The Construction of Augmented Reality Teleoperation System with Force Feedback

2014 ◽  
Vol 494-495 ◽  
pp. 1064-1067
Author(s):  
Ping Wang ◽  
Xin Gao ◽  
Rong Xin Fu ◽  
Si Yu Han ◽  
Xiao Jing Fang ◽  
...  
Keyword(s):  
Augmented Reality ◽  
Path Planning ◽  
Force Feedback ◽  
Live Streaming ◽  
Planning Problem ◽  
Robotic Arms ◽  
Augmented Reality Technology ◽  
Correction Problem ◽  
Control Technologies ◽  
And Control

Aiming at the time delay of telecommunication problem and the real-time correction problem in path planning, this paper presents a telerobot system based on augmented reality technology and force feedback technology. The core is the dynamic integration of live streaming video of the remote scene and virtual robot, and applying the force feedback sensing and control technologies to solve robotic arms path planning problem. Experiment proves that the system can basically solve the delay problem and make up for the limitation of merely relying on virtual reality simulation technology.

scholarly journals Concept of convergence of augmented reality technologies and artificial intelligence for spe-cial purpose vehicles

2021 ◽  
pp. 235
Author(s):  
Oleh Nikonov
Keyword(s):  
Artificial Intelligence ◽  
Augmented Reality ◽  
Production Efficiency ◽  
Economic Effects ◽  
Increase Production Efficiency ◽  
Goods And Services ◽  
Important Trend ◽  
Augmented Reality Technology ◽  
Intelligent Information ◽  
And Control

The use of artificial intelligence is a modern important trend in the creation of promising information and control systems of vehicles, including special purpose. The high demands on augmented reality software simply cannot rely solely on human programming to display virtual objects against the real world. Neural networks and machine learning can perform these tasks with much greater efficiency and can greatly improve the augmented reality experience. Goal. The purpose of the article is to develop the concept of convergence of augmented reality and artificial intelligence technologies for special purpose vehicles. Methodology. Artificial intelligence technologies contribute to the transformation of the economy, labor market, government institutions and society as a whole. The use of artificial intelligence technologies helps to reduce costs, increase production efficiency, quality of goods and services. Augmented reality technology offers more innovative methods of visualization by expanding the boundaries of reality, controlling the perspective of the object and visualization in a real context. Results. The concept of convergence of augmented reality and artificial intelligence technologies for special purpose vehicles based on a synergetic approach has been developed. An integrated intelligent information and control system for special purpose vehicles with augmented reality technology has been developed. Originality. Using the convergence of augmented reality and artificial intelligence technologies for special purpose vehicles. Practical value. Convergence is the foundation for achieving numerous positive social and economic effects. The use of augmented reality technology and artificial intelligence can significantly increase the efficiency of special purpose vehicles.

Path Planning and Control for Underwater Vehicle Driven by an Ionic Polymer Metal Composite (IPMC) Actuator

2010 ◽  
Author(s):  
Shivakanth Gutta ◽  
Woosoon Yim ◽  
Mohamed B. Trabia
Keyword(s):  
Path Planning ◽  
Objective Function ◽  
Underwater Vehicle ◽  
Trajectory Control ◽  
Planning Problem ◽  
Metal Composite ◽  
Penalty Term ◽  
Planning And Control ◽  
Polymer Metal ◽  
And Control

This paper presents an approach for trajectory planning and control of an underwater vehicle within obstacles. The vehicle is driven by a single IPMC actuator that goes through oscillatory locomotion. The presented work is divided into kinematic path planning and trajectory control sections. In the kinematic path planning phase, the vehicle is approximated by a rectangle that encloses the largest deformation of the oscillating IPMC actuator. Obstacles are approximated by polygonal shapes that approximate their actual dimensions. To simplify the problem of collision detection, vehicle is shrunk to a line while obstacles are expanded by a half width of the rectangle representing the vehicle. Path planning problem is formulated as a nonlinear programming problem that minimizes the error between current and goal configurations of the vehicle. The objective function combines the distance to target and the orientation of the vehicle. A penalty term is added to the objective function to ensure that the vehicle is not colliding with obstacles. The obtained path is discretized with respect to time, and controlled simultaneously for the yaw angle and speed of the vehicle. These two controllers are designed based on the simulation data from the dynamic model of the IPMC propelled vehicle. This proposed approach can be used in real time implementation of vehicle trajectory control in the presence of obstacles.

scholarly journals Efficient Path Planning of Secondary Additive Manufacturing Operations

