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robotics
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Design and Fabrication of a Mobile Social Robot Platform with the ability to Supervise Machine Shops
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
Nowadays, regarding the rapid growth of technology, needs for manufacturing different productions has been increased. In this situation, it is very important to train and supervise technicians in machine shops. This supervision can play a key role in semi-automated factories and assembling lines. As we know, most of the machine shops and factories have been designed to be appropriate for human; therefore, using a humanoid robot with similar dimensions to an adult and with the ability to supervise, teach and interact with people, seems to be very useful. Such robot can interact and teach different things to people while moving around factories. Also it can supervise and warn any problem in an...
Human-Robot Interaction through Sound Source Localization for “Arash” Social Robot
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Vossoughi, Gholamreza ($item.subfieldsMap.e) ; Alemi, Minoo ($item.subfieldsMap.e)
Abstract
Over the years, The robots have entered the human community in addition to the factories and industrial centers, and a new branch in the field of robotics called social robots has been created. Such robots can become a personal companion for children and elderly people who accompany that person at home or outside. Social robots can even be used as a platform for health services or as a vendor in stores. The interaction of humans and robots in social robots and communicating with the audience is the main part of this series of robots. Human-robot interaction can be divided into three parts: visual, auditory and facial or body movements. Also, the behavior of a social robot must be as natural...
Designing a Robot Head for Studying Social Interaction with the Ability to Express Emotions Using a Projector
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Shariati, Azadeh (Supervisor)
Abstract
The most crucial physical component in human-robot interaction is the head of the robot, which may have the potential to interact via representing facial expressions. There are several different types of robotic heads. This thesis presents the design process and realization of a retro-projected social robotic head, “Taban”. Taban is a cost-effective portable robot with a lifelike robotic face which can produce different facial expressions, different 3D face animation avatars (ranging from different ages, races, and gender) with the help of rear-projector in its head to projects animations onto a translucent 3D printout mask. It has a neck system with two degrees of freedom, a camera in the...
Online velocity optimization of robotic swarm flocking using particle swarm optimization (PSO) method
, Article 2009 6th International Symposium on Mechatronics and its Applications ; 2009, Article number 5164776 , 2009 , p. 5164776- ; ISBN: 978-142443481-7 ; Etemadi, S ; Honarvar, M ; Alasty, A ; Boroushaki, M ; Vossoughi, G ; Sharif University of Technology
Abstract
In this paper, the agent velocity in robotic swarm was determined by using particle swarm optimization (PSO) to maximize the robotic swarm coordination velocity. A swarm as supposed here is homogenous and includes at least two members. Motion and behavior of swarm members are mostly result of two different phenomena: interactive mutual forces and influence of the agent. Interactive mutual forces comprise both attraction and repulsion. To be more realistic the field of the swarm members' view is not infinity. So influence of the coordinator agent on the robotic swarm would be local. The objective here is to guide the robotic swarm with maximum possible velocity. According to equation motion...
A fast kinematic-based control method for lower-limb power augmentation exoskeleton
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; 2014 , pp. 678-683 ; ISBN: 9781479967438 ; Vossoughi, G. R ; Ghafari, A. S ; Jokar, M ; Sharif University of Technology
Abstract
Exoskeletons are robotic devices which are used in power augmentation and rehabilitation robotics. The exoskeleton control system is one of the most challenging issues in humanrobot interaction systems. Although the rehabilitation robotic control methods are well studied, little research has been conducted on power augmenting control methods. This paper presents a novel idea in control system of exoskeletons for load carrying and power augmentation. Here, the desired linear velocity of the exoskeleton in interaction points are taken to be proportional to interaction force at the corresponding location. The introduced control method is merely based on kinematic model and thus easy to...
