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Pharmaceuticals and dyes are a very important part of the nonbiodegradable or hard biodegradable substances present in wastewater. Microorganisms are already known to be effective biosorbents, but the use of free microbial cells involves difficulties in their separation from effluents and limits their application in wastewater treatment. Thus, this study aimed to develop biosorbents by immobilizing Saccharomyces cerevisiae, Saccharomyces pastorianus and Saccharomyces pastorianus residual biomass on natural polymers (alginate and chitosan) and to evaluate the biosorptive potential for removal of pharmaceuticals and dyes from water. Six types of biosorbents were synthesized and characterized by Scanning Electron Microscopy and Fourier Transform Infrared Spectroscopy techniques and their biosorptive capacities for three drugs (cephalexin, rifampicin, ethacridine lactate) and two dyes (orange II and indigo carmine) were evaluated. The obtained results show that the removal efficiency depends on the polymer type used for the immobilization. In case of alginate the removal efficiency is between 40.05% and 96.41% for drugs and between 27.83% and 58.29% for dyes, while in the case of chitosan it is between 40.83% and 77.92% for drugs and between 17.17% and 44.77% for dyes. In general, the synthesized biosorbents proved to be promising for the removal of drugs and dyes from aqueous solutions.
Lăcrămioara Rusu; Cristina-Gabriela Grigoraș; Elena Mirela Suceveanu; Andrei-Ionuț Simion; Andreea Veronica Dediu Botezatu; Bogdan Istrate; Ioan Doroftei. Eco-Friendly Biosorbents Based on Microbial Biomass and Natural Polymers: Synthesis, Characterization and Application for the Removal of Drugs and Dyes from Aqueous Solutions. Materials 2021, 14, 4810 .
AMA StyleLăcrămioara Rusu, Cristina-Gabriela Grigoraș, Elena Mirela Suceveanu, Andrei-Ionuț Simion, Andreea Veronica Dediu Botezatu, Bogdan Istrate, Ioan Doroftei. Eco-Friendly Biosorbents Based on Microbial Biomass and Natural Polymers: Synthesis, Characterization and Application for the Removal of Drugs and Dyes from Aqueous Solutions. Materials. 2021; 14 (17):4810.
Chicago/Turabian StyleLăcrămioara Rusu; Cristina-Gabriela Grigoraș; Elena Mirela Suceveanu; Andrei-Ionuț Simion; Andreea Veronica Dediu Botezatu; Bogdan Istrate; Ioan Doroftei. 2021. "Eco-Friendly Biosorbents Based on Microbial Biomass and Natural Polymers: Synthesis, Characterization and Application for the Removal of Drugs and Dyes from Aqueous Solutions." Materials 14, no. 17: 4810.
The paper considers a robotic arm with stipulated geometry and imposed position. In the first part of the work, we deduced the matrix equation that allows for establishing the required corrections for an initial set of displacement values from the pairs of the robot. With the amended set of parameters, a new set of parameters is obtained, providing the robot a position closer to the desired one. This process can be regarded as a sequence from an iterative process that aims a final position of the robotic arm with predetermined accuracy. The second part of the paper applies the relations deduced in the first part, for a certain case, namely a robotic arm that has three cylindrical pairs in the structure. The straightforward application of the equations obtained in the first part develops an over-constrained system of linear equations that necessitates the use of generalized inverse matrix Moon Penrose. This requires, in turn, the application of several matrix operations upon matrices with 12 rows. Next, the equation from the first part is written for the robotic arm with three cylindrical pairs, resulting in the occurrence of several special matrices. The properties of the special matrices are considered and a new simpler method is proposed for finding the corrections necessary to amend the initial parameters. This method reduces the calculus to a system of six equations.
Stelian Alaci; Ioan Doroftei; Florentin Buium; Florina-Carmen Ciornei; Ionut-Cristian Romanu. A Numerical Procedure for Position Analysis of a Robotic Structure. Part II: 3C Robotic Arm Illustration. Mechanical Engineering and Materials 2020, 33 -42.
AMA StyleStelian Alaci, Ioan Doroftei, Florentin Buium, Florina-Carmen Ciornei, Ionut-Cristian Romanu. A Numerical Procedure for Position Analysis of a Robotic Structure. Part II: 3C Robotic Arm Illustration. Mechanical Engineering and Materials. 2020; ():33-42.
Chicago/Turabian StyleStelian Alaci; Ioan Doroftei; Florentin Buium; Florina-Carmen Ciornei; Ionut-Cristian Romanu. 2020. "A Numerical Procedure for Position Analysis of a Robotic Structure. Part II: 3C Robotic Arm Illustration." Mechanical Engineering and Materials , no. : 33-42.
