Solid State Phenomena Vols. 166-167

Abstract: This paper presents the implementation in the Matlab/Simulink environment of an application for measuring distances using a video camera. Some of the advantages of using image processing as a method of measurement and of the Matlab for designing de application. The principles that where use to obtain de distance calculated where presented. Also the steps of the application implementation in Simulink where described.

Abstract: In this paper is presented the 3D acquisition and reconstruction process of complex geometry objects: two types of hip and cervical-cephalic prosthesis. The reconstruction process is based on triangulation single camera solution method with a 3D optical non-contact scanner which uses an emitted laser beam to sweep the object surfaces.

Abstract: The aim of the paper is to describe an approach for modeling the dynamic behavior of a positioning system actuated by two shape memory alloy springs, placed in opposition. The mathematical analysis of the system in order to develop the dynamic model is difficult in this case because of the unknown parameters within the dynamic equations (thermodynamics, change in austenite fraction) and therefore a new approach is presented. Thus, a positioning system is considered, and its behavior is determined using Matlab Software, D-space platform and an optical sensor, which analyses the position/velocity of the moving cart. The dynamic model of the system is determined in order to develop a further model based control technique. The model is generated using system identification toolbox within Matlab and input and output (response) of the considered system.

Abstract: This paper presents a modular method to compute the workspace of parallel robot with 6 degrees of freedom. For the generation of the workspace also the mechanical constrains of both the active and passive joints are taken into consideration.

Abstract: Recent advances in the domains of social and life artificial intelligence have constituted the basis for a new discipline that studies cooperation in multi-robot systems and its utility in applications where some tasks cannot be carried out by a single robot. This paper introduces a trajectory generator which is used for determination of the most appropriate trajectory which a robot needs to track in order to perform different tasks specific to cooperative robots, such as moving in a given formation or pushing an object to a given destination. Different algorithms are described in this paper, starting from simple polyline and circular paths to complex Bezier trajectories. Simulation results of the proposed path generation system are also provided, along with the description of its implementation on real mobile robots. An implementation of real robots is also presented in this paper.

Abstract: The grip operation requires grippers as end effectors, behaving analogous to the human grasping organ, irrespectively if it is performed in robotic systems or in arm prostheses. Improving grippers design involves a biomechanical analysis of the human prehensile organ. The authors evaluated the complexity of both industrial and medical grippers and proposed a common design method, based on the mechatronic philosophy. The aimed upshot might be a better device, with improved functionality, a cost cutback and a more efficient design endeavour.

Abstract: One of the main issues of a mobile robot is to move in tight areas, to avoid obstacles, finding its way to the next location. These capabilities mainly depend on the wheels design. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. This paper provides some information about the mechanical design of an omni-directional robot, as well as about its control. This report is the result of the cooperation between researchers from Mechanical Engineering and Electrical Engineering Faculties, at “Gh. Asachi” Technical University of Iasi, Romania.

Abstract: The paper describes a intelligent robot with two stepper motor and microcontroller PIC16F84A for obstacles avoiding (IRSMP). An experimental prototype, based on a stepper motor, microcontroller PIC16F84A and infrared sensors, has been realized using conventional digital circuits. The proposed control scheme can be usefully applied to any intelligent robot. The infrared sensors has using for obstacles avoiding. The program for microcontroller is making in assembler language.

Abstract: In this paper are presented some of the main issues in designing and developing of mobile robots in virtual environments that can be used for completing various tasks. Due to high complexity of robotic systems, real experiments are demanding unsatisfying timeframes and high financial resources. Other problems scientists encounter in real tests are the difficulty of concurrent use, space restrictions or hardware malfunctions. Several related studies are treating these issues by proposing the usage of virtual reality (VR) as a solution for reducing costs and decreasing development time. We are focusing our study on designing and developing of a virtual mobile robot and integrating it within various virtual environments. Furthermore, we describe the technologies that can be used to accomplish our goals, listing their good and weak points, we integrate our work in an immersive VR environment like Cave Automatic Virtual Environment (CAVE) and we present the study results.

Abstract: The paper presents some author’s experiments carried out within the frame of a research project and destined to endow mobile robot modules with small and simple sensors to support navigation. Range sensors, proximity sensors and acceleration sensors in MEMS technology were used and Fuzzy logic has proved to be an adequate tool for sensor data integration. A Fuzzy controller has been developed and tested on a mobile robot moving on rough terrain.