A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot

This paper presents a compact-sized haptic device based on a cable-driven parallel robot (CDPR) mechanism for teleoperation. CDPRs characteristically have large workspaces and lightweight actuators. An intuitive and user-friendly remote control has not yet been achieved, owing to the unfamiliar multiple-cable configuration of CDPRs. To address this, we constructed a portable compact-sized CDPR with the same configuration as that of a larger fully constrained slave CDPR. The haptic device is controlled by an admittance control for stiffness adjustment and implemented in an embedded microprocessor-based controller for easy installation on an operator’s desk. To validate the performance of the device, we constructed an experimental teleoperation setup by using the prototyped portable CDPR as a master and larger-size CDPR as a slave robot. Experimental results showed that a human operator can successfully control the master device from a remote site and synchronized motion between the master and slave device was performed. Moreover, the user-friendly teleoperation could intuitively address situations at a remote site and provide an operator with realistic force during the motion of the slave CDPR.

Design of rapid monitoring system of geological disaster based on LoRa

According to the characteristics of the geological environment and disasters, this paper uses microelectronics, wireless communication, thin-film solar power supply and other technologies, combined with lightweight process design, a new scheme for rapid geological disaster monitoring system based on LoRa is proposed. The system is based on embedded microprocessor of STM32F103 and SX1278 module of LoRa, which uses self-organizing network design of star-type and constructs a monitoring system with long communication distance and stable and reliable data transmission. The system can realize real-time data collection of multiple monitoring parameters of the disaster body and transmit the monitoring data to the data center or dedicated data receiving terminal through LoRa/GPRS/BeiDou satellite, which can provide data support for expert analysis and decision-making. The system has the features of low power consumption, long transmission distance, ad hoc network, stable and reliable communication, which has wide application prospect in the field of geological disaster monitoring.