Search Results (25)

Through the pendulum mechanism inside the spherical shell, the centroid can be varied circumferentially, enabling the spherical robot to achieve omnidirectional flexible movement. Additionally, the radial variation ability of the centroid enables spherical robots to adopt two distinct driving modes: the traditional lower pendulum driving mode and the inverted pendulum driving mode. There are two manifestations of radial variation in the centroid: having different radial positions of the centroid and achieving radial movement of the centroid. Focusing on these two manifestations, experimental data are obtained through different motion velocities and different motion slopes to conduct research on the influence of radial variation in the centroid on the motion of spherical robots. Based on the experimental data, multiple indicators are analyzed, including response speed, convergence speed, stability, and overshoot, as well as steering ability, climbing ability, and output power. The impact of the radial variation ability of the centroid on the control performance, locomotion capability, and energy consumption of spherical robots is summarized, and the correlation model relating the motion requirements to the radial position of the centroid is established, providing a theoretical basis for the selection of driving modes and centroid positions for spherical robots facing complex task requirements. Full article

The maximum linear (or translational) velocity achievable by an omnidirectional platform is not uniform as it depends on the angular orientation of the motion. This velocity is limited by the maximum angular velocity of the motors driving the wheels and also depends on the mechanical configuration and orientation of the wheels. This paper proposes a procedure to compute an upper bound for the translational velocity, named the consistent velocity of the omnidirectional platform, which is defined as the minimum of the maximum translational velocities achievable by the platform in any angular orientation with no wheel slippage. The consistent velocity is then a uniform translational velocity always achievable by the omnidirectional platform regardless of the angular orientation of the motion. This paper reports the consistent velocity for a set of omnidirectional platforms with three omni wheels that have the same radius and angular distribution but different angular orientations. Results have shown that these platforms can achieve different maximum velocities in different angular orientations although the consistent velocity is the same for all of them. Results have also shown that the consistent velocity has a linear relation with the angular velocity of the motion. The consistent velocity of a mobile platform can be used by its path-planning algorithm as an upper bound that guarantees the execution of any omnidirectional motion at a uniform and maximum translational velocity. Full article

The article presents the design concept of a surface acoustic wave (SAW)-based lab-on-a-chip sensor with multifrequency and multidirectional sensitivity. The conventional SAW sensors use delay lines that suffer from multiple signal losses such as insertion, reflection, transmission losses, etc. Most delay lines are designed to transmit and receive continuous signal at a fixed frequency. Thus, the delay lines are limited to only a few features, like frequency shift and change in wave velocity, during the signal analysis. These facts lead to limited sensitivity and a lack of opportunity to utilize the multi-directional variability of the sensing platform at different frequencies. Motivated by these facts, a guided wave sensing platform that utilizes simultaneous tone burst-based excitation in multiple directions is proposed in this article. The design incorporates a five-count tone burst signal for the omnidirectional actuation. This helps the acquisition of sensitive long part of the coda wave (CW) signals from multiple directions, which is hypothesized to enhance sensitivity through improved signal analysis. In this article, the design methodology and implementation of unique tone burst interdigitated electrodes (TB-IDT) are presented. Sensing using TB-IDT enables accessing multiple frequencies simultaneously. This results in a wider frequency spectrum and allows better scope for the detection of different target analytes. The novel design process utilized guided wave analysis of the substrate, and selective directional focused interdigitated electrodes (F-IDT) were implemented. The article demonstrates computational simulation along with experimental results with validation of multifrequency and multidirectional sensing capability. Full article

This study presents an extended vector polar histogram (EVPH) method for efficient robot navigation using omni-directional LiDAR data. Although the conventional vector polar histogram (VPH) method is a powerful technique suitable for LiDAR sensors, it is limited in its sensing range by the single LiDAR sensor to a semicircle. To address this limitation, the EVPH method incorporates multiple LiDAR sensor’s data for omni-directional sensing. First off, in the EVPH method, the LiDAR sensor coordinate systems are directly transformed into the robot coordinate system to obtain an omni-directional polar histogram. Several techniques are also employed in this process, such as minimum value selection and linear interpolation, to generate a uniform omni-directional polar histogram. The resulting histogram is modified to represent the robot as a single point. Subsequently, consecutive points in the histogram are grouped to construct a symbol function for excluding concave blocks and a threshold function for safety. These functions are combined to determine the maximum cost value that generates the robot’s next heading angle. Robot backward motion is made feasible based on the determined heading angle, enabling the calculation of the velocity vector for time-efficient and collision-free navigation. To assess the efficacy of the proposed EVPH method, experiments were carried out in two environments where humans and obstacles coexist. The results showed that, compared to the conventional method, the robot traveled safely and efficiently in terms of the accumulated amount of rotations, total traveling distance, and time using the EVPH method. In the future, our plan includes enhancing the robustness of the proposed method in congested environments by integrating parameter adaptation and dynamic object estimation methods. Full article

