Displaying publications 21 - 40 of 85 in total

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  1. Comparison of air conditioning ducting measurement data and effect of indoor air data at office building
    Amir Abdullah, M.D., Leman, A.M., Norhidayah, A., Syafiq Syazwan, M.M.
    Journal of Occupational Safety and Health, 2012;9(3):23-30.
    MyJurnal
    A poor Indoor Air Quality (IAQ) is a crucial problem which produces by the improper maintenance of Mechanical Ventilation and Air Conditioning (MVAC) ducting. A budget constraint intimidates for the practise of monitoring of the MVAC ducting. Thus IAQ measurements were conducted at the room where the air supplied by centralized air conditioning. It has been performed at four different offices that supply by two different Air Handling Unit (AHU). Walkthrough survey was conducted and the area samplings were selected for data collection. This paper examines the result of comparison of air ducting and air quality at academic office building, Universiti Tun Hussein Onn Malaysia (UTHM). The parameters involved were Temperature (°C), Relative Humidity (RH), Carbon Dioxide (CO2) and Carbon Monoxide (CO). Pictures were also captured to demonstrate the real conditions inside the ducting by using Mechanical Robot. Thus, duct cleaning was recommended to be an exceptional platform for the IAQ improvement.
    Matched MeSH terms: Robotics
  2. Fulltext Design and development of eggplant harvester for gantry system
    Wan Ishak, W.I., Kit, W.H., Awwal, M. A.
    Pertanika Journal of Science & Technology, 2010;18(2):-.
    MyJurnal
    This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PLC. Meanwhile, a PLC ladder diagram was designed and developed to control the operation of the eggplant harvester. A visual basic programme was developed to interface the harvester with a greenhouse gantry control system. A videogrammetry method was employed to calculate the distance between the stems of eggplants and the cutter of robot end effector. The end effector used electric as its power source and it was controlled via Programmable Logic Controller (PLC). Visual Basic Programme was developed to interface the harvester with the gantry control system. The accuracy of the videogrammetry was tested to be 67.2% for X-axis, 88.2% for Y-axis and 84.7% for Z-axis. Meanwhile, the speed of the end effector for harvester is 2.4 km/h and it could lift up to 55 cm. In order to determine detachment force of eggplant, 16 samples of mature eggplants were tested in a greenhouse, and as a result, more than 22.76 N force was needed to detach a mature eggplant inside the gantry system.
    Matched MeSH terms: Robotics
  3. Fulltext Development and performance of a new prosthesis system using ultrasonic sensor for wrist movements: a preliminary study
    Abd Razak NA, Abu Osman NA, Gholizadeh H, Ali S
    Biomed Eng Online, 2014 Apr 23;13:49.
    PMID: 24755242 DOI: 10.1186/1475-925X-13-49
    BACKGROUND: The design and performance of a new development prosthesis system known as biomechatronics wrist prosthesis is presented in this paper. The prosthesis system was implemented by replacing the Bowden tension cable of body powered prosthesis system using two ultrasonic sensors, two servo motors and microcontroller inside the prosthesis hand for transradial user.

    METHODS: The system components and hand prototypes involve the anthropometry, CAD design and prototyping, biomechatronics engineering together with the prosthetics. The modeler construction of the system develop allows the ultrasonic sensors that are placed on the shoulder to generate the wrist movement of the prosthesis. The kinematics of wrist movement, which are the pronation/supination and flexion/extension were tested using the motion analysis and general motion of human hand were compared. The study also evaluated the require degree of detection for the input of the ultrasonic sensor to generate the wrist movements.

    RESULTS: The values collected by the vicon motion analysis for biomechatronics prosthesis system were reliable to do the common tasks in daily life. The degree of the head needed to bend to give the full input wave was about 45°-55° of rotation or about 14 cm-16 cm. The biomechatronics wrist prosthesis gave higher degree of rotation to do the daily tasks but did not achieve the maximum degree of rotation.

    CONCLUSION: The new development of using sensor and actuator in generating the wrist movements will be interesting for used list in medicine, robotics technology, rehabilitations, prosthetics and orthotics.