Analytical modeling of a Minimally Invasive Surgery grasper actuated by shape memory alloy wires
, Article International Conference on Robotics and Mechatronics, ICRoM 2013 ; Feb , 2013 , Pages 147-151 ; 9781467358118 (ISBN) ; Zabihollah, A ; Sharif University of Technology
2013
Abstract
Minimally Invasive Surgery (MIS) is getting common these days. MIS robots using special tools can perform surgery precisely as humans. This is only possible with dexterous end-effectors and a well-controlled system. Local, lightweight and powerful actuators positioned at end-effectors provide the ability to decrease the degrees of freedom and simplify the design. This paper discusses a grasper design actuated by Shape Memory Alloy (SMA) wires that can be used in MIS robotics. The properties of a commercially available shape memory alloy are explored and analytical formulations for the actuation procedure are developed. The grasper actuated by SMA wires is studied and the procedure of...
On dynamic stiffness of spacecraft flexible appendages in deployment phase
, Article Aerospace Science and Technology ; Volume 47 , 2015 , Pages 1-9 ; 12709638 (ISSN) ; Malaek, S. M ; Sharif University of Technology
Abstract
Deployment inertial effects of a spacecraft appendage on its flexible dynamics are investigated. The Euler-Bernoulli beam theory and the actual deployment profile, in which appendage axial motion accelerates from static state and then decelerates to end at zero velocity and acceleration, are employed. The study is concentrated on the arm dynamic stiffness introduced by inertial effects of the arm deployment, and the resultant effects on the arm flexible motions. Lagrange's equations and some appropriate shape functions in the series approximation method are employed to study the arm lateral elastic displacements. Finally a system of ordinary differential equations with time varying...
The Impact of Social Robotics on L2 Learners’ Anxiety and Attitude in English Vocabulary Acquisition
, Article International Journal of Social Robotics ; Volume 7, Issue 4 , 2015 , Pages 523-535 ; 18754791 (ISSN) ; Meghdari, A ; Ghazisaedy, M ; Sharif University of Technology
Abstract
This study aimed to examine the effect of robot assisted language learning (RALL) on the anxiety level and attitude in English vocabulary acquisition amongst Iranian EFL junior high school students. Forty-six female students, who were beginners at the age of 12, participated in this study and were randomly assigned into two groups of RALL (30 students) and non-RALL (16 students). The textbook, the materials, as well as the teacher were the same in the two groups. However in the RALL group, the treatment was given by a teacher accompanied by a humanoid robot assistant. Two questionnaires of anxiety and attitude were utilized to measure the students’ anxiety and attitude (Horwitz et al. 1986;...
Removing undesired effects of mass/inertia on transparency using artificial neural networks in a haptic mechanism
, Article ICCAS 2010 - International Conference on Control, Automation and Systems, 27 October 2010 through 30 October 2010, Gyeonggi-do ; 2010 , Pages 156-161 ; 9781424474530 (ISBN) ; Boroushaki, M ; Vossoughi, G ; Sharif University of Technology
2010
Abstract
In this paper, Artificial Neural Networks (ANN) has been used to identify the dynamics of robots used in haptic and master slave devices in order to improve transparency. In haptic and master slave devices, transparency depends on some factors such as robot's mass and inertia, gravitational forces and friction [1]. In such systems, mass and inertia of the robot has an undesirable effect on the system outputs, which should be neutralized for improved transparency. The main purpose of this paper introducting a method to neutralize the undesirable effects of mass and inertia of the robot. A recurrent multilayer perceptron (RMLP) is used in a way that the inputs and outputs of the neural network...
Robots’ cooperation for finding a target in streets
, Article 1st IFIP WG 1.8 International Conference on Topics in Theoretical Computer Science, 26 August 2015 through 28 August 2015 ; Volume 9541 , 2016 , Pages 30-43 ; 03029743 (ISSN) ; 9783319286778 (ISBN) ; Ghodsi, M ; Tabatabaei, A
Springer Verlag
Abstract
We study the problem of finding a target t from a start point s in street environments with the cooperation of two robots which have a minimal sensing capability; that is, robots do not know any information about the workspace including information on distances, edges, coordinates, angles etc. They just can detect the discontinuities in the visibility region of their location. The robots can detect target point t as soon as it enters their visibility region and have communication peripherals to send messages to each other. Our aim is to minimize the length of the path passed by the robots. We propose an online algorithm for robots such that they move in the workspace and find the target....
