Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots. A majority of researchers working on robot grasping and object manipulation tend to utilize commercially available robotmanipulators equipped with various end effectors for experimental studies. However, commercially available robotic grippers are often expensive and are not easy to modify for specific purposes. To extend the choice of robotic end effectors freely available to researchers and educators, we present an open-source lowcost three-finger robotic gripper platform for research and educational purposes. The 3-D design model of the gripper is presented and manufactured with a minimal number of 3-D-printed components and an off-the-shelf servo actuator. An underactuated finger and gear train mechanism, with an overall gripper assembly design, are described in detail, followed by illustrations and a discussion of the gripper grasping performance and possible gripper platform modifications. The presented open-source gripper platform computer-aided design model is released for downloading on the authors research lab website (www.alaris.kz) and can be utilized by robotics researchers and educators as a design platform to build their own robotic end effector solutions for research and educational purposes. INDEX TERMSOpen-source robotic gripper, gear train mechanism, 3D printing, underactuation, adaptive grasping. 638 2169-3536
In this paper authors present an open source lowcost basic robotic end effector platform for facilitating research on robotic grasping. The 3D design model of a three fingered underactuated robotic gripper is presented and manufactured with minimal number of 3D printed components and an off-theshelf servomotor actuator. An underactuated finger, gear train mechanisms and an overall gripper assembly design are described in details followed by illustration and discussion of grasping of objects with various geometries. The presented open source gripper design will be released for downloading on the authors' research lab web-site www.alaris.kz and can be useful for robotic researchers as a platform to build their own robotic end effector solutions for research and educational purposes.
The connectivity of undersea sensors and airborne nodes across the water-air interface has been long sought. This study designs a free-space wireless laser communications system that yields a high net data rate of 850 Mbit/s when perfectly aligned. This system can also be used for an extended coverage of 1963 cm 2 at the receiver while sustaining a net data rate of 9 Mbit/s over 10 m. The utility of this system was verified for direct communications across the water-air interface in a canal of the Red Sea based on a pre-aligned link as well as a diving pool under a mobile signal-searching mode. The canal deployment measured a real-time data rate of 87 Mbit/s when pre-aligned in turbid water over 50 min, which confirms the system robustness in harsh water environments. In the pool deployment, a drone configured with a photodetector flew over the surface of the water and recorded the underwater signals without a structureassisted alignment. Using a four-quadrature amplitude-modulated orthogonal frequency-division multiplexing (4-QAM-OFDM) modulation scheme provided a net data rate of 44 Mbit/s over a 2.3-m underwater and 3.5-m air link. The results validated the link stability and mitigated problems that arise from misalignment and mobility in harsh environments, which paves the way for future field applications. INDEX TERMS Underwater communication, optical modulation, wireless communications, water-to-air communications, cross-medium communications, mobility I. INTRODUCTION The concept of the Internet of Underwater Things (IoUT) was proposed in 2012 to satisfy the demands of underwater communication networks [1]. The wide, license-free bandwidth and low energy consumption in such environments promote the consideration of underwater wireless optical communication (UWOC) as a transformative technology compared with conventional marine acoustic and radio-frequency (RF) technologies for high-speed communication activities in the IoUT. Verifications of the UWOC physical layer are progressing rapidly [2], with multiple Gbit/s-level UWOC links reported in laboratory studies [3]-[8]. Beyond investigations under ideal laboratory environments, researchers have considered the effects of various natural underwater processes on the performance of UWOC links. Bubbles [9], waves [10], aquatic life [11], water turbidity [12], and oceanic turbulence [13] all degrade communication performance in UWOC by altering the path of light propagation and by inducing misalignment.
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