Design and Development of Ladder Climbing Robot

2020 ◽  
Vol 899 ◽  
pp. 31-41
Author(s):  
Lip Kean Moey ◽  
Nicholas Lek See Teng ◽  
Jiunn Yea Ng ◽  
Mahmud Iwan Solihin ◽  
Najmi Haziq Badrulhisam
Keyword(s):  
Obstacle Avoidance ◽  
Future Research ◽  
Climbing Robot ◽  
Ultrasonic Sensors ◽  
Design And Development ◽  
Robot Controller ◽  
Basic Software ◽  
Hardware Development ◽  
C Programming ◽  
Software And Hardware

This paper presents the development of a ladder climbing robot prototype. The development of the prototype includes constructing the basic software and hardware for the robot. The robot controller is designed using Arduino Mega 2560 software implemented in Arduino IDE with C programming. The hardware development involves constructing the main chassis and climbing arm with servomotor, DC geared motor and motor driver. An algorithm to climb ladder is developed with application of Infrared (IR) sensor and ultrasonic sensors. Significantly, the robot prototype is tested on ladders of different rung spacing. In the future, a base with wheels will be constructed for the robot to carry load and move on ground with obstacle avoidance capability and side grippers will be constructed to improve climbing performance of the robot on vertical ladder; this project will contribute to future research on similar topics.

scholarly journals ‘CTRL’: an online, Dynamic Consent and participant engagement platform working towards solving the complexities of consent in genomic research

2021 ◽  
Author(s):  
Matilda A. Haas ◽  
Harriet Teare ◽  
Megan Prictor ◽  
Gabi Ceregra ◽  
Miranda E. Vidgen ◽  
...  
Keyword(s):  
Large Scale ◽  
Genomic Medicine ◽  
International Standards ◽  
Security And Privacy ◽  
Genomic Research ◽  
Return Of Results ◽  
Future Research ◽  
Design And Development ◽  
Participant Engagement ◽  
Dynamic Consent

AbstractThe complexities of the informed consent process for participating in research in genomic medicine are well-documented. Inspired by the potential for Dynamic Consent to increase participant choice and autonomy in decision-making, as well as the opportunities for ongoing participant engagement it affords, we wanted to trial Dynamic Consent and to do so developed our own web-based application (web app) called CTRL (control). This paper documents the design and development of CTRL, for use in the Australian Genomics study: a health services research project building evidence to inform the integration of genomic medicine into mainstream healthcare. Australian Genomics brought together a multi-disciplinary team to develop CTRL. The design and development process considered user experience; security and privacy; the application of international standards in data sharing; IT, operational and ethical issues. The CTRL tool is now being offered to participants in the study, who can use CTRL to keep personal and contact details up to date; make consent choices (including indicate preferences for return of results and future research use of biological samples, genomic and health data); follow their progress through the study; complete surveys, contact the researchers and access study news and information. While there are remaining challenges to implementing Dynamic Consent in genomic research, this study demonstrates the feasibility of building such a tool, and its ongoing use will provide evidence about the value of Dynamic Consent in large-scale genomic research programs.

scholarly journals Design and Development of a Low Cost, Non-Contact Infrared Thermometer with Range Compensation

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3817
Author(s):  
Nicholas Wei-Jie Goh ◽  
Jun-Jie Poh ◽  
Joshua Yi Yeo ◽  
Benjamin Jun-Jie Aw ◽  
Szu Cheng Lai ◽  
...  
Keyword(s):  
Measurement Accuracy ◽  
Low Cost ◽  
Common Symptom ◽  
Ultrasonic Sensors ◽  
Design And Development ◽  
Infrared Thermometer ◽  
Compensation Methods ◽  
Monitoring Devices ◽  
Distance Correction

Fever is a common symptom of many infections, e.g., in the ongoing COVID-19 pandemic, keeping monitoring devices such as thermometers in constant demand. Recent technological advancements have made infrared (IR) thermometers the choice for contactless screening of multiple individuals. Yet, even so, the measurement accuracy of such thermometers is affected by many factors including the distance from the volunteers’ forehead, impurities (such as sweat), and the location measured on the volunteers’ forehead. To overcome these factors, we describe the assembly of an Arduino-based digital IR thermometer with distance correction using the MLX90614 IR thermometer and HC-SR04 ultrasonic sensors. Coupled with some analysis of these factors, we also found ways to programme compensation methods for the final assembled digital IR thermometer to provide more accurate readings and measurements.

