a mobile robot perform the desired movements and system identification. Various step input commands were sent to the robot under consideration and the responses of the robot wheels to these inputs were examined. Circular movements were made to the robot with a range of velocity input values and the relationship between input and output was examined for both wheels of the robot. In the locomotion tests, it was observed that the robot completed the predetermined routes with minor errors. As a result of these tests, theoretical calculations and experimental results were compared and the reasons for the error parameters were discussed. Through system identification tests, it was observed that the right wheel of the robot was more consistent and produced closer to the expected value for each test performed.

Method for Detecting Moving Obstacles Using Passive 3D Visual Sensor

1993 ◽  
Vol 5 (4) ◽  
pp. 388-400
Author(s):  
Jun'ichi Takeno ◽  
◽  
Naoto Mizuguchi ◽  
Sakae Nishiyama ◽  
Kanehiro Sorimachi ◽  
...  
Keyword(s):  
Visual System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Real Time ◽  
Visual Sensor ◽  
Real Time Processing ◽  
Moving Obstacles ◽  
The Right ◽  
Moving Obstacle ◽  
Auto Focusing

Of primary importance for mobile robots is their smooth movement to the targeted destination. To achieve this purpose, mobile robots must be able to detect a person in their environment, another mobile robot, or an object not described in the map and to avoid collision with it. Recognizing the strong need for providing robots with a visual system to evade obstacles, the authors first developed a real-time visual system to detect a moving obstacle and then studied the possibility of avoiding collisions by mounting the system on a mobile robot. The visual sensor used in this system is a passive optical stereo without any mechanical moving parts. Using a special slit patten, the sensor is configured in order to split the two images obtained by individual cameras place on the right and left and to project the split images onto one CCD sensor, providing approximately 200 auto-focusing subsystems. The sub-systems can operate independently of one another, enabling real-time processing. This paper reports on a visual sensor, a solution to the measurement accuracy problem concerning the detection of moving obstacles using the sensor, and visual system experiments on real-time detection of an actually moving object using the sensor.

scholarly journals System Identification Algorithm Analysis of Acupuncture Effect on Mean Blood Flux of Contralateral Hegu Acupoint

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
Guangjun Wang ◽  
Jianguo Han ◽  
Gerhard Litscher ◽  
Weibo Zhang
Keyword(s):  
System Identification ◽  
The Body ◽  
Algorithm Analysis ◽  
Special Importance ◽  
Identification Algorithm ◽  
Full Field ◽  
The Mean ◽  
The Right ◽  
The Relationship ◽  
Acupoint Stimulation

Background. Acupoints (belonging to 12 meridians) which have the same names are symmetrically distributed on the body. It has been proved that acupoints have certain biological specificities different from the normal parts of the body. However, there is little evidence that acupoints which have the same name and are located bilaterally and symmetrically have lateralized specificity. Thus, researching the lateralized specificity and the relationship between left-side and right-side acupuncture is of special importance.Methodology and Principal Findings. The mean blood flux (MBF) in both Hegu acupoints was measured by Moor full-field laser perfusion imager. With the method of system identification algorithm, the output distribution in different groups was acquired, based on different acupoint stimulation and standard signal input. It is demonstrated that after stimulation of the right Hegu acupoint by needle, the output value of MBF in contralateral Hegu acupoint was strongly amplified, while after acupuncturing the left Hegu acupoint, the output value of MBF in either side Hegu acupoint was amplified moderately.Conclusions and Significance. This paper indicates that the Hegu acupoint has lateralized specificity. After stimulating the ipsilateral Hegu acupoint, symmetry breaking will be produced in contrast to contralateral Hegu acupoint stimulation.

scholarly journals Mobile Robots and RFID Technology-Based Smart Care Environment for Minimizing Risks Related to Employee Turnover during Pandemics

2021 ◽  
Vol 13 (22) ◽  
pp. 12809
Author(s):  
Anja Poberznik ◽  
Mirka Leino ◽  
Jenni Huhtasalo ◽  
Taina Jyräkoski ◽  
Pauli Valo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Radio Frequency Identification ◽  
Relevant Information ◽  
New Employees ◽  
Rfid Tag ◽  
Staff Members ◽  
Frequency Identification ◽  
Future Potential ◽  
The Right