Omnidirectionality is a feature that allows motion in any direction without orientation maneuvers. Omnidirectional mobile robots are usually based on omni or mecanum wheels. The motion of an omnidirectional mobile robot is defined by a target motion command $M=\left(v,\alpha ,\omega \right)$, where $v$ is the module of the translational velocity; $\alpha$ is the angular orientation of the translational velocity, and $\omega$ is the angular velocity of the mobile robot. The motion is achieved by converting the target motion command into the target angular velocities that must be applied to the active wheels of the robot. This work proposes a simplified phasor-like interpretation of the relationship between the parameters of a specific motion command and the angular velocities of the wheels. The concept of phasor-like notation is validated from the analysis of the kinematics of omnidirectional mobile robots using omni wheels and mecanum wheels. This simplified phasor-like notation fosters unconstrained conceptual design of single-type and hybrid multi-wheeled omnidirectional mobile robots without the distribution or type of wheels being a design constraint. Full article

The ultrasonic detectability of buried defects within composite materials is dependent on the anisotropy of the composite material by which the propagation property of acoustic wave in each direction is variably affected. In this study, the characteristics of acoustic waves propagating in different directions for composite materials are explored based on the full matrix capture (FMC) data using an ultrasonic phased array. The elastic constant of multidirectional carbon fiber reinforced plastic (CFRP) laminate is first derived based on the genetic algorithm. The characteristics of transmitted and reflected waves in higher angles are predicted by implementing the Christoffel equation, and the focal law used in post-processing of FMC data can be optimized accordingly. The imaging results of the total focusing method (TFM) using the improved focal law are compared with the results of the conventional TFM. The results suggest that the optimized TFM can effectively characterize the defect by reducing the background noise. Furthermore, since it is impractical to theoretically correct angle-dependent velocity for in situ inspection, a linear extrapolation method based on the experimentally measurable velocity at low angles is proposed to estimate the velocity profile at higher angles. The imaging results using the fast extrapolated velocity profile is then compared with the theoretical, and it has been demonstrated that while the difference between the images using the theoretical focal law and the linearly extrapolated one is barely visible, the later one is overwhelmingly advantageous to be realiszd for engineering practices. Full article

Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures. Full article

Odometry is a computation method that provides a periodic estimation of the relative displacements performed by a mobile robot based on its inverse kinematic matrix, its previous orientation and position, and the estimation of the angular rotational velocity of its driving wheels. Odometry is cumulatively updated from tens to hundreds of times per second, so any inaccuracy in the definition of the inverse kinematic matrix of a robot leads to systematic trajectory errors. This paper proposes a non-parametric calibration of the inverse kinematic (IK) matrix of a three-wheeled omnidirectional mobile robot based on the use of genetic algorithms (GA) to minimize the positioning error registered in a set of calibration trajectories. The application of this non-parametric procedure has provided an average improvement of 82% in the estimation of the final position and orientation of the mobile robot. This is similar to the improvement achieved with analogous parametric methods. The advantage of this non-parametric approach is that it covers a larger search space because it eliminates the need to define feasible physical limits to the search performed to calibrate the inverse kinematic matrix of the mobile robot. Full article

In this paper, a fuzzy neural network based predefined-time trajectory tracking control method is proposed for the tracking problem of omnidirectional mobile robots (FM-OMR) with uncertainties. Considering the requirement of tracking error convergence time, a position tracking controller based on predefined-time stability is proposed. Compared with the traditional position tracking control method, the minimum upper bound of the convergence time can be explicitly set. In order to obtain more accurate angular velocity tracking, the inner loop controller combines Type 1 fuzzy neural network (T1FNN) to estimate the uncertainty. In addition, considering the problem of feedback channel noise, a Kalman filter combining velocity and position information is proposed. Finally, the simulation results verify the effectiveness of this method. Full article

Many oil and gas fields, especially non-conventional shale and compacted sand reservoirs, have formation anisotropy. The acoustic anisotropy measurement of cores in these reservoirs can guide drilling, well logging, and exploitation. However, almost all core holders are designed for cylinder cores, which are not suitable for all-directional measurements. A three-dimensional measurement device was designed on the basis of the cross-hole sonic logging method. This device mainly consisted of two pairs of transducers, a signal generator, an oscillograph, an omnidirectional positioning system, and a computer control system. By adjusting the measurement latitude and longitude circle automatically, this device scanned spherical sample rocks and obtained full-wave waveforms in all directions. Experiments were performed taking granite from the Jiaodong Peninsula, China, as an example, and the arrival times and velocities of the longitudinal and shear waves were calculated based on the full-wave waveforms. Thereafter, anisotropic physical characterizations were carried out on the basis of these velocities. These data play an important role in guiding formation fracturing and analyzing the stability of borehole walls. Full article

