This paper describes a mobile manipulator that uses its wheels for manipulation as well as locomotion. This robot, named the mobipulator, looks like a small car with four independently powered wheels, none of them steered. It is designed to manipulate paper and other objects on the surface of a desk. The wheels are used for locomotion or for manipulation, switching functions dynamically as the ...

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled between the classic configuration and a novel multilayer one sharing exactly the same four magnets and the same total volume of iron. This know-how...

In this paper, the robot with three wheels is implement and its motion is controlled . two of robot’s wheels are activated by DC motors. The main PID controllers are implemented with a Field Programmable Gate Array(FPGA) for independent robot movement . a FPGA controller communicate with a PC with PCI card(PLX9052) so that the movement of wheels can be displayed on the monitor through PCI card ...

Purpose – In this paper, two omni-directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni-directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni-directionality using t...

In our paper we present an innovative locomotion concept for rough terrain based on six motorized wheels. Using rhombus configuration, the rover named Shrimp has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the rover is realized b...

Recent developments in grinding have opened up new avenues for finishingof hard and brittle materials with Nano-surface finish, high tolerance and accuracy.Grinding with super abrasive diamond wheels is an excellent way to produce ultraprecision surface finish. However, super abrasive diamond grits need higher bondingstrength while grinding, which metal-bonded grinding wheels ca...

The goal of this study was to determine whether there is any biomechanical difference in terms of construct strength with axial loading between volar fixed-angle locking plates with threaded locking vs smooth locking pegs. The control group comprised 7 cadaveric specimens with threaded locking pegs, and the test group comprised 7 cadaveric specimens from the same donor with smooth locking pegs....

While the dominant approach to persistent storage in practice is to use a relational DBMS, there are some specialist applications that rely on object stores. The performance of these applications depends heavily on the efficiency of the object store’s concurrency control mechanism. Today’s predominant concurrency control mechanism is strict two-phase object locking. In the 80s, an interesting a...