A method for solving position analysis of spatial mechanisms with cylindrical joints was proposed by Hartenberg and Denavit, based on the point coordinates transformation relations when the reference frame is changed. The equivalent scalar equations derived from the matrix closure equation are cumbersome and improbable to be solved analytically. To surpass this inconvenience, Uicker et al. presented a numerical algorithm for solving the matrix equation deduced by Hartenberg and Denavit. This paper proposes a generalization of Uicker’s method that can be applied both for robotic systems and for mechanisms with all types of lower pairs. To this end, the spherical and planar pairs from the structure of the robot should be replaced by assemblies of cylindrical pairs. The proposed method assumes that all of the analysed kinematic chain’s joints are revolute joints. The initial data to be stipulated are the constructive parameters of the analysed chain together with the homogenous operator which describes the position of the end-link with respect to the ground (the base). Therefore, a set of arbitrary position parameters of the chain are considered and a matrix equation is found; this equation allows for finding the corrections to be applied to the initial set of parameters, in order to obtain a new set of parameters which provide a closer position to the theoretical imposed position. The values of the corrections are found from a linear over-constrained system of 12 equations.
Stelian Alaci; Ioan Doroftei; Florentin Buium; Florina-Carmen Ciornei; Ionut-Cristian Romanu. A Numerical Procedure for Position Analysis of a Robotic Structure. Part I: General Methodology. Mechanical Engineering and Materials 2020, 23 -32.
AMA StyleStelian Alaci, Ioan Doroftei, Florentin Buium, Florina-Carmen Ciornei, Ionut-Cristian Romanu. A Numerical Procedure for Position Analysis of a Robotic Structure. Part I: General Methodology. Mechanical Engineering and Materials. 2020; ():23-32.
Chicago/Turabian StyleStelian Alaci; Ioan Doroftei; Florentin Buium; Florina-Carmen Ciornei; Ionut-Cristian Romanu. 2020. "A Numerical Procedure for Position Analysis of a Robotic Structure. Part I: General Methodology." Mechanical Engineering and Materials , no. : 23-32.
Purpose The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape. Design/methodology/approach The chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload. Findings An optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach. Originality/value This paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints.
Bassem Hichri; Lounis Adouane; Jean-Christophe Fauroux; Youcef Mezouar; Ioan Doroftei. Flexible co-manipulation and transportation with mobile multi-robot system. Assembly Automation 2019, 39, 422 -431.
AMA StyleBassem Hichri, Lounis Adouane, Jean-Christophe Fauroux, Youcef Mezouar, Ioan Doroftei. Flexible co-manipulation and transportation with mobile multi-robot system. Assembly Automation. 2019; 39 (3):422-431.
Chicago/Turabian StyleBassem Hichri; Lounis Adouane; Jean-Christophe Fauroux; Youcef Mezouar; Ioan Doroftei. 2019. "Flexible co-manipulation and transportation with mobile multi-robot system." Assembly Automation 39, no. 3: 422-431.
During the Humanitarian-demining actions, teleoperation of sensors or multi-sensor heads can enhance-detection process by allowing more precise scanning, which is use-ful for the optimization of the signal processing algorithms. This chapter summarizes the technologies and experiences developed during 16 years through national and/or European-funded projects, illustrated by some contributions of our own laboratory, located at the Royal Military Academy of Brussels, focusing on the detection of unex-ploded devices and the implementation of mobile robotics systems on minefields.
P Yvan Baudoin; Daniela Doroftei; Geert De Cubber; Jean-Claude Habumuremyi; Haris Balta; Ioan Doroftei. Unmanned Ground and Aerial Robots Supporting Mine Action Activities. Journal of Physics: Conference Series 2018, 1065, 172009 .
AMA StyleP Yvan Baudoin, Daniela Doroftei, Geert De Cubber, Jean-Claude Habumuremyi, Haris Balta, Ioan Doroftei. Unmanned Ground and Aerial Robots Supporting Mine Action Activities. Journal of Physics: Conference Series. 2018; 1065 (17):172009.
Chicago/Turabian StyleP Yvan Baudoin; Daniela Doroftei; Geert De Cubber; Jean-Claude Habumuremyi; Haris Balta; Ioan Doroftei. 2018. "Unmanned Ground and Aerial Robots Supporting Mine Action Activities." Journal of Physics: Conference Series 1065, no. 17: 172009.