    Matched MeSH terms: Robotics/instrumentation*
  4. Fulltext Development of a Scalable Testbed for Mobile Olfaction Verification
    Zakaria SM, Visvanathan R, Kamarudin K, Yeon AS, Md Shakaff AY, Zakaria A, et al.
    Sensors (Basel), 2015;15(12):30894-912.
    PMID: 26690175 DOI: 10.3390/s151229834
    The lack of information on ground truth gas dispersion and experiment verification information has impeded the development of mobile olfaction systems, especially for real-world conditions. In this paper, an integrated testbed for mobile gas sensing experiments is presented. The integrated 3 m × 6 m testbed was built to provide real-time ground truth information for mobile olfaction system development. The testbed consists of a 72-gas-sensor array, namely Large Gas Sensor Array (LGSA), a localization system based on cameras and a wireless communication backbone for robot communication and integration into the testbed system. Furthermore, the data collected from the testbed may be streamed into a simulation environment to expedite development. Calibration results using ethanol have shown that using a large number of gas sensor in the LGSA is feasible and can produce coherent signals when exposed to the same concentrations. The results have shown that the testbed was able to capture the time varying characteristics and the variability of gas plume in a 2 h experiment thus providing time dependent ground truth concentration maps. The authors have demonstrated the ability of the mobile olfaction testbed to monitor, verify and thus, provide insight to gas distribution mapping experiment.
    Matched MeSH terms: Robotics
  5. Fulltext Development of an air pneumatic suspension system for transtibial prostheses
    Pirouzi G, Abu Osman NA, Oshkour AA, Ali S, Gholizadeh H, Abas WA
    Sensors (Basel), 2014;14(9):16754-65.
    PMID: 25207872 DOI: 10.3390/s140916754
    The suspension system and socket fitting of artificial limbs have major roles and vital effects on the comfort, mobility, and satisfaction of amputees. This paper introduces a new pneumatic suspension system that overcomes the drawbacks of current suspension systems in donning and doffing, change in volume during daily activities, and pressure distribution in the socket-stump interface. An air pneumatic suspension system (APSS) for total-contact sockets was designed and developed. Pistoning and pressure distribution in the socket-stump interface were tested for the new APSS. More than 95% of the area between each prosthetic socket and liner was measured using a Tekscan F-Scan pressure measurement which has developed matrix-based pressure sensing systems. The variance in pressure around the stump was 8.76 kPa. APSS exhibits less pressure concentration around the stump, improved pressure distribution, easy donning and doffing, adjustability to remain fitted to the socket during daily activities, and more adaptability to the changes in stump volume. The volume changes were adjusted by utility of air pressure sensor. The vertical displacement point and reliability of suspension were assessed using a photographic method. The optimum pressure in every level of loading weight was 55 kPa, and the maximum displacement was 6 mm when 90 N of weight was loaded.
    Matched MeSH terms: Robotics/instrumentation*
  6. Development of robotic program: an Asian experience
    Sahabudin RM, Arni T, Ashani N, Arumuga K, Rajenthran S, Murali S, et al.
    World J Urol, 2006 Jun;24(2):161-4.
    PMID: 16607550
    Robotic surgery was started in the Department of Urology, Hospital Kuala Lumpur, in April 2004. We present our experience in developing the program and report the results of our first 50 cases of robotic radical prostatectomy. A three-arm da Vinci robotic system was installed in our hospital in March 2004. Prior to installation, the surgeons underwent training at various centers in the United States and Paris. The operating theatre was renovated to house the system. Subsequently, the initial few cases were done with the help of proctors. Data were prospectively collected on all patients who underwent robot-assisted radical prostatectomy for localized carcinoma of the prostate. Fifty patients underwent robot assisted radical prostatectomy from March 2004 to June 2005. Their ages ranged from 52 to 75 years, (average age 60.2 years). PSA levels ranged from 2.5 to 35 ng/ml (mean 10.6 ng/ml). Prostate volume ranged from 18 to 130 cc (average 32.4 cc). Average operating time for the first 20 cases was 4 h and for the next 30 cases was 2.5 h. Patients were discharged 1-3 days post-operatively. Catheters were removed on the fifth day following a cystogram. The positive margin rate as defined by the presence of cancer cells at the inked margin was 30%. Twenty-one patients had T1c disease and one had T1b on clinical staging. Of these, two were apical margin positive. Twenty-six patients had T2 disease and eight of them were apical margin positive. Two patients had T3 disease, one of whom was apical margin positive. Five patients (10%) had PSA recurrence. Five patients had a poorly differentiated carcinoma and the rest had Gleason 6 or 7. Eighty percent of the patients were continent on follow-up at 3 months. Of those who were potent before the surgery, 50% were potent at 3-6 months. The robotic surgery program was successfully implemented at our center on the lines of a structured program, developed at Vattikuti Urology Institute (VUI). We succeeded in creating a team and safely implemented the robotic program in our system. Adequate funding and extensive training followed by a short term proctoring are essential for this implementation.
    Matched MeSH terms: Robotics*
  7. Developmental Approach for Behavior Learning Using Primitive Motion Skills
    Dawood F, Loo CK
    Int J Neural Syst, 2018 May;28(4):1750038.
    PMID: 29022403 DOI: 10.1142/S0129065717500381
    Imitation learning through self-exploration is essential in developing sensorimotor skills. Most developmental theories emphasize that social interactions, especially understanding of observed actions, could be first achieved through imitation, yet the discussion on the origin of primitive imitative abilities is often neglected, referring instead to the possibility of its innateness. This paper presents a developmental model of imitation learning based on the hypothesis that humanoid robot acquires imitative abilities as induced by sensorimotor associative learning through self-exploration. In designing such learning system, several key issues will be addressed: automatic segmentation of the observed actions into motion primitives using raw images acquired from the camera without requiring any kinematic model; incremental learning of spatio-temporal motion sequences to dynamically generates a topological structure in a self-stabilizing manner; organization of the learned data for easy and efficient retrieval using a dynamic associative memory; and utilizing segmented motion primitives to generate complex behavior by the combining these motion primitives. In our experiment, the self-posture is acquired through observing the image of its own body posture while performing the action in front of a mirror through body babbling. The complete architecture was evaluated by simulation and real robot experiments performed on DARwIn-OP humanoid robot.