2018 ◽  
Vol 249 ◽  
pp. 03011
Author(s):  
Keimargeo McQueen ◽  
Sara Darensbourg ◽  
Carl Moore ◽  
Tarik Dickens ◽  
Clement Allen
Keyword(s):  
Additive Manufacturing ◽  
Path Planning ◽  
Travelling Salesman Problem ◽  
Optimal Path ◽  
Planning Problem ◽  
Robotic Arms ◽  
Optimal Path Planning ◽  
Manufacturing Operations ◽  
3D Printed ◽  
Path Planner

We have designed a path planner for an additive manufacturing (AM) prototype that consists of two robotic arms which collaborate on a single part. Theoretically, with two nozzle equipped arms, a part can be 3D printed twice as fast. Moreover, equipping the second robot with a machining tool enables the completion of secondary operations like hole reaming or surface milling before the printing is finished. With two arms in the part space care must be taken to ensure that the arms collaborate intelligently; in particular, tasks must be planned so that the robots do not collide. This paper discusses the development of a robot path planner to efficiently print segments with two arms, while maintaining a safe distance between them. A solution to the travelling salesman problem, an optimal path planning problem, was used to successfully determine the robots path plans while a simple nozzle-to-nozzle distance calculation was added to represent avoiding robot-to-robot collisions. As a result, in simulation, the average part completion time was reduced by 45% over the single nozzle case. Importantly, the algorithm can theoretically be run on n-robots, so time reduction possibilities are large.

Augmented Reality Technology for Year 10 Chemistry Class

2018 ◽  
Vol 8 (4) ◽  
pp. 45-64 ◽  
Author(s):  
Au Thien Wan ◽  
Leong Yat San ◽  
Mohammad Saiful Omar
Keyword(s):  
Augmented Reality ◽  
Learning Styles ◽  
Instructional Material ◽  
Positive Impact ◽  
Learning Ability ◽  
Learning Modalities ◽  
Brunei Darussalam ◽  
Augmented Reality Technology ◽  
Mobile Ar ◽  
And Control

The purpose of this article was to evaluate the effectiveness of using mobile augmented reality (AR) instructional material for Year 10 science students in a secondary school in Brunei Darussalam. Specific learning styles were identified for the control and the experimental groups. A mobile AR application of instructional material was developed for year 10 chemistry lesson focusing on redox reaction using Vuforia SDK and Unity3d. The material developed consisted of visual, audio and kinesthetic elements of learning modalities which aimed to stimulate students' interest and improve their learning ability. The t-test (t = -3.39) in the posttest indicate d a significant result (p = 0.00152) between the mean scores of the experimental (mean = 42.72) and control (mean = 26.36) groups. The result showed that the intervention of classroom lessons introduced by the mobile AR application had a significant positive impact on the learning outcome and supported the idea that AR can be a valuable teaching tool. Qualitative analysis also indicated that it improved the liveliness of the learning environment and the interaction amongst the students.

scholarly journals An Improved Genetic Algorithm for Path-Planning of Unmanned Surface Vehicle

Sensors ◽  
2019 ◽  
Vol 19 (11) ◽  
pp. 2640 ◽  
Author(s):  
Junfeng Xin ◽  
Jiabao Zhong ◽  
Fengru Yang ◽  
Ying Cui ◽  
Jinlu Sheng
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Autonomous Navigation ◽  
Travelling Salesman Problem ◽  
Optimal Path ◽  
Convergence Speed ◽  
Planning Problem ◽  
Unmanned Surface Vehicle ◽  
Domain Inversion ◽  
And Control

The genetic algorithm (GA) is an effective method to solve the path-planning problem and help realize the autonomous navigation for and control of unmanned surface vehicles. In order to overcome the inherent shortcomings of conventional GA such as population premature and slow convergence speed, this paper proposes the strategy of increasing the number of offsprings by using the multi-domain inversion. Meanwhile, a second fitness evaluation was conducted to eliminate undesirable offsprings and reserve the most advantageous individuals. The improvement could help enhance the capability of local search effectively and increase the probability of generating excellent individuals. Monte-Carlo simulations for five examples from the library for the travelling salesman problem were first conducted to assess the effectiveness of algorithms. Furthermore, the improved algorithms were applied to the navigation, guidance, and control system of an unmanned surface vehicle in a real maritime environment. Comparative study reveals that the algorithm with multi-domain inversion is superior with a desirable balance between the path length and time-cost, and has a shorter optimal path, a faster convergence speed, and better robustness than the others.

