Movable Virtual Wall for Operation of Master-Slave Manipulator Arms

2013 ◽  
Vol 415 ◽  
pp. 45-51
Author(s):  
Nawakorn Ditsariyakul ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Research Work ◽  
End Effector ◽  
Improve Accuracy ◽  
Manipulator Arm ◽  
Force Reflection ◽  
Further Development

This research work is to develop a concept of movable virtual wall for miniature tasks operation of a master-slave manipulator arm with force reflection. The purposes are to improve accuracy of the operation and preventing over travelling beyond a desired boundary. The predicted distance of the end-effector can be calculated based on various end-effector and hand models. From the experiments, movable virtual wall shows adjusting some wall parameters, the over travelling through the forbidden boundary can be prevented and the possibility of further development to improve miniature tasks operation.

DFT based computational methodology of IC50 prediction

2020 ◽  
Vol 16 ◽  
Author(s):  
Arijit Bag
Keyword(s):  
Present Method ◽  
Dipole Moments ◽  
Research Work ◽  
Organometallic Compounds ◽  
Computational Method ◽  
Unknown Compound ◽  
Drug Designing ◽  
Further Development ◽  
Similar Kind ◽  
Hiv 1

Background: IC50 is one of the most important parameters of a drug. But, it is very difficult to predict this value of a new compound without experiment. There are only a few QSAR based methods available for IC50 prediction which is also highly dependable on huge number of known data. Thus, there is an immense demand for a sophisticated computational method of IC50 prediction, in the field of in-silico drug designing. Objective: Recently developed quantum computation based method of IC50 prediction by Bag and Ghorai requires an affordable known data. In present research work further development of this method is carried out such that the requisite number of known data being minimal. Methods: To retrench the cardinal data span and shrink the effects of variant biological parameters on the computed value of IC50, a relative approach of IC50 computation is pursued in the present method. To predict an approximate value of IC50 of a small molecule, only the IC50 of a similar kind of molecule is required for this method. Results: The present method of IC50 computation is tested for both organic and organometallic compounds as HIV-1 capsid A inhibitor and cancer drugs. Computed results match very well with the experiment. Conclusion: This method is easily applicable to both organic and organometallic com- pounds with acceptable accuracy. Since this method requires only the dipole moments of an unknown compound and the reference compound, IC50 based drug search is possible with this method. An algorithm is proposed here for IC50 based drug search.

scholarly journals Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

Micromachines ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 870
Author(s):  
Md Rasedul Islam ◽  
Md Assad-Uz-Zaman ◽  
Brahim Brahmi ◽  
Yassine Bouteraa ◽  
Inga Wang ◽  
...  
Keyword(s):  
Upper Limb ◽  
Research Work ◽  
Human Robot Interaction ◽  
Control Technique ◽  
Upper Arm ◽  
Interaction Forces ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
End Point ◽  
Limb Rehabilitation

The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

scholarly journals Conceptual Sentiment Analysis Model

2018 ◽  
Vol 8 (4) ◽  
pp. 2358 ◽  
Author(s):  
Kranti Vithal Ghag ◽  
Ketan Shah
Keyword(s):  
Sentiment Analysis ◽  
Relative Frequency ◽  
Syntactic Structure ◽  
Research Work ◽  
Average Frequency ◽  
Semantic Structure ◽  
Analysis Model ◽  
Inverse Document Frequency ◽  
Document Frequency ◽  
Improve Accuracy

<span>Bag-of-words approach is popularly used for Sentiment analysis. It maps the terms in the reviews to term-document vectors and thus disrupts the syntactic structure of sentences in the reviews. Association among the terms or the semantic structure of sentences is also not preserved. This research work focuses on classifying the sentiments by considering the syntactic and semantic structure of the sentences in the review. To improve accuracy, sentiment classifiers based on relative frequency, average frequency and term frequency inverse document frequency were proposed. To handle terms with apostrophe, preprocessing techniques were extended. To focus on opinionated contents, subjectivity extraction was performed at phrase level. Experiments were performed on Pang &amp; Lees, Kaggle’s and UCI’s dataset. Classifiers were also evaluated on the UCI’s Product and Restaurant dataset. Sentiment Classification accuracy improved from 67.9% for a comparable term weighing technique, DeltaTFIDF, up to 77.2% for proposed classifiers. Inception of the proposed concept based approach, subjectivity extraction and extensions to preprocessing techniques, improved the accuracy to 93.9%.</span>

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2017 ◽  
pp. 314-327
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

Design and Analysis of the End-Effector of the Flexible Polishing Robot

2016 ◽  
Vol 693 ◽  
pp. 58-63
Author(s):  
Jie Tang ◽  
Tao Wang ◽  
Zhi Qi Yan ◽  
Li Wen Wang
Keyword(s):  
Dynamic Model ◽  
Theoretical Basis ◽  
Equations Of Motion ◽  
Labor Cost ◽  
Technical Support ◽  
Cost Study ◽  
Continuous Growth ◽  
End Effector ◽  
Polishing Tool ◽  
Further Development

The continuous growth of labor Cost, Study on the flexible robotic polishing systems has important realistic meanings. In this paper, After fully understanding the requirements of designing polishing tool based on polishing technology, a robot end-effector polishing tool held by the arm of robot is designed, and the establishment of a dynamic model and the equations of motion dynamics, which to provide technical support and theoretical basis for further development and optimization of flexible robotic polishing systems.