    Matched MeSH terms: Robotics/methods*
  8. Fulltext Dexterous robotic manipulation of alert adult Drosophila for high-content experimentation
    Savall J, Ho ET, Huang C, Maxey JR, Schnitzer MJ
    Nat. Methods, 2015 Jul;12(7):657-60.
    PMID: 26005812 DOI: 10.1038/nmeth.3410
    We present a robot that enables high-content studies of alert adult Drosophila by combining operations including gentle picking; translations and rotations; characterizations of fly phenotypes and behaviors; microdissection; or release. To illustrate, we assessed fly morphology, tracked odor-evoked locomotion, sorted flies by sex, and dissected the cuticle to image neural activity. The robot's tireless capacity for precise manipulations enables a scalable platform for screening flies' complex attributes and behavioral patterns.
    Matched MeSH terms: Robotics*
  9. Dynamic Modeling of Fiber-Reinforced Soft Manipulator: A Visco-Hyperelastic Material-Based Continuum Mechanics Approach
    Mustaza SM, Elsayed Y, Lekakou C, Saaj C, Fras J
    Soft Robot, 2019 06;6(3):305-317.
    PMID: 30917093 DOI: 10.1089/soro.2018.0032
    Robot-assisted surgery is gaining popularity worldwide and there is increasing scientific interest to explore the potential of soft continuum robots for minimally invasive surgery. However, the remote control of soft robots is much more challenging compared with their rigid counterparts. Accurate modeling of manipulator dynamics is vital to remotely control the diverse movement configurations and is particularly important for safe interaction with the operating environment. However, current dynamic models applied to soft manipulator systems are simplistic and empirical, which restricts the full potential of the new soft robots technology. Therefore, this article provides a new insight into the development of a nonlinear dynamic model for a soft continuum manipulator based on a material model. The continuum manipulator used in this study is treated as a composite material and a modified nonlinear Kelvin-Voigt material model is utilized to embody the visco-hyperelastic dynamics of soft silicone. The Lagrangian approach is applied to derive the equation of motion of the manipulator. Simulation and experimental results prove that this material modeling approach sufficiently captures the nonlinear time- and rate-dependent behavior of a soft manipulator. Material model-based closed-loop trajectory control was implemented to further validate the feasibility of the derived model and increase the performance of the overall system.
    Matched MeSH terms: Robotics
  10. Fulltext Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction
    Ghazali AS, Ham J, Barakova EI, Markopoulos P
    Front Robot AI, 2018;5:73.
    PMID: 33500952 DOI: 10.3389/frobt.2018.00073
    The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible) gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans) is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans). Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.
    Matched MeSH terms: Robotics
  11. Fulltext Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator
    Koh KH, Sreekumar M, Ponnambalam SG
    Materials (Basel), 2014 Jun 25;7(7):4963-4981.
    PMID: 28788114 DOI: 10.3390/ma7074963
    This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.
    Matched MeSH terms: Robotics
  12. Extrusion based rapid prototyping technique: an advanced platform for tissue engineering scaffold fabrication
    Hoque ME, Chuan YL, Pashby I
    Biopolymers, 2012 Feb;97(2):83-93.
    PMID: 21830198 DOI: 10.1002/bip.21701
    Advances in scaffold design and fabrication technology have brought the tissue engineering field stepping into a new era. Conventional techniques used to develop scaffolds inherit limitations, such as lack of control over the pore morphology and architecture as well as reproducibility. Rapid prototyping (RP) technology, a layer-by-layer additive approach offers a unique opportunity to build complex 3D architectures overcoming those limitations that could ultimately be tailored to cater for patient-specific applications. Using RP methods, researchers have been able to customize scaffolds to mimic the biomechanical properties (in terms of structural integrity, strength, and microenvironment) of the organ or tissue to be repaired/replaced quite closely. This article provides intensive description on various extrusion based scaffold fabrication techniques and review their potential utility for TE applications. The extrusion-based technique extrudes the molten polymer as a thin filament through a nozzle onto a platform layer-by-layer and thus building 3D scaffold. The technique allows full control over pore architecture and dimension in the x- and y- planes. However, the pore height in z-direction is predetermined by the extruding nozzle diameter rather than the technique itself. This review attempts to assess the current state and future prospects of this technology.
    Matched MeSH terms: Robotics
  13. Frequency and Causes of Line of Sight Issues During Neurosurgical Procedures Using Optical Image-Guided Systems
    Mehbodniya AH, Moghavvemi M, Narayanan V, Waran V
    World Neurosurg, 2019 Feb;122:e449-e454.
    PMID: 30347306 DOI: 10.1016/j.wneu.2018.10.069
    BACKGROUND: Navigation (image guidance) is an essential tool in modern neurosurgery, and most surgeons use an optical tracking system. Although the technology is accurate and reliable, one often is confronted by line of sight issues that interrupt the flow of an operation. There has been feedback on the matter, but the actual problem has not been accurately quantified, therefore making this the primary aim of this study. It is particularly important given that robotic technology is gradually making its way into neurosurgery and most of these devices depend on optical navigation when procedures are being conducted.

