Solid State Phenomena Vols. 166-167

Abstract: The paper presents the research results carried out by the team of authors over the past 10 years in the field of video inspection of sewer pipes manipulators, designed based on the connecting cable technology between inspection module and the surface control unit and on wireless technology.

Abstract: The paper presents research results on the development of specific steering and vertical locus orientation mechanisms for mobile construction robots.

Abstract: The paper aims to present and exemplify the ways in which a mixed system of humans and sociable robots co-operate. To do so, an airport boarding multi-agent system was developed based on Tropos methodology. Some of its agents are in fact virtual robots with which the human can interact using a computer software interface.

Abstract: This paper present under a general manner, a software elaborated by the authors and their research teams, during a research project. So, we have worked out a toolbox (SIMMECH) of an ample program, done by dr. Rusu a few years ago, entitled Pythagoras. Both Pythagoras and Simmech packages was performed using the Java platform. In this stage of research, Simmech toolbox is able to simulate planar linkages and robots only. The simulation of a mechanism or robot of the specified category begins with its building, using specialized buttons on the graphic interface of the program, then we may visualize the movement of the mechanism for a imposed segment of time and we can also visualize the kinematical diagrams of the elements or joints. We hope in future to extend our research to the spatial mechanisms and robots.

Abstract: This contribution presents some important issues on mobile robots path planning. While it is hard to find a unique architecture for all the applications involving mobile robots, specific approaches can provide suitable solutions. Thus, three distinct structures are discussed, all making use of certain artificial intelligence techniques. They address the use and integration of artificial vision, a planning approach based on temporal logics, and a multi agent scheme. The three methods refer cases of mobile robots evolving in environments where various types of sensorial information can be obtained. Each of the proposed solutions determines advantages when it is used for a certain class of tasks.

Abstract: This paper focuses on the actuation strategy of an active driving simulator and its validation using experimental driving data. The simulator combines the simulation of both the road characteristics and the vehicle dynamics into a single architecture. The goal is to combine actual road excitation signals with imposed vehicle movements to create a realistic driving experience.

Abstract: In this paper we present a new compact and portable rehabilitation system. It's role is to provide therapeutic passive motions of the hand. The anatomical characteristics and the biomechanics of the wrist are emphasized. The target anatomical movements of the hand are flexion-extension and abduction-adduction. A comparative study of similar devices is presented. The principle of operation of chosen variant is given. Its design methodology is detailed. A functional prototype was developed and its functional parameters are presented.

Abstract: The paper presents a scaled experimental stand for applying different algorithms onto a braking system with anti-lock capability, in order to determine the best way to control the braking process. The stand consists of a test wheel with an electro-mechanic brake caliper rolling against a powered tambour track. The angular velocities of both rolling wheel and track are monitored by a PC using custom hardware and software. The functional parameters of the test stand can be modified, thus employing different approaches for the anti-lock function of the braking process.

Abstract: This paper presents the architecture, simulation, implementation and control problem for a class of continuum manipulators – the truncated cone tentacle arm. Desired shape for a tentacle robot is obtained by bending each of the three serial connected sections of a continuous backbone. Such tentacle arm has a fixed length but it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. For this prototype we present a finite element model, for simulation purposes, we propose a kinematic model to be used in the control structure, and we conducted a series of tests regarding the structure behavior, using both sensor and artificial vision analysis. In this paper we present the results of our work.

Abstract: Robot soccer competition provides an excellent opportunity for robotics research. In particular, the soccer robots must perform real-time visual recognition, navigate in a dynamic field, avoid the obstacle, collaborate with teammates, and kick the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other robot to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). This paper proposes a method of defining and analysing the attacking robot tasks using Petri nets. Attacking soccer robot behaviors are modeled using the generalized stochastic Petri nets. Using Petri nets allows qualitative and quantitative analysis of the task execution. Petri net model is implemented in Petri Net Toolbox under MATLAB environment. Therefore, it is validated the net topology, the evolution of (their dynamics), the structural and behavioral properties (corresponding to checking if resources usage is stable and the model have no deadlocks), as well as the stochastic performance.