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  • 1.
    Ahmed, Rehan M.
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani V.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Compliant motion control for safe human robot interaction2009In: Robot motion and control 2009 / [ed] Krzysztof R. Kozłowski, Berlin: Springer , 2009, p. 265-274Conference paper (Refereed)
    Abstract [en]

    Robots have recently been foreseen to work side by side and share workspace with humans in assisting them in tasks that include physical human-robot (HR) interaction. The physical contact with human tasks under uncertainty has to be performed in a stable and safe manner [6]. However, current industrial robot manipulators are still very far from HR coexisting environments, because of their unreliable safety, rigidity and heavy structure. Besides this, the industrial norms separate the two spaces occupied by a human and a robot by means of physical fence or wall [9]. Therefore, the success of such physical HR interaction is possible if the robot is enabled to handle this interaction in a smart way to prevent injuries and damages.

  • 2.
    Ahmed, Rehan M.
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani V.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan G.
    Örebro University, School of Science and Technology.
    Safe robot with reconfigurable compliance/stiffness actuation2009In: Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009 / [ed] J. S. Dai, M. Zoppi, X. W. Kong, IEEE, 2009, p. 633-638Conference paper (Refereed)
    Abstract [en]

    Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.

  • 3.
    Ahmed, Rehan M.
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Modeling of magneto rheological fluid actuator enabling safe human-robot interaction2008In: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008, 2008, p. 974-979Conference paper (Refereed)
    Abstract [en]

    Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

  • 4.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    In-water surface cleaning robot: concept, locomotion and stability2014In: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, no 2, p. 104-115Article in journal (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

  • 5.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    New concept of in-water surface cleaning robot2013In: Mechatronics and Automation (ICMA), 2013 IEEE International Conference onDate 4-7 Aug. 2013, IEEE conference proceedings, 2013, p. 1582-1587Conference paper (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

  • 6.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Stability study of underwater crawling robot on non-horizontal surface2014In: Mobile Service Robotics: Clawar 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines: Poznan, Poland 21 - 23 July 2014, Singapore: World Scientific, 2014, p. 511-519Conference paper (Refereed)
    Abstract [en]

    This paper introduces a study of a concept of exible crawling mechanism todesign an industrial underwater cleaning robot, which is evaluated from theviewpoint of the capability to work underwater, scanning the desired surface,and bearing the reactions. This can be used as a robotic application in under-water surface cleaning and maintenance. In this study we focused on realizingthe adhesion on the surface in stationary and in motion, bearing reactions,enabling the needed locomotion types for scanning, and achieving the stabilityin dierent situations on the surface.

  • 7.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Dandan, Kinan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Layered mission control architecture and strategy for crawling underwater cleaning robot2015In: International Journal of Mechatronics and Automation, ISSN 2045-1059, Vol. 5, no 2/3, p. 114-124Article in journal (Refereed)
    Abstract [en]

    This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.

  • 8.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Dandan, Kinan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems2016In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, article id 7Article in journal (Refereed)
    Abstract [en]

    Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

  • 9.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current collector for heavy vehicles on electrified roads2014In: Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014 / [ed] Leo J De Vin and Jorge Solis, Karlstad: Karlstads universitet , 2014, p. 436-441Conference paper (Refereed)
    Abstract [en]

    This paper presents a prototype of a novel current collector manipulator that can be mounted beneath a road vehicle between the front and rear wheels to collect electric power from road embedded power lines. The ground-level power supply concept for road vehicles is described and the kinematic model of this two degree of freedom manipulator is detailed. Finally, the power line detection, based on an array of inductive sensors, is discussed.