    METHODS: In this study, the frequency and causes of line of sight issues is assessed using recordings of Navigation probe locations and its synchronised video recordings.

    RESULTS: The mentioned experiment conducted for a series of 15 neurosurgical operations. This issue occured in all these surgeries except one. Maximum duration of issue presisting reached up to 56% of the navigation usage time.

    CONCLUSIONS: The arrangment of staff and equipment is a key factor in avoiding this issue.

    Matched MeSH terms: Robotics
  14. Fulltext Fuzzy logic based EKF for mobile robot navigation: An analysis of different fuzzy membership functions
    Hamzah Ahmad, Nur Aqilah Othman
    Pertanika Journal of Science & Technology, 2017;25(106):189-198.
    MyJurnal
    This paper deals with the analysis of different Fuzzy membership type performance for Extended Kalman Filter (EKF) based mobile robot navigation. EKF is known to be incompetent in non-Gaussian noise condition and therefore the technique alone is not sufficient to provide solution. Motivated by this shortcoming, a Fuzzy based EKF is proposed in this paper. Three membership types are considered which includes the triangular, trapezoidal and Gaussian membership types to determine the best estimation results for mobile robot and landmarks locations. Minimal rule design and configuration are also other aspects being considered for analysis purposes. The simulation results suggest that the Gaussian memberships surpassed other membership type in providing the best solution in mobile robot navigation.
    Matched MeSH terms: Robotics
  15. Fulltext Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton
    Aole S, Elamvazuthi I, Waghmare L, Patre B, Meriaudeau F
    Sensors (Basel), 2020 Jun 30;20(13).
    PMID: 32630115 DOI: 10.3390/s20133681
    Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research.
    Matched MeSH terms: Robotics*
  16. Fulltext Innovative Design of a Cloud Tour Guide Robot for Smart Cities under the Principle of System Innovation Design
    Du J, Salim NAM, Zakaria WZW, Gu Y, Ling J
    Comput Intell Neurosci, 2022;2022:4971849.
    PMID: 35860639 DOI: 10.1155/2022/4971849
    In light of the ongoing occurrence of epidemics, the general populace frequently makes the decision to curtail their nomadic lifestyle in order to protect both their health and their safety. This has resulted in a number of issues, the most notable of which are the drop in the people's living happiness index and the poor business that the tourism industry has been experiencing as a result. Therefore, the idea of "cloud tourism" is undoubtedly the first candidate for the tourism industry, and in order to meet the requirements of cloud tourism, it is necessary to have an entirely new system to serve this, of which the scenic guide robot is an important part. At the same time, the quickening development of 5G technology offers solutions that may be put into practice for the multifurther IoT's expansion in smart cities. People will be able to experience the real outdoors without having to leave their homes, which will improve the people's well-being and alleviate the chilly status quo in the tourism industry. This is the plan, and it will be accomplished through the use of innovative guide robots that will make the experience more convenient and reliable.
    Matched MeSH terms: Robotics*
  17. Interaction modeling and classification scheme for augmenting the response accuracy of human-robot interaction systems
    Tao H, Rahman MA, Jing W, Li Y, Li J, Al-Saffar A, et al.
    Work, 2021;68(3):903-912.
    PMID: 33720867 DOI: 10.3233/WOR-203424
    BACKGROUND: Human-robot interaction (HRI) is becoming a current research field for providing granular real-time applications and services through physical observation. Robotic systems are designed to handle the roles of humans and assist them through intrinsic sensing and commutative interactions. These systems handle inputs from multiple sources, process them, and deliver reliable responses to the users without delay. Input analysis and processing is the prime concern for the robotic systems to understand and resolve the queries of the users.