Ankle exercises are long-term and repetitive and cannot offer information about patient’s evolution. Due to these aspects a need for easy-to-use mechatronic devices emerges. The purpose of this two parts paper is to propose two rehabilitation devices, based on different actuating mechanisms (spatial four-bar and Scotch Yoke mechanism respectively). In the first part the structural synthesis and some kinematic aspects of the proposed devices have been presented. For the second part, 3D models and preliminary numerical simulations of the systems are performed. The simulation results are encouraging, both mechanisms covering all the required movements for a complete recovery of the ankle joint.
C. M. Racu; I. Doroftei. New Concepts of Ankle Rehabilitation Devices—Part II: Design and Simulation. Mechanical Engineering and Materials 2018, 233 -239.
AMA StyleC. M. Racu, I. Doroftei. New Concepts of Ankle Rehabilitation Devices—Part II: Design and Simulation. Mechanical Engineering and Materials. 2018; ():233-239.
Chicago/Turabian StyleC. M. Racu; I. Doroftei. 2018. "New Concepts of Ankle Rehabilitation Devices—Part II: Design and Simulation." Mechanical Engineering and Materials , no. : 233-239.
Among lower limb injuries, the ankle joint is the most common injured in sports and daily life in general. Rehabilitation aims to recover the patient’s physical capabilities through long and repetitive exercises. This paper discusses structural and kinematic aspects of a novel ankle rehabilitation device, which can facilitate the recovery of the ankle joint. The proposed device has two degrees of freedom, and will ensure functionality with minimum dimensions. Some preliminary mathematical models are also presented.
Cristina Racu (Cazacu); Ioan Dorofte. PRELIMINARY MATHEMATICAL MODEL OF A NEW ANKLE REHABILITATION DEVICE. Journal of Engineering Studies and Research 2016, 21, 1 .
AMA StyleCristina Racu (Cazacu), Ioan Dorofte. PRELIMINARY MATHEMATICAL MODEL OF A NEW ANKLE REHABILITATION DEVICE. Journal of Engineering Studies and Research. 2016; 21 (2):1.
Chicago/Turabian StyleCristina Racu (Cazacu); Ioan Dorofte. 2016. "PRELIMINARY MATHEMATICAL MODEL OF A NEW ANKLE REHABILITATION DEVICE." Journal of Engineering Studies and Research 21, no. 2: 1.
This paper addresses cooperative manipulation and transportation of any payload shape, by assembling a group of simple mobile robots (denoted m-bots) into a modular poly-robot (p-bot). The focus is made in this paper on the chosen methodology to obtain sub-optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation. This appropriate positioning is obtained by combining the constraint to ensure Force Closure Grasping (FCG) for stable and safe lifting of the payload and the maximization of the Static Stability Margin (SSM) during the transport. A predefined control law is then used to track a virtual structure in which each elementary robot has to keep the desired position relative to the payload. Simulation results for an object of any shape, described by a parametric curve, are presented. Additional 3D simulation results with a multi-body dynamic software validate our proposal.
B. Hichri; L. Adouane; J.-C. Fauroux; Y. Mezouar; I. Doroftei. Cooperative Mobile Robot Control Architecture for Lifting and Transportation of Any Shape Payload. Springer Tracts in Advanced Robotics 2016, 177 -191.
AMA StyleB. Hichri, L. Adouane, J.-C. Fauroux, Y. Mezouar, I. Doroftei. Cooperative Mobile Robot Control Architecture for Lifting and Transportation of Any Shape Payload. Springer Tracts in Advanced Robotics. 2016; ():177-191.
Chicago/Turabian StyleB. Hichri; L. Adouane; J.-C. Fauroux; Y. Mezouar; I. Doroftei. 2016. "Cooperative Mobile Robot Control Architecture for Lifting and Transportation of Any Shape Payload." Springer Tracts in Advanced Robotics , no. : 177-191.
Omni-directional mobile robots are very attractive because they have a very good mobility, which make them appropriate when they have to move in tight areas, avoid obstacles, and find the way to the next location. To move with precision in such environments, the accurate estimation of the position is very important. The authors provide in this paper information about the design of an omni-directional robot and its control system. Also, preliminary ideas about the design of an odometer are presented.
Ioan Doroftei; Ionel Conduraru; Vasile Horga. Preliminary Ideas on the Odometry of an Omni-directional Mobile Robot. Advances in Intelligent Systems and Computing 2015, 157 -164.
AMA StyleIoan Doroftei, Ionel Conduraru, Vasile Horga. Preliminary Ideas on the Odometry of an Omni-directional Mobile Robot. Advances in Intelligent Systems and Computing. 2015; ():157-164.
Chicago/Turabian StyleIoan Doroftei; Ionel Conduraru; Vasile Horga. 2015. "Preliminary Ideas on the Odometry of an Omni-directional Mobile Robot." Advances in Intelligent Systems and Computing , no. : 157-164.
