A NOVEL AUTONOMOUS LOCALIZATION TECHNIQUE OF SUBSEA IN-PIPE ROBOT

Posted by admin on Oct 11, 2010 in International Journal of Robotics and Automation, Scientific Journals | 4 comments Abstract This paper proposes a novel in-pipe localization technique for industrial in-pipe robots to implement long-distance subsea pipeline maintenance. The proposed localization technique is that the in- pipe robot first performs rough in-pipe localization by an eddy current sensor detecting girth welds along pipelines, and then achieves precise in-pipe localization between adjacent girth...
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HEAVY OBJECT MANIPULATION BY A HYBRID SERIAL-PARALLEL MOBILE ROBOT

Posted by admin on Oct 11, 2010 in International Journal of Robotics and Automation, Scientific Journals | 8 comments [Abstract] In this study, dynamics and control of a compounded serial-parallel wheeled mobile robot is elaborated. The proposed system is made of a differentially-driven wheeled platform, a planar parallel manipulator, which is called here as star-triangle (ST) mechanism, and a serial Puma-type manipulator arm attached to the moving star-plane of the parallel manipulator.professional persian...
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STRUCTURAL SYNTHESIS AND VARIATION ANALYSIS OF A FAMILY OF 6-DOF PARALLEL MECHANISMS WITH THREE LIMBS

Posted by admin on Oct 11, 2010 in International Journal of Robotics and Automation, Scientific Journals | 1 comment [Abstract] This paper presents the structural synthesis and variation of a family of six degrees of freedom (DoF) parallel mechanisms with three limbs, based on screw theory and group theory. Firstly the preliminaries of screw theory and group theory are briefly introduced; three corollaries and a geometric approach are presented to solve the reciprocity and correlation between screws. Then a...
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BIOLOGICALLY INSPIRED DESIGN OF A GLASS CLIMBING ROBOT FOR REMOTE SERVICES

Posted by admin on Oct 11, 2010 in International Journal of Robotics and Automation, Scientific Journals | 2 comments [Abstract] In this paper a portable lightweight climbing robot for smooth sloping surface is proposed which can highly be deployed for service applications such as maintenance and cleaning. The robot is developed as a flexible sliding frames mobile platform with hybrid actuating mechanism, pneumatic components, and suction cup grippers to provide the required movement in three dimensional...
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A MULTI-OBJECTIVE GA BASED ALGORITHM FOR 2D FORM AND FORCE CLOSURE GRASP OF PRISMATIC OBJECTS

Posted by admin on Oct 11, 2010 in International Journal of Robotics and Automation, Scientific Journals | 1 comment [Abstract] Given a 2D polygonal object with “n points on its boundary at which fingertips can be placed, we use a stochastic multi-objective optimization algorithm to find the optimal form or force closure grasp points. The vertices of the object are given as input to the algorithm that first divides the object’s perimeter into discrete points where fingertips can be placed. The optimal...
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FUSION OF CORRELATED LOCAL ESTIMATES UNDER NON-GAUSSIAN CHANNEL NOISE

Posted by admin on Oct 11, 2010 in International Journal of Robotics and Automation, Scientific Journals | 0 comments [Abstract] In distributed multisensor fusion, local estimates are communicated to a distant central processor via noisy communication channels. Under Gaussian noise assumption, there exist optimal linear methods solving the problem. In practise, channel noises are often heavy- tailed non-Gaussian, hence alternative methods should be used to make the fusion estimation robust to outliers....
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