    OBJECTIVES: In this manuscript, the Interaction Modeling and Classification Scheme (IMCS) is introduced to improve the accuracy of HRI. This scheme consists of two phases, namely error classification and input mapping. In the error classification process, the input is analyzed for its events and conditional discrepancies to assign appropriate responses in the input mapping phase. The joint process is aided by a linear learning model to analyze the different conditions in the event and input detection.

    RESULTS: The performance of the proposed scheme shows that it is capable of improving the interaction accuracy by reducing the ratio of errors and interaction response by leveraging the information extraction from the discrete and successive human inputs.

    CONCLUSION: The fetched data are analyzed by classifying the errors at the initial stage to achieve reliable responses.

    Matched MeSH terms: Robotics
  18. Fulltext Introduction to robotics agriculture in pest control: a review
    Hassan, Ahmed, Abdul Shukor Juraimi, Muhammad Saiful Ahmad Hamdani
    The Pertanika Journal of Scholarly Research Reviews, 2016;2(2):80-93.
    MyJurnal
    Agriculture is one of the latest industries that uses robotic technologies. Cultivation of crops
    with high yield and quality can be enhanced when technological sustenance is involved. Pests are
    nuisance and cannot be completely eliminated, but with effective control and management. damages
    caused by pests could be minimized below economic threshold. Automation in agriculture is stable and
    accurate and is mainly incorporated in mechanized farming system. However its numerous application in
    different agricultural practices is not well noticed. Hence this paper attempts to provide profound
    awareness on robotic technology in agriculture. Robots could have a specific or multiple functions and,
    most commonly, they are made up of five basic components; sensors, effectors, actuators, controller and
    arms. Use of automation in weeding, weed mapping, micro spraying, seeding, irrigation and harvesting
    are progressions which promote sustainable agriculture and food security. In future, solar robots with
    battery inverter may be invented.
    Matched MeSH terms: Robotics
  19. Fulltext Joint torque reduction of a three dimensional redundant planar manipulator
    Yahya S, Moghavvemi M, Almurib HA
    Sensors (Basel), 2012;12(6):6869-92.
    PMID: 22969326 DOI: 10.3390/s120606869
    Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.
    Matched MeSH terms: Robotics
  20. Laparoscopic approach to small renal mass
    Teh GC
    Urol Oncol, 2010 Nov-Dec;28(6):682-5.
    PMID: 21062652 DOI: 10.1016/j.urolonc.2010.03.017
    With maturing functional and oncologic outcomes data, open partial nephrectomy (OPN) has become the standard of care for T1a renal tumor. Laparoscopic approach can provide a speedier recovery with less blood loss and postoperative pain. Presuming adequate laparoscopic expertise, laparoscopic partial nephrectomy can provide equivalent oncologic outcome as for OPN albeit with higher urologic complications rate and longer warm ischemia time. With refinement of technique and use of robotic assistant, the shortcomings of laparoscopic approach can be further reduced. This article is a mini-review on the current status of laparoscopic approach to partial nephrectomy in the management of small renal mass.
    Matched MeSH terms: Robotics
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