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Design and modeling of self-sustainable bathroom floor cleaning robot system |
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Azamat Nurlanovich Yeshmukhametov(Satbayev University, Kazakhstan) |
| This study demonstrates a new toilet floor cleaning robot arm with extended long reach SCARA type robot arm. With the treat of the covid-19 virus to the world, the term cleaning and disinfection became one of the crucial instruments to refrain from the virus infection among the population. Therefore, in this research paper, we proposed a novel multi-joint robot arm with an autonomous toilet floor cleaning system. Moreover, this paper deals with the robot's design modeling, kinematics, kinematic validation, and robot control algorithm. |
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Remote Control Experiment of Multiple Robots Using RSNP Unit |
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Koichiro Kato(Shibaura Institute of Technology, Japan), Yukihiro Nakamura(International Professional University of Technology in Osaka, Japan), Nobuto Matsuhira(Shibaura Institute of Technology, Japan), Masahiko Narita(Advanced Institute of Industrial Technology, Japan) |
| In this study, we developed a robot teleoperation function using a robot service network protocol (RSNP) unit and common operation interface, and experimented using 12 robots. From the teleoperation screen on the web page, the robot can be remotely controlled by buttons while checking the camera image on the robot side. We have confirmed that RSNP communication can be introduced by connecting the developed RSNP unit to the robots in various ways. This allowed us to remotely control not only mobile robots but also communication robots, robot arms, and various other robots from a common communication method and operation screen. |
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A Practically Implementable Anti Slip Control with Slip Indicator for Two-wheeled Balancing Robots |
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Yongkuk Kim(Korea aerospace university, Korea), SangJoo Kwon(Korea Aerospace University, Korea) |
| In this paper, we propose a practical and heuristic anti-slip control method for two-wheeled balancing robot.As the wheel-slip becomes severe, control inputs for keeping balance cannot be successfully transferred to the driving surface.We give a detailed analysis on the behavior of the TWIP vehicle under various low-traction conditions and suggest an easy-to-apply anti-slip control algorithm based on the maximum transmissible torque estimation method.Also,proposed slip indicator can precisely figure out severe wheel slip occurrence using obtainable sensor data.Comparative simulations demonstrate the effectiveness of the proposed control scheme. |
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Household Raw Garbage Processing Robot using Biomass |
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Yoshihiko TAKAHASHI, Yudai AGATA, Taichi WATANABE(Kanagawa Institute of Technology, Japan) |
| A processing robot has been developed that uses biomass to help turn kitchen waste into fertilizer, and spray it in fields. A four-wheel independent drive system using wide and soft tires was designed to enable stable movement. The direction of the robot is controlled by changing the rotation speed of the left and right tires. The tank containing the biomass was placed at the rear of the robot. It is equipped with a stirring mechanism to accelerate the reaction of the biomass and release it to the outside of the tank. The size of the robot is about 50cmx30cmx20cm, and the whole mechanical syst |
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Design and Installation of Waterproof Wireless Communication Device to Support Firefighting Activities |
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Yasuaki Orita, Kiyotsugu Takaba(Ritsumeikan University, Japan), Takanori Fukao(University of Tokyo, Japan) |
| We present the design and installation of a wireless communication device for use at fire scenes. Fire sites are particularly challenging environments for adopting robotic technologies due to firefighting water, high temperature, and smoke. Consequently, each device should meet firefighting-specific requirements. We focused on water and defined three indicators with respect to waterproofness of the device. Our device consists of a communicator and a characteristic capsule. The capsule provides waterproofing and protects the stored module. Some experiments showed the validity of defined indicators and demonstrated the practicality of the proposed device. |
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