  • 10.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Center for Applied Autonomous Sensor Systems, Örebro University, Örebro, Sweden.
    Current Collector for Heavy Vehicles on Electrified Roads: Field Tests2016In: Journal of Asian Electric Vehicles, ISSN 1348-3927, Vol. 14, no 1, p. 1751-1757Article in journal (Refereed)
    Abstract [en]

    We present the field tests and measurements performed on a novel current collector manipulator to be mounted beneath a heavy vehicle to collect electric power from road embedded power lines. We describe the concept of the Electric Road System (ERS) test track being used and give an overview of the test vehicle for testing the current collection. The emphasis is on the field tests and measurements to evaluate both the vertical accelerations that the manipulator’s end-effector is subject to during operation and the performance of the detection and tracking of the power line.

  • 11.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current collector for heavy vehicles on electrified roads: kinematic analysisIn: International Journal of Electric and Hybrid Vehicles, ISSN 1751-4088Article in journal (Refereed)
    Abstract [en]

    We present a prototype of a novel current collector manipulator to be be mounted beneath a heavy vehicle to collect electric power from road-embedded power lines. We describe the concept of the ground-level power supply system for heavy vehicles and its main components. The main requirements and constraints, such as safety, robustness to harsh road and weather operational conditions, ambient environment aspects and dynamic properties, are introduced. The emphasis is on the developed kinematic model, which provides the base for further development of the control system. We propose and derive an alternative approach for representing the inverse kinematics by a two-dimensional polynomial approximation that avoids the usage of complicated non-linear equations. Its simplicity is demonstrated by a numerical example with the basic parameters of the prototype. The basic motion sequences of the current collector and the way to control them are outlined. 

  • 12.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current Collector for Heavy Vehicles on Electrified Roads: Motion Control2015In: Journal of Asian Electric Vehicles, ISSN 1348-3927, Vol. 13, no 2, p. 1725-1732Article in journal (Refereed)
    Abstract [en]

    We present the adopted motion control schemes of a novel current collector manipulator to be mounted beneath a heavy hybrid electric vehicle to collect electric power from road embedded power lines. We describe our approach of power line detection and tracking based on an array of inductive proximity sensors. The emphasis is on the adopted motion control logic for sequential and closed loop motions to detect and track the power line respectively. We implement the sliding mode control approach for the closed loop control scheme as straightforward solution given the binary nature of the inductive proximity sensors being used. The overall architecture of the entire motion control system is presented. Finally, the implementation of the entire control logic in a form of a state machine is discussed.

  • 13.
    Ananiev, Anani
    et al.
    Örebro University, Department of Technology.
    Michelfelder, Thorsten
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Driving redundant robots by a dedicated clutch-based actuator2007In: Robot motion and control 2007 / [ed] Krzysztof Kozłowski, Berlin: Springer , 2007, p. 167-176Conference paper (Other academic)
    Abstract [en]

    The redundancy in the body construction of humans and animals makes them very adaptable for a wide variety of natural environments. By switching/activating/deactivating they can accommodate the necessary locomotion for performing almost any task in their lifes. Therefore redundant and hyper-redundant robots are at the focus of research world-wide. The existing hyper-redundant robotic platforms are built in a plenty of mechanical constructions and purposes of use, but have a limited number of useful features that, unfortunately, limit their applicability in some important areas.

  • 14.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Albitar, Houssam
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    School of Science and Technology, Örebro University, Örebro, Sweden.
    Confined Spaces: Cleaning Techniques and Robot-based Surface Cleaning2016In: American Scientific Research Journal for Engineering, Technology and Science, ISSN 2313-4402, Vol. 22, no 1, p. 210-230Article in journal (Refereed)
    Abstract [en]

    The requirements of the working and safety norms demonstrate significant need of increased efficiency and improved working conditions in cleaning confined spaces. This paper presents an overview of the existing technologies and solutions for cleaning large confined spaces. A special attention is directed for cleaning interior surface of confined spaces used mainly for storing bulk materials or liquids, such as silos. The cleaning technologies for confined space depend on several aspects as the build-up material, the surface material, the ambient conditions. Four cleaning techniques are presented in this paper. The mechanisms and robots related to the studied problem are surveyed and evaluated from the viewpoint of their capability to clean interior surfaces. The dominating majority of the existing cleaning equipment is constructed to serve cleaning the entire volume of the respective confined space (silo), but not for cleaning the interior surface.

