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Article
Publication date: 11 January 2011

K.P. Liu, B.L. Luk, F. Tong and Y.T. Chan

Building inspection tasks usually involve working at life‐threatening height, especially for high‐rise buildings. The purpose of this paper is to introduce two service robots…

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Abstract

Purpose

Building inspection tasks usually involve working at life‐threatening height, especially for high‐rise buildings. The purpose of this paper is to introduce two service robots which are designed for high‐rise building inspection applications.

Design/methodology/approach

The first service robot, equipped with independent‐climbing capability, is applied to gas pipe inspection. The robot requires very little setup time and is suitable for some small inspection tasks. The second, which shares some similarities of industrial gondolas, is applied to check the health conditions of tile‐walls of high‐rise buildings. This robot requires more initial setup time but can provide faster inspection operations. In addition, it can be programmed to carry out the inspection task automatically. So, it is more suitable for large‐scale inspection tasks.

Findings

For tile‐wall inspection, a fast, low‐cost and effective non‐destructive testing technique based on impact acoustic method has been developed for the robot.

Originality/value

Both prototypes have been applied to housing estates for evaluation purposes.

Details

Industrial Robot: An International Journal, vol. 38 no. 1
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 22 February 2011

David Sanders, Giles Tewkesbury and Jasper Graham‐Jones

This paper aims to describe real time improvements to the performance and trajectories of robots for which paths had already been planned by some means, automatic or otherwise…

732

Abstract

Purpose

This paper aims to describe real time improvements to the performance and trajectories of robots for which paths had already been planned by some means, automatic or otherwise. The techniques are applied to industrial robots during the gross motions associated with pick and place tasks. Simple rules for path improvement are described.

Design/methodology/approach

The dynamics of the manipulator in closed form Lagrange equations are used to represent the dynamics by a set of second‐order coupled non‐linear differential equations. The form of these equations is exploited in an attempt to establish some simple rules. Sub‐optimal paths are improved by considering simple rules developed from the model of the machinery dynamics. By considering the physical limitations of the manipulator, performance was improved by refining pre‐calculated paths. Experiments were performed with a prototype robot and an old Puma 560 robot in a laboratory environment. Once the method had been tested successfully then experiments were conducted with a Kuka KR125 Robot at Ford Motor Company. The measured quantities for all the robots were drive currents to the motors (which represented the torques) and the joint angular positions.

Findings

The method of path refinement presented in this paper uses a simplified model of the robot dynamics to successfully improve the gross motions associated with a pick and place task. The advantage of using the input‐output form described was that intermediate non‐linearities (such as gear friction) and the motor characteristics were directly incorporated into the model.

Research limitations/implications

Even though many of the theoretical problems in manipulator dynamics have been solved, the question of how to best apply the theories to industrial manipulators is still being debated. In the work presented in this paper, information on system dynamics is used to produce simple rules for “path improvement”.

Practical implications

Most fast algorithms are for mobile robots and algorithms are scarcer for manipulators with revolute joints (the most popular type of industrial robot). This work presents real time methods that allow the robot to continue working while new global paths are automatically planned and improved as necessary.

Originality/value

Motion planning for manipulators with many degrees of freedom is a complex task and research in this area has been mostly restricted to static environments, offline simulation or virtual environments. This research is applied in real time to industrial robots with revolute joints.

Details

Assembly Automation, vol. 31 no. 1
Type: Research Article
ISSN: 0144-5154

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Article
Publication date: 1 May 2006

B.L. Luk, K.P. Liu, A.A. Collie, D.S. Cooke and S. Chen

Aims to report on the various types of tele‐operated mobile service robots for remote inspection and maintenance, especially in the field of nuclear industry.

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Abstract

Purpose

Aims to report on the various types of tele‐operated mobile service robots for remote inspection and maintenance, especially in the field of nuclear industry.

Design/methodology/approach

Describes nuclear electric robot operator (NERO), Sizewell A duct inspection equipment (SADIE), Robug‐IIs (all leg‐based) and Roboslave (wheel‐based).

Findings

That these robots can handle a significant portion of inspection and maintenance tasks in a typical nuclear plant, though, given that they are primarily tailor‐made, they are still too expensive for ordinary industries.

Originality/value

As the interests of health and safety and paramount, this study sees the use of such robots expanding and diversifying, irrespective of cost.