Vertical Axis Wind Turbines (VAWTs) are omni-directional, low-cost, low-efficiency wind power extractors. A conventional drag-based VAWT consists of multiple thin rotor blades with a typical peak Tip Speed Ratio (λ) of < 1. Their lower cut-in speed and maintenance cost make them ideal for power generation in urban environments. Numerous studies have been carried out analysing steady operation of VAWTs and quantifying their performance characteristics, however, minimal attention has been paid to their start-up dynamics. There are a few recent studies in which start-up dynamics of lift-based VAWTs have been analysed but such studies for drag-based VAWTs are severely limited. In this study, start-up dynamics of a conventional multi-blade drag-based VAWT have been numerically investigated using a time-dependant Computational Fluid Dynamics (CFD) solver. In order to enhance the start-up characteristics of the drag-based VAWT, a stator has been integrated in the design assembly. The numerical results obtained in this study indicate that an appropriately designed stator can significantly enhance the start-up of a VAWT by directing the flow towards the rotor blades, leading to higher rotational velocity (ω) and λ. With the addition of a stator, the flow fields downstream the VAWT becomes more uniform. Full article

The development of a proportional–integral–derivative (PID) control system is a simple, practical, highly effective method used to control the angular rotational velocity of electric motors. This paper describes the optimization of the PID control of a brushed DC motor (BDCM) with an embedded low-cost magnetic quadrature encoder. This paper demonstrates empirically that the feedback provided by low-cost magnetic encoders produces some inaccuracies and control artifacts that are not usually considered in simulations, proposing a practical optimization approach in order to improve the step overshoot and undershoot controller response. This optimization approach is responsible for the motion performances of a human-sized omnidirectional mobile robot using three motorized omnidirectional wheels. Full article

The tele-presence robot is designed to set forth an economic solution to facilitate day-to-day normal activities in almost every field. There are several solutions to design tele-presence robots, e.g., Skype and team viewer, but it is pretty inappropriate to use Skype and extra hardware. Therefore, in this article, we have presented a robust implementation of the tele-presence robot. Our proposed omnidirectional tele-presence robot consists of (i) Tricon ultrasonic sensors, (ii) Kalman filter implementation and control, and (iii) integration of our developed WebRTC-based application with the omnidirectional tele-presence robot for video transmission. We present a new algorithm to encounter the sensor noise with the least number of sensors for the estimation of Kalman filter. We have simulated the complete model of robot in Simulink and Matlab for the tough paths and critical hurdles. The robot successfully prevents the collision and reaches the destination. The mean errors for the estimation of position and velocity are 5.77% and 2.04%. To achieve efficient and reliable video transmission, the quality factors such as resolution, encoding, average delay and throughput are resolved using the WebRTC along with the integration of the communication protocols. To protect the data transmission, we have implemented the SSL protocol and installed it on the server. We tested three different cases of video resolutions (i.e., $320\times 280$, $820\times 460$ and $900\times 590$) for the performance evaluation of the video transmission. For the highest resolution, our TPR takes 3.5 ms for the encoding, and the average delay is 2.70 ms with 900 × 590 pixels. Full article

Currently used planar manipulation methods that utilize oscillating surfaces are usually based on asymmetries of time, kinematic, wave, or power types. This paper proposes a method for omnidirectional manipulation of microparticles on a platform subjected to circular motion, where the motion of the particle is achieved and controlled through the asymmetry created by dynamic friction control. The range of angles at which microparticles can be directed, and the average velocity were considered figures of merit. To determine the intrinsic parameters of the system that define the direction and velocity of the particles, a nondimensional mathematical model of the proposed method was developed, and modeling of the manipulation process was carried out. The modeling has shown that it is possible to direct the particle omnidirectionally at any angle over the full 2π range by changing the phase shift between the function governing the circular motion and the dry friction control function. The shape of the trajectory and the average velocity of the particle depend mainly on the width of the dry friction control function. An experimental investigation of omnidirectional manipulation was carried out by implementing the method of dynamic dry friction control. The experiments verified that the asymmetry created by dynamic dry friction control is technically feasible and can be applied for the omnidirectional manipulation of microparticles. The experimental results were consistent with the modeling results and qualitatively confirmed the influence of the control parameters on the motion characteristics predicted by the modeling. The study enriches the classical theories of particle motion on oscillating rigid plates, and it is relevant for the industries that implement various tasks related to assembling, handling, feeding, transporting, or manipulating microparticles. Full article

Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable the usage of regular wheels. Yet, it is known that an ACW robot with three actuated wheels needs to overcome kinematic singularities. This paper introduces the kinematic model for an ACW omni robot. We present a novel method to overcome the kinematic singularities of the mechanism’s Jacobian matrix by performing the time propagation in the mechanism’s configuration space. We show how the implementation of this method enables the estimation of caster wheels’ swivel angles by tracking the plate’s velocity. We present the mechanism’s kinematics and trajectory tracking in real-world experimentation using a novel robot design. Full article