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A life-sized humanoid kicking robot was built as a research tool to investigate the mechanics, kinematics and dynamics of place kicking a rugby ball. The kicking leg is pneumatically-controlled. Thermodynamic analysis estimates the upper limit of the foot speed to be about 38 m/s. The measured foot speed is about 21 m/s with the principal energy loss from back pressure on the discharge side of the...
Indoor positioning systems (IPS) have gained a lot of traction within the research community in recent years. Received Signal Strength Indicator (RSSI) of wireless networks are the most commonly used metric for indoor localization. The objective of this paper is to see how Wi-Fi interferers of different data rates affect the packet RSSI values of TX-RX links in a ZigBee based indoor localization system...
In order to solve the problem of energy supply for wearable and portable electronic equipment and exoskeleton, a direct energy recovery mechanism based on hydraulic transmission principle was designed. Firstly, according to the particularity of human body structure and function, establish a theoretical model can reflect the state of human body by Lagrange modeling method. Based on the established...
Considering the high precision and small load of the 3D printer motion control system, this paper proposed a method of multi-dimensional stepper motor coordinated control. The overall design of the control system is given; based on Bresenham algorithm, the Bresenham algorithm is extended from two-dimensional to multidimensional, realizing cooperative movement of the multidimensional stepper motor;...
Learning in robotics has become a requirement in some advanced industrial applications since robots are expected to perform complex, and in some cases multiple, tasks while simultaneously handling the unpredicted conditions of the environment. The research discussed in this paper focuses on the development of an algorithm that will allow a mobile robot to determine its own physical dimensions. This...
Mapping and localization is a well studied area in mobile robotics as all robots need to position themselves in the environment correctly to do their tasks. However, most maps lack any information about the surface they operate on. If a surface map is available, it can be used for robust control of the drive system as well as for planning of tasks such as cleaning, polishing, inspection, mowing, etc...
This paper considers the application of finite-time control to a Cucker-Smale flocking model of autonomous agents with collision avoidance. A mathematical expression for the upper bound on the flocking time is derived. Previous results without considering collision avoidance showed that the flocking time decreases as the number of robots in the flock increases, which is counter-intuitive. We showed...
Additive manufacturing (AM) allows designers to build 3D parts of almost any geometry and streamline the process of moving from initial design to prototype in a shortened timeframe. However the existing technologies are limited to small size parts due only to high resolution of the generally produced designs. If a very large part with typical layer resolutions of 0.2mm is produced, the time required...
A leading area of research in Additive Manufacturing, studies the quality of 3D prints using several testing strategies. This paper reviews two testing technologies: tensile testing (mechanical testing) and Scanning Electron Microscopy (SEM). The aim of this experiment was to provide a comparative study to better understand quality management processes in the 3D printing space. Additionally, this...
Continuum robots are an emerging class of manipulators which exhibit constantly deformable motion and the appearance of infinite degrees of freedom. These structures increase the scope of tasks achievable by robots with their ability to deform into infinite configurations, navigate unpredictable terrain and grasp unfamiliar objects. Often inspired by biological structures such as snakes, and elephant...
The paper presents the work on the characterisation of fibre reinforced thermoplastic composite parts made using 3D printing. The Taguchi method is used to develop an orthogonal array of the minimum required combinations of variables to analyse the effect different variables have on the tensile properties of specimens. The aim of this research is to determine the optimal combination of three independent...
3D Printing additive manufacturing is a rapidly developing form of technology. Currently able to manipulate many polymers (both synthetic and organic) this technique is quickly becoming an integral part of biotechnological developments. This paper highlights the fundamentals of this technology namely the mechanisms employed in standard 3D printing it then introduces tissue engineering a field in which...
In recent years energy efficient LEDs have become a commonplace lighting solution. It is possible to create an indoor positioning system (IPS) from existing lighting infrastructure by making minor modifications to the luminaire drivers. In this paper we develop and implement an IPS by augmenting the luminaires with collocated Zigbee radios. The Hybrid Visible Light Positioning (HVLP) system utilizes...
Assembly process complexity in the production of manufactured products has received considerable attention in recent years. With the growing trend towards cyber-physical systems and the fourth industrial revolution, assembly research efforts must aim to develop efficient production systems incorporating robotic arms and flexible fixtures. The aim of the research was to investigate end effector and...
Precision grasp planning on three-dimensional (3-D) objects has received a lot of attention in the past few years. However, traditional contact-level methods are not applicable for real grasp tasks since they don't consider hand configuration, and heuristic approaches require a large amount of computing time. In this paper, the grasp planning problem is interpreted geometrically and the workspaces...
Current trends in manufacturing and research into factories of the future aim to provide customers with products that are customizable. Customer involvement in the customization and overall quality of the product are key factors that could ultimately ensure customer satisfaction. The manufacturer needs to find the means to produce quality products timeously at low cost. This paper presents the development...
This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
This paper presents the design and testing of a low cost ($30 unisolated, $75 isolated) electromyogram (EMG) circuit. The circuit is designed to utilise a Right Leg Driver (RLD) circuit: the RLD removes coupled electromagnetic interference from the subject. The benefit inherent with the use of the RLD is that it removes interference in real time, without attenuating the bio-potential signal. The circuit...
A 5-axis hybrid computer numerical controlled machine was developed using a 2 degree of freedom spherical parallel mechanism known as the Agile Eye. The hybrid machine design consisted of a 3-axis serial gantry type structure, with the Agile Eye being placed at the end of the Z-Axis to allow for machining on inclined planes. A control system was designed that controlled two kinematic systems, the...
Food is important to human for supporting our daily lives. Researchers can perceive food properties through investigation of mastication process. The investigation of in-vivo mastication can be time consuming and inefficient as a panel of volunteers is required. Robotic devices can assist as a platform to carry in-vitro simulation of mastication. This paper proposes a plan of developing a masticatory...
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