Design of Obstacle Avoidance Detection Based on Substation Intelligent Inspection Robot

2013 ◽  
Vol 748 ◽  
pp. 695-698
Author(s):  
Hai Peng Wang ◽  
Yong Sun ◽  
Peng Xiao ◽  
Yi Qing Luan
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Detection System ◽  
Measurement Precision ◽  
Ultrasonic Signal ◽  
System Software ◽  
Ultrasonic Sensors ◽  
Inspection Robot ◽  
High Measurement ◽  
Environmental Requirements

The obstacle avoidance system is an important part of the intelligent inspection robot. According to the special environmental requirements for substation inspection robot, the inspection robot obstacle avoidance detection system was designed. The system takes MCU as the controller core, selects many sets of ultrasonic sensors to detect the obstacle information around the robot, designs the transmitting and receiving circuit of the ultrasonic signal, and completes the system software program. In consideration of the substations effect of EMI to the electronic equipments, when designing circuit, using a large of filter circuit, improve systems anti-interference performance, realize real-time and veracity of measurement. Using on substation shows that the system run steadily, have high measurement precision, its important for improving the robot using on substation.

Design and analysis of a climbing robot for pylon maintenance

2018 ◽  
Vol 45 (2) ◽  
pp. 206-219
Author(s):  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Xiaoyu Liu ◽  
Yishu Wang
Keyword(s):  
Design Methodology ◽  
Adhesion Force ◽  
External Surface ◽  
Climbing Robot ◽  
Design And Development ◽  
New Approach ◽  
Content Type ◽  
Rotary Joint ◽  
Inspection And Maintenance ◽  
Practical Implications

Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

A Generic Guide for Using Membrane Computing in Robot Control

2017 ◽  
pp. 86-96
Keyword(s):  
Operating Systems ◽  
Membrane Computing ◽  
Task Complexity ◽  
Future Research ◽  
Research Directions ◽  
Robot Controller ◽  
Swarm Algorithms ◽  
Future Research Directions ◽  
High Level ◽  
Generic Algorithms

As various theoretical and practical details of using membrane computing models have been presented throughout the book, certain details might be hard to find at a later time. For this reason, this chapter provides the reader with a set of checkmark topics that a developer should address in order to implement a robot controller using a membrane computing model. The topics discussed address areas such as: (1) robot complexity, (2) number of robots, (3) task complexity, (4) simulation versus real world execution, (5) sequential versus parallel implementations. This chapter concludes with an overview of future research directions. These directions offer possible solutions for several important concerns: the development of complex generic algorithms that use a high level of abstraction, the design of swarm algorithms using a top-down (swarm-level) approach and ensuring the predictability of a controller by using concepts such as those used in real-time operating systems.

scholarly journals Vision-Based Moving Obstacle Detection and Tracking in Paddy Field Using Improved Yolov3 and Deep SORT

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4082 ◽  
Author(s):  
Zhengjun Qiu ◽  
Nan Zhao ◽  
Lei Zhou ◽  
Mengcen Wang ◽  
Liangliang Yang ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Processing Speed ◽  
Paddy Field ◽  
Autonomous Navigation ◽  
Vision System ◽  
Obstacle Detection ◽  
Paddy Fields ◽  
Future Research ◽  
Moving Obstacles ◽  
Agricultural Machines

Using intelligent agricultural machines in paddy fields has received great attention. An obstacle avoidance system is required with the development of agricultural machines. In order to make the machines more intelligent, detecting and tracking obstacles, especially the moving obstacles in paddy fields, is the basis of obstacle avoidance. To achieve this goal, a red, green and blue (RGB) camera and a computer were used to build a machine vision system, mounted on a transplanter. A method that combined the improved You Only Look Once version 3 (Yolov3) and deep Simple Online and Realtime Tracking (deep SORT) was used to detect and track typical moving obstacles, and figure out the center point positions of the obstacles in paddy fields. The improved Yolov3 has 23 residual blocks and upsamples only once, and has new loss calculation functions. Results showed that the improved Yolov3 obtained mean intersection over union (mIoU) score of 0.779 and was 27.3% faster in processing speed than standard Yolov3 on a self-created test dataset of moving obstacles (human and water buffalo) in paddy fields. An acceptable performance for detecting and tracking could be obtained in a real paddy field test with an average processing speed of 5–7 frames per second (FPS), which satisfies actual work demands. In future research, the proposed system could support the intelligent agriculture machines more flexible in autonomous navigation.

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