Details

Industrial Robot: An International Journal, vol. 33 no. 3
Type: Research Article
ISSN: 0143-991X

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Abstract

Details

The Study and Practice of Global Leadership
Type: Book
ISBN: 978-1-83867-617-9

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Article
Publication date: 28 June 2011

David Sanders, Giles Tewkesbury, Ian J. Stott and David Robinson

The purpose of this paper is to investigate how to make tele‐operated tasks easier using an expert system to interpret joystick and sensor data.

472

Abstract

Purpose

The purpose of this paper is to investigate how to make tele‐operated tasks easier using an expert system to interpret joystick and sensor data.

Design/methodology/approach

Current tele‐operated systems tend to rely heavily on visual feedback and experienced operators. Simple expert systems improve the interaction between an operator and a tele‐operated mobile‐robot using ultrasonic sensors. Systems identify potentially hazardous situations and recommend safe courses of action. Because pairs of tests and results took place, it was possible to use a paired‐samples statistical test.

Findings

Results are presented from a series of timed tasks completed by tele‐operators using a joystick to control a mobile‐robot via an umbilical cable. Tele‐operators completed tests both with and without sensors and with and without the new expert system and using a recently published system to compare results. The t‐test was used to compare the means of the samples in the results.

Research limitations/implications

Time taken to complete a tele‐operated task with a mobile‐robot partly depends on how a human operator interacts with the mobile‐robot. Information about the environment was restricted and more effective control of the mobile‐robot could have been achieved if more information about the environment had been available, especially in tight spaces. With more information available for analysis, the central processor could have had tighter control of robot movements. Simple joysticks were used for the test and they could be replaced by more complicated haptic devices. Finally, each individual set of tests was not necessarily statistically significant so that caution was required before generalising the results.

Practical implications

The new systems described here consistently performed tasks more quickly than simple tele‐operated systems with or without sensors to assist. The paper also suggests that the amount of sensor support should be varied depending on circumstances. The paired samples test was used because people (tele‐operators) were inherently variable. Pairing removed much of that random variability. When results were analysed using a paired‐samples statistical test then results were statistically significant. The new systems described in this paper were significantly better at p<0.05 (95 per cent probability that this result would not occur by chance alone).

Originality/value

The paper shows that the new system performed every test faster on average than a recently published system used to compare the results.

Details

Sensor Review, vol. 31 no. 3
Type: Research Article
ISSN: 0260-2288

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Book part
Publication date: 26 November 2018

Wendy Rowe, Wanda Krause, Gary Hayes, Lisa Corak, Robert Sean Wilcox, Robert Vargas, Fabricio Varela, Fabricio Cordova, Shina Boparai and Gesow Azam

Recognizing the need to build global-minded citizens, higher education institutions are increasingly trying to find ways to leverage their international programs to develop…

Abstract

Recognizing the need to build global-minded citizens, higher education institutions are increasingly trying to find ways to leverage their international programs to develop students’ intercultural competence. The MA in global leadership at Royal Roads University, Canada, created an international partnership in Ecuador that serves to go beyond the traditional student study abroad or service learning focus and instead focuses on developing competencies of global mindedness and strategic relationships. In this chapter, we present an analysis of how an international student group engaged in building dynamic partnerships within a Global South country to create change for sustainable development initiatives of mutual concern. Through a case example, we describe how these partnerships evolved and adapted in ways that enhanced the learning needs of the students while simultaneously supporting the development of new educational opportunities for Ecuadorians. To illustrate, this chapter delineates the activities that members of the program undertook to connect and develop a mutuality of relationship across diverse stakeholders in Ecuador. The authors analyze this network-building process from the perspective of cultural context, building trust and influence, and responding to social development needs of host communities.

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Article
Publication date: 1 April 1997

Jack Hollingum

Reviews the highlights of a two‐day European colloquium on information technology for climbing and walking robots held at the University of Portsmouth, UK, with progress reports…

1030

Abstract

Reviews the highlights of a two‐day European colloquium on information technology for climbing and walking robots held at the University of Portsmouth, UK, with progress reports on a Brite Euram project.

Details

Industrial Robot: An International Journal, vol. 24 no. 2
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 16 October 2009

David Sanders

The purpose of this paper is to investigate the effect of time delay on the ability of a human operator to complete a task with a teleoperated mobile‐robot using two systems, two…

486

Abstract

Purpose

The purpose of this paper is to investigate the effect of time delay on the ability of a human operator to complete a task with a teleoperated mobile‐robot using two systems, two different ways of interacting with the mobile‐robots and several different environments.