During a pandemic, it is imperative that all staff members have up-to-date information on changing work practices in the healthcare environment. This article presents a way to implement work environment orientation amongst different groups in care facilities by utilizing mobile robots, radio frequency identification (RFID) technologies, and data synthesis. We offer a scenario based on a co-design approach, in which a mobile robot works as an orientation guide for new employees, RFID tags are applied on objects around the premises and people’s clothing. The mobile robot takes advantage of the information provided by its known location and each RFID tag read by the RFID reader integrated with the robot. We introduce the scenario here, along with the details of its practical test implementation. Further, the challenges met in the test implementation are discussed as well as the future potential of its application. In conclusion, our study indicates that repetitive training and orientation-related duties can be successfully transferred to a mobile robot. Through RFID, the mobile robot can deliver the relevant information to the right people and thus contribute to patient and personnel safety and the resource efficiency of the orientation process.

scholarly journals Lateral Stability of a Mobile Robot Utilizing an Active Adjustable Suspension

2019 ◽  
Vol 9 (20) ◽  
pp. 4410
Author(s):  
Hui Jiang ◽  
Guoyan Xu ◽  
Wen Zeng ◽  
Feng Gao ◽  
Kun Chong
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Evaluation Method ◽  
Mathematic Model ◽  
Active Suspension ◽  
Lateral Stability ◽  
Uneven Terrain ◽  
The Stability ◽  
And Control ◽  
The Relationship

Mobile robots are expected to traverse on unstructured terrain, especially uneven terrain, or to climb obstacles or slopes. This paper analyzes one such passively–actively transformable mobile robot that is principally aimed at the above issue. A passive locomotion traverses on a rough and flat terrain; an active reconfiguration with an active suspension. This paper investigates the lateral stability of this mobile robot when it reconfigures itself to adjust its roll angle with the active suspension. The principles and configurations of the robot and its active suspension are presented. To analyze the effects of the suspensions’ inputs on robot stability, a mathematic model of the robot on side slopes is presented. Based on the evaluation method of the stability pyramid theory, an analytical expression representing the relationship between the input of the active suspension (linear actuator length) and stability evaluation index on transverse slopes is obtained. The results show that there is an increase in both the lateral stability and minimum lateral tip-over angle under different ground clearances when adjusting the active inputs. Furthermore, the models presented here provide theoretical references and optimization directions for the design and control of mobile robots with adjustable suspensions.

Self-Position Detection System Using a Visual-Sensor for Mobile Robots

1999 ◽  
Vol 11 (1) ◽  
pp. 17-24
Author(s):  
Takayuki Tanaka ◽  
◽  
Yasunori Yamazaki ◽  
Hiroki Watanabe ◽  
Takeshi Katae ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Detection System ◽  
The Other ◽  
Office Building ◽  
Visual Sensor ◽  
Office Environment ◽  
Position Detection ◽  
Security Guard ◽  
The Relationship

We have been developing an intelligent mobile robot for use as an office building secretary or aid during the day and a security guard or maintenance engineer, e.g., for cleaning floors, at night. Since the robot works and moves autonomously among people in an office environment, it must be able to recognize its own location and environment. We proposed two types of self-positoin detection based on a visual sensor. One is global self-positioning (GSP) by recognizing a room number. The other is local self-positioning (LSP) calculating the relationship between the robot and three light landmarks such as two exit lamps and a fire hydrant lamp in corridors. Experiments verified the effectiveness of the robot's self-position detection.

Tanggung Jawab Hukum Penilai Publik terhadap Laporan Penilaian Kegiatan Pengadaan Tanah bagi Pembangunan untuk Kepentingan Umum (Studi Atas Kantor Jasa Penilai Publik Toto Suharto)

2020 ◽  
Vol 2 (1) ◽  
Author(s):  
Gagah Yaumiyya Riyoprakoso ◽  
AM Hasan Ali ◽  
Fitriyani Zein
Keyword(s):  
Future Development ◽  
Public Interest ◽  
Legal Responsibility ◽  
Legal Research ◽  
The Public ◽  
The Government ◽  
Conducting Research ◽  
The Right ◽  
The Relationship ◽  
Systematic Explanation

This study is based on the legal responsibility of the assessment of public appraisal reports they make in land procurement activities for development in the public interest. Public assessment is obliged to always be accountable for their assessment. The type of research found in this thesis is a type of normative legal research with the right-hand of the statue approach and case approach. Normative legal research is a study that provides systematic explanation of rules governing a certain legal category, analyzing the relationship between regulations explaining areas of difficulty and possibly predicting future development. . After conducting research, researchers found that one of the causes that made the dispute was a lack of communication conducted between the Government and the landlord. In deliberation which should be the place where the parties find the meeting point between the parties on the magnitude of the damages that will be given, in the field is often used only for the delivery of the assessment of the compensation that has been done.

