Mobile robot structure design, modeling and simulation for confined space application

Razak, A. A. A.; Abdullah, Azizi; Kamarudin, Latifah Munirah; Saad, Fathinul Syahir Ahmad; Shukor, Shazmin Aniza Abdul; Mustafa, Halar; Bakar, M.A.A.

doi:10.1109/roma.2016.7847808

Cited by 6 publications

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“…The design of the structure of a robotic platform must consider manufacturing techniques [10], multiple geometric aspects, as well as resistance of materials [11], mechanical properties of materials and dimensioning of the main components of a mobile robot, of differential type and 4 traction wheels and with a manipulator arm with 5 degrees of freedom. It is important to consider in this design the load limitations that exist due to the geometry and weight of the robot, as well as reach lengths for the manipulation of objects taking into account the stability of the vehicle, in order to avoid possible rocking and loss of contact of the wheels with the ground [12].…”

Section: Iintroductionmentioning

confidence: 99%

Criteria for the design of an educational robotics platform

Flor

Fuentes

Toapanta

2020

ATH

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This document explains the criteria, considerations and formulations used for the design of the main components of a mobile platform with a robotic arm. This type of robot is one of the most used in the educational field, it facilitates learning and allows the incorporation of control strategies for navigation. Aspects of resistance of materials useful for branches of engineering that lack bases on mechanics are raised. Keywords: Design; robot; platform; educational. References [1]O. Flor, W. Hernandez, O. Vargas, A. Mendez, O. Sergiyenko and V. Tyrsa, "Construction of a Robotic Platform of Differential Type for First-Year Students of Electronic Engineering", International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Sorrento, Italy, 2020, pp. 538-543, doi: 10.1109/SPEEDAM48782.2020.9161870. [2]O. Flor, “Building a mobile robot”, Education for the future, 2020 [Online] Available: https://omarflor2014. wixsite.com/misitio. [Last Access: February 10, 2020]. [3]A. Ollero, “ROBÓTICA: Manipuladores y robots móviles, Marcombo Boixareu Editores, 2001, Chapters 1-2 (pp. 1-37), Chapter 4 (pp. 85-87), Chapter 9 (pp. 258-267), and Chapter 10 (pp. 303-327). [4]K. Pitti, L. Muñoz, I. Moreno, J. Serracín, “La robótica educativa, una herramienta para la enseñanza-aprendizaje de las ciencias y tecnologías”, Researchgate, pp. 74-90, 2012. [5]E. Ruiz, R. Acuña, N. Certad, A. Terrones and M. E. Cabrera, "Development of a Control Platform for the Mobile Robot Roomba Using ROS and a Kinect Sensor", 2013 Latin American Robotics Symposium and Competition, Arequipa, 2013, pp. 55-60. doi: 10.1109/LARS.2013.57J. [6]J. Wu, C. Lv, L. Zhao, R. Li and G. Wang, "Design and implementation of an omnidirectional mobile robot platform with unified I/O interfaces," 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, 2017, pp. 410-415. doi: 10.1109/ICMA.2017.8015852. [7]M. Ali, W. Yusoff, Z. Hamedon, M. Yussof and M. Mailah, Mechatronic design and development of an autonomous mobile robotics system for road marks painting, IEEE Industrial Electronics and Applications Conference, 2016, pp. 336-341, doi: 10.1109/IEACON.2016.8067401. [8]H. Guo , K. Su , K. Hsia , and J. Wang , Development of the mobile robot with a robot arm, Proceedings IEEE International Conference on Industrial Technology (ICIT), Taipei, Taiwan, 2016, pp. 1648-1653. [9]R. A. Orozco-Velázquez et al., Ackerman Mobile Robot with Arm,International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), Cuernavaca, 2016, pp. 55-60, doi: 10.1109/ICMEAE. 2016.019. [10]A. Razak et al., Mobile robot structure design, modeling and simulation for confined space application, 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA), 2016 Ipoh, 2016, pp. 1-5. doi: 10.1109/ROMA.2016.7847808.

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Section: Iintroductionmentioning

confidence: 99%

Criteria for the design of an educational robotics platform

Flor

Fuentes

Toapanta

2020

ATH

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Review of Underground Storage Tank Condition Monitoring Techniques

et al. 2019

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This article aims to provide a comprehensive review on the condition monitoring techniques of underground storage tanks (UST). Generally, the UST has long been a favourite toxic substance reservation apparatus, thanks to its large capacity and minimum floor space requirement. Recently, attention has been drawn to the safety risks of the complex cylindrical-shaped system and its surrounding environment due to contamination resulting from unwanted subsurface leakage. Studies on related countermeasures shows that numerous efforts have been focused on the damage remediation process and fault detection practice; however, it has also been observed that there are uncertainties in present technical complications involving the effectiveness of corrective actions and the robustness of condition monitoring techniques. As an alternative means to deliver spatial information on structural integrity, the feasibility of integrating non- destructive evaluation (NDE) techniques with machine learning algorithms, on observing the degradation process of UST, so as to enhance condition monitoring competency, is discussed.

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