Collaborated a Two-Master-Slave Manipulator Arm with Force Reflection for Defined Miniature Tasks

2013 ◽  
Vol 415 ◽  
pp. 166-173 ◽  
Author(s):  
Nuttapong Nuchprayool ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
High Speed ◽  
Experimental Result ◽  
Gravity Compensation ◽  
Turn On ◽  
Working Space ◽  
Virtual Fixture ◽  
Manipulator Arm ◽  
Force Reflection

This paper presents the development of a two-master-slave manipulator arm with force reflection for miniature tasks operation. The configuration of the two-master-slave arm is shown and the dynamic model of the slave arm is analyzed. The PID controller with the gravity compensation is selected for controlling desired positions of slave-tool-tips. The movements of the slave arm can be specified with coarse and fine motion. For the coarse motion, the slave arm will be moved approach to a specified workspace area with low precision but high speed. For the fine motion, the slave arm will be controlled with low speed so that the operator feels more confident to move the slave arm, through the master arm, with higher precision within the specified workspace. While operating the manipulator system, the operator can turn on/off the virtual fixture to command force reflection at the master arm for preventing a collision between the slave arm and the obstacles inside the specified working space. The experimental result is shown that the manipulator system is able to be used in miniature tasks operation with 1 millimeter precision.

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2020 ◽  
pp. 433-445
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

Development of a Haptic Device with Wire-Driven Parallel Structure

2017 ◽  
Vol 11 (3) ◽  
pp. 385-395
Author(s):  
Carlo Ferraresi ◽  
◽  
Carlo De Benedictis ◽  
Francesco Pescarmona
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Structure ◽  
Control Logic ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Force Closure ◽  
Force Reflection ◽  
Definition Of ◽  
Selection Of

This study focuses on the specific problems that may arise in the development of a parallel, cable-driven device designed for teleoperations systems utilizing force-reflection feedback. A redundant six degrees-of-freedom structure, actuated by nine wires, is described as a convenient layout for a haptic master for telemanipulation. A methodology for the kinematic and static analysis and the evaluation of the device workspace is described. The condition of force closure is used to find all available poses of the end-effector, thereby defining the workspace, whose characteristics are assessed by opportunely conceived indexes. Typical characteristics of cable and implementations thereof in the device are considered. Regarding the realization of the device, relevant attention is given to the definition of the control logic, which can be complex for parallel devices. The selection of the actuators, crucial in realizing force feedback, is discussed. In particular, pneumatic actuation is considered, verified as the most appropriate method for implementation and force control of the cylinders.

scholarly journals PERANCANGAN SISTEM KENDALI PERGERAKAN ARM MANIPULATOR BERBASIS SENSOR INERTIAL MEASUREMENT UNIT (IMU) DAN SENSOR FLEX

TRANSIENT ◽  
2017 ◽  
Vol 6 (3) ◽  
pp. 424
Author(s):  
Arief Saifuddin ◽  
Sumardi Sumardi ◽  
Darjat Darjat
Keyword(s):  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
End Effector ◽  
Inertial Measurement ◽  
Manipulator Arm

Pada zaman yang sudah maju ini banyak pekerjaan manusia yang sudah mulai dikerjaan oleh robot. Robot digunakan untuk mempermudah pekerjaan yang tidak dapat dilakukan oleh manusia, seperti memindahkan suatu barang pada tempat yang berbahaya. Salah satu robot yang diciptakan adalah robot yang memiliki bentuk seperti lengan manusia yang disebut dengan arm manipulator. Arm manipulator adalah robot yang memiliki kemampuan bergerak seperti lengan manusia. Arm manipulator terdiri atas lengan (link), sendi (joint), dan ujung (end-effector) yang saling terhubung. Penelitian ini merancang sistem kendali arm manipulator melalui pergerakkan sensor inertial measurement unit (IMU) dan sensor flex. Sensor ini dipasang pada sebuah sarung tangan sehingga arm manipulator bergerak sesuai dengan gesture tangan operator. Dalam penelitian ini, arm manipulator dapat bergerak dengan error pergerakan pada sendi body sebesar 2,353°, sendi shoulder sebesar 2,857°, sendi elbow sebesar 2,25°, sendi wrist sebesar 2,2°, dan sendi gripper sebesar 1,75°. Hasil pengujian secara keseluruhan arm manipulator mampu memindahkan benda pada koordinat tertentu.

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