Rancangan Sistem Pengukuran Kinerja Berbasis Human Resource Scorecard Pada Universitas Muhammadiyah Luwuk

2020 ◽  
Vol 10 (1) ◽  
pp. 63-71
Author(s):  
Nurhaeda Abbas ◽  
Anggraini Sukmawati ◽  
Muhammad Syamsun
Keyword(s):  
Performance Measurement ◽  
Human Resource ◽  
Performance Measurement System ◽  
Group Discussions ◽  
Strategic Objectives ◽  
Depth Interview ◽  
And Performance ◽  
The Right ◽  
Hierarchy Process ◽  
The Relationship

Today the performance measurement of Muhammadiyah Luwuk uUniversity’s performance has not formulated yet based on University’s vision and mission. It will affect the strategic steps needed and performance improvement efforts in the future.  Human resource scorecard is the right system to be applied in Muhammadiyah Luwuk University. The purpose of this study is to designed a performance measurement system at Muhammadiyah Luwuk University using the Human Resource Scorecard with four perspectives: stakeholder, academic management and kemuhammadiyaan, operational and innovation, as well as and learning. Data was analyzed by analytical hierarchy process method. This research was conducted by distributing questionnaires, focus group discussions and in-depth interview with stakeholders at Muhammadiyah Luwuk University. The results showed that there were 14 strategic objectives and 33 key performance indicators to be achieved by the priority objectives, which are: empowerment and development of faculty, increased administrative process quality, improved sound budget performance and, improvement of the relationship with stakeholders.

Penanganan Issu Terkait Keselamatan Pasien di Rumah Sakit

2020 ◽  
Author(s):  
Kristin Natal Riang Gea
Keyword(s):  
Patient Safety ◽  
Health Workers ◽  
Sampling Technique ◽  
Good Health ◽  
Bivariate Analysis ◽  
P Value ◽  
Patient Identification ◽  
Cross Sectional ◽  
The Right ◽  
The Relationship

AbstrakKeselamatan pasien merupakan dasar dari pelayanan kesehatan yang baik. Pengetahuan tenaga kesehatan dalam sasaran keselamatan pasien terdiri dari ketepatan identifikasi pasien, peningkatan komunikasi yang efektif, peningkatan keamanan obat yang perlu diwaspadai, kepastian tepat lokasi, prosedur, dan tepat pasien operasi, pengurangan risiko infeksi, pengurangan risiko pasien jatuh. Tujuan penelitian untuk mengetahui hubungan antara pengetahuan dengan penerapan keselamatan pasien pada petugas kesehatan di Puskesmas Kedaung Wetan Kota Tangerang. Metode Penelitian menggunakan deskriptif korelasi menggunakan pendekatan cross sectional. Populasi sebanyak 50 responden. Teknik pengambilan sampel menggunakan total sampling. Instrumen yang digunakan berupa lembar kuesioner. Teknik analisa diatas menggunakan analisa Univariat dan Bivariat. Hasil Penelitian ada Hubungan Pengetahuan dengan Penerapan Keselamatan Pasien pada Petugas Kesehatan, dengan hasil, p value sebesar 0,013 < 0,05 maka dapat disimpulkan bahwa ada Hubungan Pengetahuan dengan Penerapa Keselamatan Pasien pada Petugas Kesehatan. Kesimpulan penelitian ada Hubungan Pengetahuan dengan Penerapan Keselamatan Pasien.. AbstrackPatient safety is the basis of good health services. Knowledge of health personnel in patient safety targets consists of accurate patient identification, increased effective communication, increased safety of the drug that needs to be watched, certainty in the right location, procedure, and precise patient surgery, reduction in risk of infection, reduction in risk of falling patients. The purpose of this study was to determine the relationship between knowledge and the application of patient safety to health workers in the Kedaung Wetan Health Center, Tangerang City. The research method uses descriptive correlation using cross sectional approach. The population is 50 respondents. The sampling technique uses total sampling. The instrument used was a questionnaire sheet. The analysis technique above uses Univariate and Bivariate analysis. The results of the study there is a Relationship of Knowledge with the Implementation of Patient Safety in Health Officers, with the result, p value of 0.013 <0.05, it can be concluded that there is a Relationship between Knowledge and Patient Safety Implementation in Health Officers. The conclusion of the study is the Relationship between Knowledge and the Implementation of Patient Safety.Keywords Knowledge, Patient safety, Health workers

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

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