Applied Mechanics and Materials Vol. 772

Abstract: This paper describes a Main control system of the mobile robot TELERESCUER for inspecting coal mine areas affected by catastrophic events. Carried out in a framework of a EU programme of the Research Fund for Coal and Steel under the grant agreement No. RFCR-CT-2014-00002. The main problem is to applicate the very demanding safe requirements of ATEX on the design of the control system including its communication with other robot subsystems. The solving of this problem is presented in this paper.

Abstract: In this paper we present a method of reducing the computational complexity necessary in path planning for a car-like robot in order to generate the optimal path according to the constrains set by the user. The proposed method implies adding the following constrains: setting the maximum and minimum distance between the possible paths and the obstacles placed in the virtual environment in order to reduce the simulation time and to obtain a real-time application and to remove the paths that contain unnecessary turns around the environment without avoiding an obstacle. By applying this method the simulation complexity is reduced and the optimal path is easier to find.

Abstract: The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design.

Abstract: Usual the location of robot base with respect to positions (configurations) of an application that the robot must reach is choose in such a way that the application points to be into working space of robot by avoiding the obstacles. Or the application is build from the very first beginning in such a way that all application points to be in the working space of robot because usual the robot base is fixed to the ground. But this is not the optimal solution with respect to an objective function which represents for example minimum time of motion during a cycle, or minimum consumption of energy, or maximum precision, or combination of these. Some objective functions could results from the specificity of the application like is the case of casting of forging where the accumulation of heat for example could be one of the optimization criteria. For example in the automotive industry the owners prefer to replace the whole robotized line when the product is changed instead of reprogramming robots because the prices of robots is decreasing and the price of reprogramming is increasing. For such a situation the placing of robot base in an optimum location from the very first beginning so that the time or/and energy consumption to be minimum is an essential initial task, especially for large series productions. The proposed paper is dealing with the subject of moving the base of robot with respect to the application points so that an objective function representing the minimum time of motion during a cycle to be fulfilled.

Abstract: This study aims at introducing a numerical algorithm based on fuzzy logic to solve the robotic inverse kinematic problem. The increase of robot complexity requires fast and robust algorithms able to improve the convergence problem in the whole workspace. Classical numerical methods are usually difficult and computationally expensive and they do not always converge. The proposed approach is based on a fuzzy scheme, it converges in all the tested simulations on a serial manipulator.

Abstract: In the field of mobile robotics, the process of robot localization and global trajectory planning in robot operating scenes, that are completely or partially known, represents one of the main issues that are essential for providing the desired robot functionality. This paper introduces the basic elements of path planning for an autonomous mobile robot equipped with sonar sensors, operating in a static environment. The path planning process is initially performed by using a known map. Next, the sonar sensors are used to localize the robot, based on obstacle avoidance techniques. The effectiveness and efficiency of the algorithm proposed in this paper is demonstrated by the simulation results.

Abstract: This article describes the process of designing and testing the accuracy of trajectory following for omnidirectional mobile robot Odin. It explains the relation between mobile robotic stair climbing system with shaped wheels and omnidirectional wheels, which are used together in a combined locomotive system. It is presented by the conception study only on account of realization of the simplified chassis with the omnidirectional wheels for testing mechanical parameters and the accuracy of the trajectory ride. The omnidirectional mobile robot Odin was built based on a simplified chassis with omnidirectional wheels and with the modular manipulator Schunk mounted on top. The article concludes with a description and comparison of the achieved results by testing the accuracy of the trajectory ride for the simplified chassis and for the omnidirectional mobile robot Odin.

Abstract: The article describes sensory subsystem required for proper operation of a special segment wheel designed for smooth driving both on a flat surface and on stairs. This subsystem contains two 2D laser scanners Hokuyo oriented towards stairs that provide point clouds for further processing. The main part of the article deals with the algorithm for detection of stair features (surfaces of stair treads and risers) in the data, including initial noise filtering. The conclusion provides practical testing performed on few real staircases and evaluation of the results.

Abstract: Visual Servoing to Moving Target with Fixed Hand-Eye Cameras Mounted at Hand of Robot is Inevitably Be Affected by Hand Dynamical Oscillations, then it is Hard to Keep Target at the Centre of Camera’s Image, since Nonlinear Dynamical Effects of Whole Manipulator Stand against Tracking Ability. in Order to Solve this Problem, an Eye-Vergence System, where the Visual Servoing Controller of Hand and Eye-Vergence is Controlled Independently, so that the Cameras can Observe the Target Object at the Center of the Camera Images through Eye-Vergence Functions. the Eyes with Light Mass Make the Cameras’ Eye-Sight Direction Rotate Quickly, so the Track Ability of the Eye-Vergence Motion is Superior to the One of Fixed Hand-Eye Configuration. in this Report Merits of Eye-Vengence Visual Servoing for Pose Tracking Have been Confirmed through Frequency Response Experiments.

Abstract: For welcoming a future economy based on hydrogen technology, the paper presents the results of the study case that, for the first time in Romania, simultaneously tackles two concepts with remarkable role in the efficiency and decarbonisation of energy generation systems in residential buildings: hydrogen fuel cell and passive house. For power supply of passive house were created and simulated virtual operating conditions of a energy system as stand-alone type, the hydrogen technology has been integrated into hybrid solar - wind energy system inside of which to take over the storage function by electrolytic hydrogen obtained locally inside the system by exploitation of available renewable sources and use it on fuel cell that serves as a back-up to cover the peak load demands and intermittencies caused by weather conditions. The aim of this study is to demonstrate the capability and feasibility on energy, economic and environmental performance of hydrogen technology for power supply of passive house. The main results of the study: studied passive house, with an surface of 160 m², located in Cluj - Napoca, has a total annual load value equal to 42,24 kWh/m²∙year, being of 75% lower than that of a newly constructed building in the European standard, the annual energy production of the power system is performed by the photovoltaic panels with a percentage of 54,55%, 35,95% by wind turbines and 9,50% by fuel cell. Storage and use the solar and wind renewable energy through electrolytic hydrogen is in proportion of 61,80% and the carbon footprint of the whole building - energy system is with 81,30% lower than in a traditional building energy aided by a classical system.