Emia

The modularity of robotic subsystems is a big opportunity for robotics to compel recognition on the market as a viable and efficient alternative, thanks to the development of standardized modulus, especially, but also because of the robots' features-such as productivity and flexibility. The idea of this proposal roots in the structure of a personal computer. The winding and the upgrade of a pc is an extremely simple and quick process thanks to the standardization of the functional modulus. Extrapolating this idea to robots, and to robotic systems, in general, it is necessary the conceiving of a modular system, as far back as in the primary design phase. The modular system should be conceived as intelligent structures with a high degree of sensorial, communicational, functional and control autonomy. These elements are presented and experimented with functional models, for validation. The conclusions are formulated and future directions are targeted.

Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal ...

In this paper is presented an experimental test stand of rheological stop-valves. Rheological stop-valve structures are robust, simple in terms of constructive and easy to control. However, due to non-Newtonian fluid flow rheological, are difficult to model mathematically. Since many parameters of these valves are determined empirically, and depend very much on the constructive parameters, it is necessary to determine them experimentally. The paper also presents a stand designed, developed and tested for magneto-rheological stop valves. This is shown schematically speaking, constructive and programming. The stand allows the experimental determination of parameters valves, their dependence on the type of fluid used and the type rheological field excitation applied to the fluid. Determination of valve parameters can be made for any type of field excitation. Applied voltage generator may be continuous, can be generated with a constant frequency or a frequency dictated by the law of ord...

The modularity of robotic subsystems is a big opportunity for robotics to compel recognition on the market as a viable and efficient alternative, thanks to the development of standardized modulus, especially, but also because of the robots' features-such as productivity and flexibility. The idea of this proposal roots in the structure of a personal computer. The winding and the upgrade of a pc is an extremely simple and quick process thanks to the standardization of the functional modulus. Extrapolating this idea to robots, and to robotic systems, in general, it is necessary the conceiving of a modular system, as far back as in the primary design phase. The modular system should be conceived as intelligent structures with a high degree of sensorial, communicational, functional and control autonomy. These elements are presented and experimented with functional models, for validation. The conclusions are formulated and future directions are targeted.

A heating and climatizer system based on selective absorption of solar energy by a selective collector. The experimental study shows that the performance of this system depends on several variables: the nature of the colporteur fluid, the flow of the fluid circulation, the collector's surface area and the circulation mode (opened or closed circulation). The system was tested inside a building which contained a strawberry crop. A clear improvement of the performance has been achieved for an open circulation with appropriate working variables. The experimental results showed precocity of 14 days of the strawberry crop in comparison to a standard building. The variables of the experiment that can be controlled are: the flow of evacuated fluid, the entrance flow, the temperature of the fluid and the positioning of the transducer/ hole test. However, the measurement of these variables is affected by errors which cannot be completely eliminated.

The paper aims to study the applicability and limitations of the solution resulting from a design process for an intelligent system supporting people with special needs who are not physically able to control a wheelchair using classical systems. The intelligent system uses information from smart sensors and offers a control system that replaces the use of a joystick. The necessary movements of the chair in the environment can be determined by an intelligent vision system analyzing the direction of the patient’s gaze and point of view, as well as the actions of the head. In this approach, an important task is to detect the destination target in the 3D workspace. This solution has been evaluated, outdoor and indoor, under different lighting conditions. In order to design the intelligent wheelchair, and because sometimes people with special needs also have specific problems with their optical system (e.g., strabismus, Nystagmus) the system was tested on different subjects, some of them...

In this paper is presented an experimental test stand of rheological stop-valves. Rheological stop-valve structures are robust, simple in terms of constructive and easy to control. However, due to non-Newtonian fluid flow rheological, are difficult to model mathematically. Since many parameters of these valves are determined empirically, and depend very much on the constructive parameters, it is necessary to determine them experimentally. The paper also presents a stand designed, developed and tested for magneto-rheological stop valves. This is shown schematically speaking, constructive and programming. The stand allows the experimental determination of parameters valves, their dependence on the type of fluid used and the type rheological field excitation applied to the fluid. Determination of valve parameters can be made for any type of field excitation. Applied voltage generator may be continuous, can be generated with a constant frequency or a frequency dictated by the law of ord...