scholarly journals Design, construction and control of a spherical rolling robot with internal two-wheel cart

2015 ◽  
Vol 19 (2) ◽  
pp. 63 ◽  
Author(s):  
Szymon Firlej
Robotica ◽  
2020 ◽  
pp. 1-18
Author(s):  
M. Garcia ◽  
P. Castillo ◽  
E. Campos ◽  
R. Lozano

SUMMARY A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.


Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.


2016 ◽  
Vol 14 (6) ◽  
pp. 396-404 ◽  
Author(s):  
Claudio Urrea ◽  
Juan Cortés ◽  
José Pascal

Author(s):  
Terry G. Rathwell

This paper discusses the relationship between the management of health, safety and the environment (prevention, preparedness and response) at various phases of pipeline development and operation and the costs and cost benefits associated with this essential management function. HSE management systems are an integral component of all phases of pipeline activity, including concept and design, construction, commissioning, operation and maintenance. Effective HSE management systems are not free and they do involve immediate expenditures of time, resources and money. Future gains are very real but are often difficult to measure in dollars. Future gains may include reduced WCB costs, reduced equipment damage and downtime, reduced property damage claims, reduced production interruptions, improved production quality, improved employee morale, improved customer satisfaction and market share. Management decides the level of expenditure for incident prevention, preparation and response. One approach is to spend little or nothing in advance of a potential incident and react only after an event to correct the conditions that caused the loss. This is unwise. Another approach is to spend the sums needed to cover every conceivable contingency. This is imprudent. We must learn to balance risk and control in an effort to seek an optimum expenditure for all phases of pipeline design, construction, commissioning, operation and maintenance. This paper will discuss the ways and means to accurately assess the costs of actual and potential incidents to learn what the costs are, when and how these costs are incurred and how costs can be minimized. Only when costs are established and understood can we develop appropriate plans to negate these costs. We must learn the difference between the control of costs and the causes of costs relating to health, safety and the environment.


2015 ◽  
Vol 64 (4) ◽  
pp. 617-628
Author(s):  
Gregor Glehn ◽  
Rüdiger Appunn ◽  
Kay Hameyer

Abstract The drive train of a small scale magnetically levitated train reveals the principles of a mechatronic system and offers challenges related to design, construction and control. Therefore, it is used at the Institute of electrical Machines (IEM) of the RWTH Aachen University as a demonstrator for engineering solutions. Instead of being a part of a static predefined student laboratory, the small scale magnetically levitated train is part of dynamic individual student projects. This approach provides the advantage that the students are directly involved in the engineering process and gain motivation out of their personal ideas becoming reality.


2014 ◽  
Vol 638-640 ◽  
pp. 1623-1626 ◽  
Author(s):  
Sheng Nan Li ◽  
Li Xue Wang ◽  
Wen Juan Zheng

Wall cracking is a universal phenomenon existing in the composite structure house, prevention and control of masonry crack is a systematic project. the reason of crack on the temperature change, uneven settlement of foundation, construction factors and dry shrinkage of material.It put forward the corresponding control measures:to set reasonably temperature expansion joint, settlement joint and adopt construction measures when designing structure;to make reasonable arrangements for the construction of the roof insulation layer ,trying to avoid high temperature season; As for the materials,it is recommended to use fiber mortar to improve the waterproof performance of the wall.Above all, the paper want to show that cracking control can be achieved by the close coordination of all aspects of design, construction, supervision.


2008 ◽  
Vol 5 (4) ◽  
pp. 187-194
Author(s):  
Rogério Eduardo da Silva Santana ◽  
Agenor de Toledo Fleury ◽  
Luciano Luporini Menegaldo

Human gait analysis is one of the resources that may be used in the study and treatment of pathologies of the locomotive system. This paper deals with the modelling and control aspects of the design, construction and testing of a biped walking robot conceived to, in limited extents, reproduce the human gait. Robot dimensions have been chosen in order to guarantee anthropomorphic proportions and then to help health professionals in gait studies. The robot has been assembled with low-cost components and can reproduce, in an assisted way, real-gait patterns generated from data previously acquired in gait laboratories. Part of the simulated and experimental results are addressed to demonstrate the ability of the biped robot in reproducing normal and pathological human gait.


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