scholarly journals PLATAFORMA DE BRAZOS ROBÓTICOS DE TECNOLOGÍA ABIERTA PARA REALIZAR EXPERIENCIAS DE LABORATORIO DE CONTROL DE POSICIÓN, PLANIFICACIÓN DE TRAYECTORIA Y CONTROL DE VISIÓN ARTIFICIAL

2016 ◽  
Vol 26 (1) ◽  
pp. 101
Author(s):  
Mario Borja Borja ◽  
Javier Rojas Tintaya ◽  
Rodney Rodas Regalado ◽  
Carlos Díaz Ramirez ◽  
Cesar Paz Chavez Cesar Paz Chavez
Keyword(s):  
Control System ◽  
Path Planning ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Digital Signal ◽  
Artificial Vision ◽  
Robotic Arms ◽  
Technology Platform ◽  
Planning And Control ◽  
And Control

RESUMEN El principal problema en el desarrollo de carreras de especialización en robótica en nuestro país es que no existen laboratorios con brazos robóticos que permitan hacer pruebas de control de posicionamiento, planificación de trayectoria y control con visión artificial y generalmente en entornos académicos se hace experimentos utilizando software de simulación.En el presente trabajo se propone una alternativa para mejorar el aprendizaje en el estudio de control de brazos robóticos utilizando brazos robóticos reales con una plataforma de tecnología abierta de software y hardware que permita a los estudiantes modificar los programas para implementar algoritmos de control de posición de articulaciones, planificación de trayectoria y control con visión artificial.La propuesta es desarrollar la tecnología total del sistema de control del brazos robóticos en la base al análisis de los requerimientos de electrónica y sistema de computo realizar la selección de electrónica de potencia, computadoras industriales basadas en Controlador Digital de señales (DSC), una computadora personal para interface de usuario.Desarrollar el software base para la computadora industrial y el software base para la computadora personal que permita cargar programas en línea a través del puerto serial desde una computadora personal y además una interface de usuario en la computadora que puede ser modificada de acuerdo a la necesidad y utilizar como sistema de control de nivel superior que realiza los cálculos de planificación de trayectoria, problema inverso y otros sistemas de alto nivel de control con visión artificial.Como resultado se obtuvo la plataforma de tecnología abierta que incluye hardware y software para brazos robóticos de hasta seis grados de libertad con motores de corriente continua en las articulaciones de hasta 100 vatios, encoders y sensores de fin de carrera.La plataforma se probó con la mecánica del brazo robótico serial Mitsubishi RV-M1 que cumple con los parámetros electrónicos y constructivos requeridos por el prototipo.Palabras claves: brazos robóticos; control de posición; plataforma abierta.ABSTRACT The main problem in the development of specialization courses in robotics in our country is that there are no laboratories with robotic arms that allow testing positioning control, path planning and control with artificial vision and generally in academic settings is done experiments using software simulation.In this paper an alternative to enhance learning in the study control robotic arms using real robotic arms with an open technology platform software and hardware that allows students to modify programs to implement control algorithms position it is proposed joints, path planning and control with artificial vision.The proposal is to develop the full technology control system of the robotic arms on the basis of the analysis of the requirements of electronic and computer system the selection of power electronics, industrial computers based on digital signal controller (DSC), a computer personnel to user interface.Develop the core software for industrial computer and basic software for the PC that allows load programs online through the serial port from a personal computer and also a user interface on the computer that can be modified according to the need and used as control system upper level that performs calculations path planning, inverse problem and other high-level systems with artificial vision control.As a result the open technology platform that includes hardware and software for robotic arms up to six degrees of freedom with DC motors in the joints of up to 100 watts, encoders and sensors to run was obtained. The platform was tested with the mechanics of serial robotic arm Mitsubishi RV-M1 compliant electronic and construction parameters required by the prototype.Keywords: robotic arms; position control; open platform.

scholarly journals Effects of Augmented Reality Applications on Academic Success and Course Attitudes in Social Studies

2020 ◽  
Vol 8 (4) ◽  
pp. 27-32
Author(s):  
Fatma Büşra Azi ◽  
Şemseddin Gündüz
Keyword(s):  
Augmented Reality ◽  
Social Studies ◽  
Attitude Scale ◽  
Control Group ◽  
Control Groups ◽  
Augmented Reality Application ◽  
Post Test ◽  
Augmented Reality Technology ◽  
And Control ◽  
Experimental Group

