Ant colony optimization (ACO) technique is proposed to solve the mobile robot path planning (MRPP) problem. In order to demonstrate the effectiveness of ACO in solving the MRPP problem, several maps of varying complexity used by an earlier researcher is used for evaluation. Each map consists of static obstacles in different arrangements. Besides that, each map has a grid representation with an equal number of rows and columns. The performance of the proposed ACO is tested on a given set of maps. Overall, the results demonstrate the effectiveness of the proposed approach for path planning.
Human power is defined as the use of human work for energy generation to power an electronic device. The active powering of electronic devices takes place when the user of the electronic product has to do a specific work in order to power the product that otherwise the user would not have done. As fossil fuels around the world depletes, alternate means of harvesting energy is required. Biomechanical energy harvesting–generating electricity from people during daily activities–is a promising alternative to batteries for powering increasingly sophisticated portable devices. Effectively harvesting energy from walking requires a small lightweight device that efficiently converts intermittent, bi-directional, low speed and high torque mechanical power to electricity, and selectively engages power generation .To achieve this, Linear, Piezo electric and rotary electromagnetic generation methods are implemented on the model to harvest energy from the heel strike. Qualysis Tracking Markers (QTM), insole pressure sensors, and electromyography (EMG) readings are utilized to analyze the human locomotion during a normal human gait cycle. In this methods-focused paper, we explain also the physiological principles that guided our design process and present a detailed description of our device design with an emphasis on new analyses.
An Arduino Uno-based solar-powered grass-cutter is designed to trim healthy grass in places like parks, golf courses and other public places. The grass-cutter can be remotely controlled with aid of a Bluetooth-enabled app with the help of Internet of Things (IoT). An Arduino Uno, solar panel, a DC Motor, motor driver, rechargeable batteries, a Bluetooth module and an infrared sensor make up the model's hardware. The desired grass-cutter is programmed to function as desired using the Arduino IDE software. An ultrasonic sensor and infrared sensor were built into the model's head to prevent the system from colliding with obstacles. For control wise, the grass cutter is able to perform forward moving, backward moving, turn left and turn right.
Table Tennis as one of the most popular sports in Asia that its training requires a close supervision of a coach to analyse the strength and the weakness of the player.In this project, a pitcher machine as a personal Table Tennis trainer has been designed and the trajectory path analysis of the practical performance of player is analysed accordingly.In the proposed system, a camera is presented to track the table tennis ball.The obtained images from the camera are processed by OpenCV software and the flying trajectory is predicted based on the X and Y coordinates of a ball position to analyse the performance of player in each direction.The pitcher machine is then set via smart phone to the direction with weak performance to shoot more balls in that direction.However, the spinning serve is yet to be added in the proposed system, this project offers an acceptable platform for the early stage of the table tennis training.Experimental results show the acceptable performance analysis in complex mess environment and background.
The paper focuses on the optimization of the classical PID control technique for implementation in a high speed line tracking robot. The control technique is tested on a prototype line tracking robot, which uses an array of ten Infra-Red reflective sensors to track a non-reflective line on a reflective surface. The paper describes in detail the various challenges that are specific to the mobile robot line tracking system and the adaptation of PID control to successfully control the highly non-linear and unstable system. Various forms of PID control are implemented and the merits and demerits of the same are discussed. A customized PID control implementation scheme is proposed which combines the aspects of closed loop PID control and open loop control.
This paper presents a new statically balanced walking technique for a robot-crawler. The gait design and the control of the robot crawler aim to achieve stability while walking. This statically balanced gait has to be designed in a different fashion to a wheeled robot, as there are discrete changes in the support of the robot when its legs are lifted or placed on the ground. The stability of the robot depends on how the legs are positioned relative to the body and also on the sequence and timing with which the legs are lifted and placed. In order to reduce the risk of stability loss while walking, a measure for the robot stability (so-called stability margin) is typically used in the gait and motion planning. In this paper different biological behaviours of four-legged animals are studied and mapped on a quad-legrobot-crawler. Experiments were carried out on the forward walking gaits of lizards and horses. Based on these results, the stability margins of different gaits are discussed and compared.
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