  • 15.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Albitar, Houssam
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Motion Control of Siro: The Silo Cleaning Robot2015In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 12, article id 184Article in journal (Refereed)
    Abstract [en]

    Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise between basically contradictory factors in the design: the small entrance and the large surface of the confined space, and the suspension and the stabilization of the robot. The design consists of three main parts: a support unit, the cleaning robot and a cleaning mechanism. The latter two parts enter the silo in a folded form and, thereafter, the robot’s arms are spread in order to achieve stability during the cleaning process. The vertical movement of the robot is achieved via sequential crawling motions.

    The control system is divided into two separate subsystems, the robot’s control subsystem and a support-unit control subsystem, in order to facilitate different operational modes. The robot has three principle motion-control tasks: positioning the robot inside the silo, holding a vertical position during the cleaning process and a crawling movement.

    A scaled prototype of the robot has been implemented and tested to prove the concept, in order to make certain that the mechanical design suits the main functions of the robotic system, to realize the robot’s design in an industrial version and to test it in a realistic environment.

  • 16.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Ivan, Kalaykov
    Örebro University, School of Science and Technology.
    SIRO: the silos surface cleaning robot concept2013Conference paper (Refereed)
    Abstract [en]

    A concept of a suspended robot for surface cleaning in silos is presented in this paper. The main requirements and limitations resulting from the specific operational conditions are discussed. Due to the large dimension of the silo as a confined space, specific kinematics of the robot manipulator is proposed. The major problems in its design are highlighted and an approach to resolve them is proposed. The suggested concept is a reasonable compromise between the basic contradicting factors in the design: small entrance and large surface of the confined space, suspension and stabilization of the robot

  • 17.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    School of Science and Technology, Örebro University, Örebro, Sweden.
    Dynamical Analysis of Silo Surface Cleaning Robot using Finite Element Method2016In: International Journal of Mechanical Engineering & Technology (IJMET), ISSN 0976-6340, Vol. 07, no 01, p. 190-202, article id IJMET_07_01_020Article in journal (Refereed)
    Abstract [en]

    All mechanical systems are subjected to dynamic forces when they are in functioning. Thus a dynamical analysis has to be studied to determine the system behaviour. The vibration is of interest to study, due to its destructive or constructive effect. In the present era computational techniques are quite common and are very reliable as far as the modal analysis is concerned. In this work, the robot of silo cleaning is analysed for its vibration behaviour using finite element method (FEM).The robot was modelled and meshed in ANSYS. Modal analysis was conducted to calculate few initial natural frequencies. After carrying out the modal analysis, harmonic and transient analysis were done to see the response of the robot under dynamic loading. It was observed that robot is safe in its entire range of operation.

  • 18.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Modeling and simulation of a silo cleaning robot2014In: Mobile Service Robotics / [ed] Krazystof Kotowski, Mohammad O Tokhi and Gurvinder S Virk, Singapore: World Scientific, 2014, p. 627-635Conference paper (Refereed)
    Abstract [en]

    A suspended robot for surface cleaning in silos is presented in this paper. Thesuggested concept is a reasonable compromise between the basic contradictingfactors in the design: small entrance and large surface of the confined space,suspension and stabilization of the robot. A dynamic study for the suspendedrobot is presented in this paper. A dynamic simulation in MSC ADAMS iscarried out to confirm the results from the theoretic study.

  • 19.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    SME robotics demand flexible grippers and fixtures2008In: Proc. 39th Int. Symposium on Robotics, Seoul, Korea, 2008, p. 62-65Conference paper (Refereed)
  • 20.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boykov
    Örebro University, School of Science and Technology.
    Flexible grippers and fixtures2008Conference paper (Refereed)
1 - 20 of 20
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  • ieee
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