Giuseppe Gillini, Paolo Di Lillo, Filippo Arrichiello, Daniele Di Vito, Alessandro Marino, Gianluca Antonelli and Stefano Chiaverini
In the past decade, more than 700 million people are affected by some kind of disability or handicap. In this context, the research interest in assistive robotics is growing up…
Abstract
Purpose
In the past decade, more than 700 million people are affected by some kind of disability or handicap. In this context, the research interest in assistive robotics is growing up. For people with mobility impairments, daily life operations, as dressing or feeding, require the assistance of dedicated people; thus, the use of devices providing independent mobility can have a large impact on improving their life quality. The purpose of this paper is to present the development of a robotic system aimed at assisting people with this kind of severe motion disabilities by providing a certain level of autonomy.
Design/methodology/approach
The system is based on a hierarchical architecture where, at the top level, the user generates simple and high-level commands by resorting to a graphical user interface operated via a P300-based brain computer interface. These commands are ultimately converted into joint and Cartesian space tasks for the robotic system that are then handled by the robot motion control algorithm resorting to a set-based task priority inverse kinematic strategy. The overall architecture is realized by integrating control and perception software modules developed in the robots and systems environment with the BCI2000 framework, used to operate the brain–computer interfaces (BCI) device.
Findings
The effectiveness of the proposed architecture is validated through experiments where a user generates commands, via an Emotiv Epoc+ BCI, to perform assistive tasks that are executed by a Kinova MOVO robot, i.e. an omnidirectional mobile robotic platform equipped with two lightweight seven degrees of freedoms manipulators.
Originality/value
The P300 paradigm has been successfully integrated with a control architecture that allows us to command a complex robotic system to perform daily life operations. The user defines high-level commands via the BCI, letting all the low-level tasks, for example, safety-related tasks, to be handled by the system in a completely autonomous manner.
Details
Keywords
Looks at the first 100 years of Italian cinema examining its role in Italy’s recent history. Provides a bibliography of major film directors, Italian cinema sources, reference…
Abstract
Looks at the first 100 years of Italian cinema examining its role in Italy’s recent history. Provides a bibliography of major film directors, Italian cinema sources, reference works, histories, themes, theory and criticism and articles in journals.
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Keywords
Ataollah Khanlari, Adnan Sözen, Faraz Afshari, Azim Doğuş Tuncer, Ümit Ağbulut and Zeynep Aytaç Yılmaz
Over the recent years, solar energy has received outstanding attention from researchers. Solar energy applications and related large-scale projects are increasing to meet growing…
Abstract
Purpose
Over the recent years, solar energy has received outstanding attention from researchers. Solar energy applications and related large-scale projects are increasing to meet growing global energy demand as an economical, non-polluting and renewable energy source. The purpose of this study is investigating different plenum and absorber configurations of solar air heating wall (SAHW) experimentally and numerically.
Design/methodology/approach
In this study, various configurations of SAHW have been numerically simulated to determine the most effective design. According to the simulation results, two SAHWs with various plenum thicknesses have been fabricated and tested at different conditions.
Findings
Numerical simulation results indicated that parallel-flow SAHWs exhibited better performance in comparison with other placements of absorber plate. Regarding to the experimentally attained results, the highest thermal efficiency was reached to 80.51%. Also, the average deviation between experimentally and numerically obtained outlet temperature is 5.5%.
Originality/value
Considering the obtained results in the present study, designed SAHW has admissible efficiency to be used in various industrial and residential applications such as; air preheating, space heating and drying.