RoMa: A hi-tech robotic mannequin for the fashion industry
, Article 9th International Conference on Social Robotics, ICSR 2017, 22 November 2017 through 24 November 2017 ; Volume 10652 LNAI , 2017 , Pages 209-219 ; 03029743 (ISSN); 9783319700212 (ISBN) ; Meghdari, A ; Saffari, E ; Zibafar, A ; Faryan, L ; Ghorbandaei Pour, A. L ; RezaSoltani, A ; Taheri, A ; Sharif University of Technology
Springer Verlag
2017
Abstract
This paper presents the design performance characteristics of a novel Robotic Mannequin, “RoMa”, developed for the fashion industry. RoMa, a full-body humanoid social robot platform, is currently in the final stages of development for visual merchandising to promote customer appeal. RoMa is characterized by nine features which are listed as: appealing appearance, avoiding the uncanny valley, easy maintenance, interactive, light weight, low developmental cost, suitable body movements, suitable color, and user friendly. In this paper, important design procedures and considerations are briefly presented and discussed. © 2017, Springer International Publishing AG
A 3-legged parallel robot for long bone fracture alignment
, Article ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, 6 August 2017 through 9 August 2017 ; Volume 3 , 2017 ; 9780791858158 (ISBN) ; Farahmand, F ; Gallardo Alvarado, J ; Computers and Information in Engineering Division; Design Engineering Division ; Sharif University of Technology
American Society of Mechanical Engineers (ASME)
2017
Abstract
The reduction of long bone fractures is traditionally an invasive procedure with drawbacks of intense force, soft tissue damage, and, both, rotational and longitudinal malalignment. To combat these drawbacks, we applied a novel, wide open, threelegged, 6-DOF parallel robot, to the current surgical procedure. This platform will balance the accuracy, payload, and workspace for the surgeon, resulting in more efficient, successful surgeries. The experimental tests on a phantom reveal that the mechanism is well capable of applying the desired reduction steps against the large muscular payloads with high accuracy. © 2017 ASME
Adding backlash to the connection elements can improve the performance of a robotic exoskeleton
, Article Mechanism and Machine Theory ; Volume 152 , 2020 ; Behzadipour, S ; Sharif University of Technology
Elsevier Ltd
2020
Abstract
Kinematic mismatch between exoskeletons and human body results in excess internal forces/torques and hence discomfort as well as increase the power consumption. The connection stiffness has been shown to have potentials for minimizing the kinematic mismatch effects. However, realization of a desired stiffness in the connection element seems difficult if not impractical. In this work, adding controlled backlash to the exoskeleton-body connection is investigated as a possible solution for the kinematic mismatch challenge. A stiffness model which includes backlash parameters was formulated and identified experimentally using three male subjects on a typical lower extremity exoskeleton. A...
Extended artificial pheromone system for swarm robotic applications
, Article Proceedings of the 2019 Conference on Artificial Life: How Can Artificial Life Help Solve Societal Challenges, ALIFE 2019, 29 July 2019 through 2 August 2019 ; 2020 , Pages 608-615 ; Raoufi, M ; Emre Turgut, A ; Krajnik, T ; Arvin, F ; Sharif University of Technology
MIT Press
2020
Abstract
This paper proposes an artificial pheromone communication system inspired by social insects. The proposed model is an extension of the previously developed pheromone communication system, COS-Φ. The new model increases COS-Φ flexibility by adding two new features, namely, diffusion and advection. The proposed system consists of an LCD flat screen that is placed horizontally, overhead digital camera to track mobile robots, which move on the screen, and a computer, which simulates the pheromone behaviour and visualises its spatial distribution on the LCD. To investigate the feasibility of the proposed pheromone system, real micro-robots, Colias, were deployed which mimicked insects' role in...
CPG based controller for a 5-link planar biped robot
, Article 4th IEEE International Conference on Mechatronics, ICM 2007, Kumamoto, 8 May 2007 through 10 May 2007 ; 2007 ; 142441184X (ISBN); 9781424411849 (ISBN) ; Hamed, K ; Sharif University of Technology
2007
Abstract
The canonical problems in control of the biped robots arise from underactuation, impulsive nature of the impact with the environment and existence of the many degrees of freedom in their mechanism. Since biped walkers have fewer actuators than degrees of freedom, they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker with point feet is done by Central Pattern Generator (CPG) and feedback networks. For tuning the parameters of the CPG network, the control problem is defined as an optimization problem. This optimization problem is solved by using of Genetic algorithm. Also a new feedback...
