Multifunctional Arm for Telerobotic Wind Turbine Blade Repair

Sadeghian, Rasoul; Sareh, Sina

doi:10.1109/icra48506.2021.9560968

Cited by 4 publications

(4 citation statements)

References 9 publications

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“…While the module is attached using the teeth mechanism it withstood pulling forces up to the maximum measurable range by the Nano 17 F/T sensor. In addition, in order to evaluate the ability of the autonomous anchoring module in object manipulation, we have integrated the module into a robot arm [28] which is hanged from an elevated position. Within the workspace of the arm is a piece of red lava rock, as shown in Fig.…”

Section: Anchoring Strength: Experimental Load Testing and Resultsmentioning

confidence: 99%

Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

Sadeghian

Sareh

Shahin

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper proposes a bioinspired adaptive anchoring module that can be integrated into robots to enhance their mobility and manipulation abilities. The design of the module is inspired by the structure of the mouth in Chilean lamprey (Mordacia lapicida) where a combination of suction and several arrays of teeth with different sizes around the mouth opening is used for catching preys and anchoring onto them. The module can deploy a suitable mode of attachment, via teeth or vacuum suction, to different contact surfaces in response to the textural properties of those surfaces. In order to make a decision on the suitable mode of attachment, an original dataset of 500 images of outdoor and indoor surfaces was used to train a visual surface examination model using YOLOv3; a virtually real-time object detection algorithm. The mean average precision of the trained model was calculated to be 91%. We have conducted a series of pull-out tests to characterize the module's strength of attachments. The results of the experiments indicate that the anchoring module can withstand an applied detachment force of up to 70N and 30N when attached using teeth and vacuum suction, respectively.

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Section: Anchoring Strength: Experimental Load Testing and Resultsmentioning

confidence: 99%

Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

Sadeghian

Sareh

Shahin

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“… One user or operator communicates with one robot: When an operator initialises control over a robot, ROSIC's container functionality seamlessly integrates the robot's operational parameters and task‐specific configurations, aligning them with the operator's specific needs [27]. This integration establishes a deterministic operational framework, enhancing the robot's efficiency and precision for its designated tasks.…”

Section: Rosic Conceptmentioning

confidence: 99%

“… Multiple users or operators interacting with one robot: In this scenario, ROSIC acts as the backbone of the operation, providing a structured, secure and efficient framework for multiple users to access and control a single robot [28]. Its features ensure that each user's interactions are isolated, the data are managed effectively and the robot operates seamlessly.…”

Section: Rosic Conceptmentioning

confidence: 99%

ROSIC: Enhancing secure and accessible robot control through open‐source instant messaging platforms

Sadeghian,

Shahin,

Sareh

2024

IET Cyber-Syst and Robotics

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Ensuring secure communication and seamless accessibility remains a primary challenge in controlling robots remotely. The authors propose a novel approach that leverages open‐source instant messaging platforms to overcome the complexities and reduce costs associated with implementing a secure and user‐centred communication system for remote robot control named Robot Control System using Instant Communication (ROSIC). By leveraging features, such as real‐time messaging, group chats, end‐to‐end encryption and cross‐platform support inherent in the majority of instant messenger platforms, we have developed middleware that establishes a secure and efficient communication system over the Internet. By using instant messaging as the communication interface between users and robots, ROSIC caters to non‐technical users, making it easier for them to control robots. The architecture of ROSIC enables various scenarios for robot control, including one user controlling multiple robots, multiple users controlling one robot, multiple robots controlled by multiple users, and one user controlling one robot. Furthermore, ROSIC facilitates the interaction of multiple robots, enabling them to interoperate and function collaboratively as a swarm system by providing a unified communication platform that allows for seamless exchange of data and commands. Telegram was specifically chosen as the instant messaging platform by the authors due to its open‐source nature, robust encryption, compatibility across multiple platforms and interactive communication capabilities through channels and groups. Notably, the ROSIC is designed to communicate effectively with robot operating system (ROS)‐based robots to enhance our ability to control them remotely.

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“…Then, a Gaussian filter is used to smoothen and remove blur from the relevant camera frame (f 0 ), [14]. The RGB frame is converted to grayscale to remove unnecessary data, resulting in a shorter processing time [15]. Moreover, OpenCV's cv2.erode and cv2.dilate [16] functions are used to connect the broken parts of the detected areas, line 4, Algorithm 1, Fig.…”

Section: A Object Detection and Size Determinationmentioning

confidence: 99%

Vision-Based Self-Adaptive Gripping in a Trimodal Robotic Sorting End-Effector

Sadeghian

Shahin

Sareh

2022

IEEE Robot. Autom. Lett.

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Recyclable waste management, which includes sorting as a key process, is a crucial component of maintaining a sustainable ecosystem. The use of robots in sorting could significantly facilitate the production of secondary raw materials from waste in the sense of a recycling economy. However, due to the complex and heterogeneous types of the recyclable items, the conventional robotic gripping end-effectors, which typically come with a fixed structure, are unlikely to hold onto the full range of items to enable separation and recycling. To this end, a trimodal adaptive end-effector is proposed that can be integrated with robotic manipulators to improve their gripping versatility. The end-effector can deploy effective modes of gripping to different objects in response to their size and porosity via gripping mechanisms based on Nano Polyurethane (PU) adhesive gels, pumpless vacuum suction, and radially deployable claws. While the end-effector's mechanical design allows the three gripping modes to be deployed independently or in conjunction with one another, this work aims at deploying modes that are effective for gripping onto the recyclable item. In order to decide on the suitable modes of gripping, a real-time vision system is designed to measure the size and porosity of the recyclable items and advise on a suitable combination of gripping modes to be deployed. Integrated current sensors provide an indication of successful gripping and releasing of the recyclable items. The results of the experiments confirmed the ability of our vision-based approach in identifying suitable gripping modes in real-time, the deployment of the relevant mechanisms and successful gripping onto a maximum of 84.8% (single-mode), 90.9% (dual-mode) and 96.9% (triple-mode) of a specified set of recyclable items.

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Multifunctional Arm for Telerobotic Wind Turbine Blade Repair

Cited by 4 publications

References 9 publications

Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

ROSIC: Enhancing secure and accessible robot control through open‐source instant messaging platforms

Vision-Based Self-Adaptive Gripping in a Trimodal Robotic Sorting End-Effector

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