The overall purpose of this study is to determine the effect of augmented reality applications on students’ success in social studies course and their attitudes towards social studies courses. In this research, quantitative and qualitative methods were used. In the quantitative method, there is a pre-test, post-test control group as a semi-experimental method. In the social studies course, the unit acquisition related to volcanic events was aimed to be instructed to the students in the experimental group through the augmented reality application. Before and after the application, to evaluate the success levels of the students in the experimental and control groups, social studies course achievement test was given, and to evaluate their attitudes towards the course, social studies course attitude scale was applied. At the end of the application, interviews were done with 5 of the students in the experimental group with a semi-structured interview form. In the analysis made as a result of the application, no significant difference was observed between the achievement levels of the children studying with augmented reality technology and the achievement levels of the children studying with the smart board and the current textbook. Since the group learning technique was used in the study, students’ failure to progress at an individual pace may have prevented an increase in success. According to the post-test social studies course attitude scale results of the experimental and control groups, the scores of the experimental group students showed a significant increase compared to the control group. Also, students stated that they liked the augmented reality application in the interviews, and they wanted it to be in other lessons. It is thought that it will be beneficial for education to put the augmented reality technology in other courses.

scholarly journals PLATAFORMA DE BRAZOS ROBÓTICOS DE TECNOLOGÍA ABIERTA PARA REALIZAR EXPERIENCIAS DE LABORATORIO DE CONTROL DE POSICIÓN, PLANIFICACIÓN DE TRAYECTORIA Y CONTROL DE VISIÓN ARTIFICIAL

2016 ◽  
Vol 26 (1) ◽  
pp. 101
Author(s):  
Mario Borja Borja
Keyword(s):  
Control System ◽  
Path Planning ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Digital Signal ◽  
Artificial Vision ◽  
Robotic Arms ◽  
Technology Platform ◽  
Planning And Control ◽  
And Control

RESUMEN El principal problema en el desarrollo de carreras de especialización en robótica en nuestro país es que no existen laboratorios con brazos robóticos que permitan hacer pruebas de control de posicionamiento, planificación de trayectoria y control con visión artificial y generalmente en entornos académicos se hace experimentos utilizando software de simulación.En el presente trabajo se propone una alternativa para mejorar el aprendizaje en el estudio de control de brazos robóticos utilizando brazos robóticos reales con una plataforma de tecnología abierta de software y hardware que permita a los estudiantes modificar los programas para implementar algoritmos de control de posición de articulaciones, planificación de trayectoria y control con visión artificial.La propuesta es desarrollar la tecnología total del sistema de control del brazos robóticos en la base al análisis de los requerimientos de electrónica y sistema de computo realizar la selección de electrónica de potencia, computadoras industriales basadas en Controlador Digital de señales (DSC), una computadora personal para interface de usuario.Desarrollar el software base para la computadora industrial y el software base para la computadora personal que permita cargar programas en línea a través del puerto serial desde una computadora personal y además una interface de usuario en la computadora que puede ser modificada de acuerdo a la necesidad y utilizar como sistema de control de nivel superior que realiza los cálculos de planificación de trayectoria, problema inverso y otros sistemas de alto nivel de control con visión artificial.Como resultado se obtuvo la plataforma de tecnología abierta que incluye hardware y software para brazos robóticos de hasta seis grados de libertad con motores de corriente continua en las articulaciones de hasta 100 vatios, encoders y sensores de fin de carrera.La plataforma se probó con la mecánica del brazo robótico serial Mitsubishi RV-M1 que cumple con los parámetros electrónicos y constructivos requeridos por el prototipo.Palabras claves: brazos robóticos; control de posición; plataforma abiertaABSTRACT The main problem in the development of specialization courses in robotics in our country is that there are no laboratories with robotic arms that allow testing positioning control, path planning and control with artificial vision and generally in academic settings is done experiments using software simulation.In this paper an alternative to enhance learning in the study control robotic arms using real robotic arms with an open technology platform software and hardware that allows students to modify programs to implement control algorithms position it is proposed joints, path planning and control with artificial vision.The proposal is to develop the full technology control system of the robotic arms on the basis of the analysis of the requirements of electronic and computer system the selection of power electronics, industrial computers based on digital signal controller (DSC), a computer personnel to user interface.Develop the core software for industrial computer and basic software for the PC that allows load programs online through the serial port from a personal computer and also a user interface on the computer that can be modified according to the need and used as control system upper level that performs calculations path planning, inverse problem and other high-level systems with artificial vision control.As a result the open technology platform that includes hardware and software for robotic arms up to six degrees of freedom with DC motors in the joints of up to 100 watts, encoders and sensors to run was obtained. The platform was tested with the mechanics of serial robotic arm Mitsubishi RV-M1 compliant electronic and construction parameters required by the prototype.Keywords: robotic arms; position control; open platform

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