A real-time clearance-based approach for motion planning of mobile robots
, Article 7th IEEE International Conference on Cognitive Informatics, ICCI 2008, Stanford University, CA, 14 August 2008 through 16 August 2008 ; 2008 , Pages 394-401 ; 9781424425389 (ISBN) ; Iraji, R ; Manzuri Shalmani, M. T ; Sharif University of Technology
2008
Abstract
In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called Clearance-Based Probabilistic Roadmap Method (CBPRM (c)), is proposed which in contrast to VV(c) method, Visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM (c) to be applicable in dynamic environments which require realtime approaches. Experiments showed that the CBPRM(c) is able to generate paths with very low execution time considering determined clearance. © 2008 IEEE
An approximation algorithm for d1-optimal motion of a rod robot with fixed rotations
, Article International Journal of Computer Mathematics ; Volume 83, Issue 3 , 2006 , Pages 357-370 ; 00207160 (ISSN) ; Ghodsi, M ; Sharif University of Technology
2006
Abstract
Given a translating and rotating rod robot in a plane in the presence of polygonal obstacles with the initial and final placements of the rod known, the d1-optimal motion planning problem is defined as finding a collision-free motion of the rod such that the orbit length of a fixed but arbitrary point F on the rod is minimized. In this paper we study a special case of this problem in which the rod can translate freely, but can only rotate by some pre-specified given angles around F. We first characterize the d1-optimal motion of the robot under the given conditions and then present a (1 + ε)-approximation algorithm for finding the optimal path. The running time of the algorithm is bounded by...
Design and Realization of a Social Robot for Teaching Sign Language to Hearing-impaired Children Part One: Upper-body, Arms & Hands
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Alemi, Minoo (Supervisor)
Abstract
This thesis covers the design and realization steps of the upper-body of RASA, a social humanoid robot to be used as a Persian sign language (PSL) teaching assistant. In the design and fabrication processes, three main requirments is defined. First requirement is the robot's ability to perform PSL. The second one is for the robot to posess the characteristics required for a social robot interacting with targeted groups of people. And the third one is for the robot to be realized with minimum required cost. Further design guidelines are generated based on these three requirements. Analysing the structure of Persian sign language, the kinematic layout of the upper-body of the robot, regarding...
Path-planning and Control of Space Robots
, M.Sc. Thesis Sharif University of Technology ; Namvar, Mehrzad (Supervisor)
Abstract
Control of many mechanical systems such as satellites lies on the control of space robots. Control of space robots has many theoric complexities because of the presence of non-holonomic constraints due to angular momentum conservation. Unlike fixed-base robots, any movement of space robots manipulator has a reaction on the robot base and moves it. Thus manipulator’s movement toward desired configuration rotates the robot base and as a result appropriate attitude may not be attained. Therefore an appropriate path is required to achieve the desired configuration and the base attitude reaches its desired value. In this thesis, first the dynamic of space robots and the interaction between the...
Design and Construction of a Social Robot for Teaching Sign Language to Hearing Impaired Children (RASA). Part II: The Mobile Lower Body Platform and a Novel 6-bar Linkage Mechanism
, M.Sc. Thesis Sharif University of Technology ; Meghdari ,Ali (Supervisor) ; Alemi, Minoo (Supervisor)
Abstract
In this thesis, the purpose of the research was to develop a four-wheeled Mobile platform (Lower body) with three degrees of freedom for a humanoid robot upper body which is called RASA. RASA robot was designed and constructed for helping kids who have speech and hearing impairments. The objective was to develop a low-cost and affordable robot as compared to its international models to be used at home or school as a teacher assistant. RASA can help kids to learn signs as fast as possible due to the game-based and entertaining education system. The wheeled base platform consists of a new mechanism with 6 bar linkage for bending robot from the hip to about 60 degrees from a vertical position...