Design/methodology/approach

Teleoperators are observed completing a series of tasks using a joystick to control a mobile‐robot while time delays are introduced to the system. They sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot or mounted externally so that they view both the environment and robot. Teleoperators complete the tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link.

Findings

In simple environments, a teleoperator may perform better without a sensor system to assist them but as time delays are introduced then there are more failures. In more complicated environments or when time delays are longer, then teleoperators perform better with a sensor system to assist. Teleoperators may also tend to perform better with a radio link than with an umbilical connection.

Research limitations/implications

Teleoperated systems rely heavily on visual feedback and experienced operators. This paper investigates the effect of introducing a delay to the delivery of that visual feedback.

Practical implications

The paper suggests that in simple environments with short time delays then the amount of sensor support should be small but in more complicated environments or with longer delays then more sensor support needs to be provided.

Originality/value

Results from imposing time delays on a teleoperated mobile‐robot are presented. Effects on the task of different ways of viewing activity on a computer display are presented, that is with cameras mounted on the robot or cameras mounted externally to view both the environment and robot. Results from using sensors to assist teleoperators are presented. The paper suggests that the amount of sensor support should be varied depending on circumstances.

Details

Industrial Robot: An International Journal, vol. 36 no. 6
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 21 June 2011

Servet Soyguder and Hasan Alli

This study seeks to develop a novel eight‐legged robot. Additionally, this study defines design and control of an eight‐legged single actuator walking ROBOTURK SA‐2 spider robot…

693

Abstract

Purpose

This study seeks to develop a novel eight‐legged robot. Additionally, this study defines design and control of an eight‐legged single actuator walking ROBOTURK SA‐2 spider robot based on the features of a creatural spider.

Design/methodology/approach

First, the single actuator eight‐legged tetrapod walking spider robot was modeled on solid works and then the animation of the model was realized to ensure the accurate walking patterns and more stable walking. Based on this model, the novel prototype of the single actuator eight‐legged walking spider robot was constructed.

Findings

A novel motion mechanism uses only one actuator for driving the system.

Originality/value

The modeled single actuator eight‐legged robot is original in terms of the developed motion mechanism.

Details

Industrial Robot: An International Journal, vol. 38 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 26 January 2010

David Sanders

The purpose of this paper is to investigate the effect on completion of mobile‐robot tasks depending on how a human tele‐operator interacts with a sensor system and a mobile‐robot.

315

Abstract

Purpose

The purpose of this paper is to investigate the effect on completion of mobile‐robot tasks depending on how a human tele‐operator interacts with a sensor system and a mobile‐robot.

Design/methodology/approach

Interaction is investigated using two mobile‐robot systems, three different ways of interacting with the robots and several different environments of increasing complexity. In each case, the operation is investigated with and without sensor systems to assist an operator to move a robot through narrower and narrower gaps and in completing progressively more complicated driving tasks. Tele‐operators used a joystick and either watched the robot while operating it, or sat at a computer and viewed scenes remotely on a screen. Cameras are either mounted on the robot to view the space ahead of the robot or mounted remotely so that they viewed both the environment and robot. Every test is compared with sensor systems engaged and with them disconnected.

Findings

A main conclusion is that human tele‐operators perform better without the assistance of sensor systems in simple environments and in those cases it may be better to switch‐off the sensor systems or reduce their effect. In addition, tele‐operators sometimes performed better with a camera mounted on the robot compared with pre‐mounted cameras observing the environment (but that depended on tasks being performed).

Research limitations/implications

Tele‐operators completed tests both with and without sensors. One robot system used an umbilical cable and one used a radio link.

Practical implications

The paper quantifies the difference between tele‐operation control and sensor‐assisted control when a robot passes through narrow passages. This could be an useful information when system designers decide if a system should be tele‐operated, automatic or sensor‐assisted. The paper suggests that in simple environments then the amount of sensor support should be small but in more complicated environments then more sensor support needs to be provided.

Originality/value

The paper investigates the effect of completing mobile‐robot tasks depending on whether a human tele‐operator uses a sensor system or not and how they interact with the sensor system and the mobile‐robot. The paper presents the results from investigations using two mobile‐robot systems, three different ways of interacting with the robots and several different environments of increasing complexity. The change in the ability of a human operator to complete progressively more complicated driving tasks with and without a sensor system is presented and the human tele‐operators performed better without the assistance of sensor systems in simple environments.

Details

Sensor Review, vol. 30 no. 1
Type: Research Article
ISSN: 0260-2288

Keywords

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