As walking robots are requested to perform tasks in rough terrain, the development of actuators capable to flexibly adapt to the unstructured environment becomes more and more necessary. The conventional mechanisms with stiff joints make the robots more complex, heavy, large and expensive. Recent research in the field of materials discovered some new light and resistant alloys, which allow building compact, light and resistant articulated mechanisms. Such intelligent materials, called also artificial muscles, could be used to develop new actuators. Shape Memory Alloys are a category of artificial muscles which can be used as actuators for a walking robot. Even if these artificial muscles can exhibit large changes in shape when heated and cooled, only one part of their deformation can be used, if we want to maximize the actuator life. This is why smart mechanisms that can convert the small strain of the wire into large motion are necessary. In this paper, an example of using Shape Memory Alloys as actuators for a hexapod walking micro-robot is presented. Leg mechanisms that can convert the small strain of these actuators in large motion are also discussed.
I. Doroftei. A Hexapod Walking Micro-robot with Artificial Muscles. Mechanical Engineering and Materials 2015, 99 -120.
AMA StyleI. Doroftei. A Hexapod Walking Micro-robot with Artificial Muscles. Mechanical Engineering and Materials. 2015; ():99-120.
Chicago/Turabian StyleI. Doroftei. 2015. "A Hexapod Walking Micro-robot with Artificial Muscles." Mechanical Engineering and Materials , no. : 99-120.
There are millions of lethal land-mines that have been left in many countries after conflicts. They represent a particularly acute problem in developing countries and nations already economically hard hit by war. The problem of unexploded mines has become a serious international issue, with many people striving to find a solution. These mines kill or injure thousands individuals each year, most of them civilians. This paper will present an extended work on a wheeled mobile robot for humanitarian demining.
Ioan Doroftei; Romain Malherbe; Gaetan Bred; Yvan Baudoin; Ionel Conduraru. Remote Controlled Wheeled Mobile Robot for Humanitarian Demining Purposes. Applied Mechanics and Materials 2014, 658, 618 -625.
AMA StyleIoan Doroftei, Romain Malherbe, Gaetan Bred, Yvan Baudoin, Ionel Conduraru. Remote Controlled Wheeled Mobile Robot for Humanitarian Demining Purposes. Applied Mechanics and Materials. 2014; 658 ():618-625.
Chicago/Turabian StyleIoan Doroftei; Romain Malherbe; Gaetan Bred; Yvan Baudoin; Ionel Conduraru. 2014. "Remote Controlled Wheeled Mobile Robot for Humanitarian Demining Purposes." Applied Mechanics and Materials 658, no. : 618-625.
Comparing to wheeled robots, legged ones are more flexible and mobile on difficult terrain, where wheeled robots cannot go. Wheels excel on flat surfaces or specially prepared surfaces, where wheeled robots are faster than legged machines. Also, wheeled platforms have simpler mechanical architecture and control algorithms. But they do not perform well when terrain is uneven, which is the case in real life, legged robots becoming more interesting to research and explore. Hybrid locomotion systems were developed to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper some information about the mechanical design and kinematics of a small hybrid locomotion robot are presented.
Alina Conduraru Slatineanu; Ioan Doroftei; Ionel Conduraru. Design and Kinematic Aspects of a Hybrid Locomotion Robot. Advanced Materials Research 2014, 1036, 764 -769.
AMA StyleAlina Conduraru Slatineanu, Ioan Doroftei, Ionel Conduraru. Design and Kinematic Aspects of a Hybrid Locomotion Robot. Advanced Materials Research. 2014; 1036 ():764-769.
Chicago/Turabian StyleAlina Conduraru Slatineanu; Ioan Doroftei; Ionel Conduraru. 2014. "Design and Kinematic Aspects of a Hybrid Locomotion Robot." Advanced Materials Research 1036, no. : 764-769.
Mobile robots applications are demanding them to move in tight areas, to avoid obstacles, finding their way to the next location. In the case of wheeled robots, these abilities mainly depend on the wheels design. A mobile robot with omni-directional capabilities is very attractive because it guarantees a very good mobility in such cases, being able to move instantaneously in any direction from any configuration. These capabilities mainly depend on the wheels design. This paper provides some information about the mechanical design of an omni-directional mobile robot with modified Mecanum wheel, as well as about its control.
Ionel Conduraru; Ioan Doroftei; Alina Conduraru Slatineanu. A Mobile Robot with Modified Mecanum Wheels. Advanced Materials Research 2014, 1036, 775 -780.
AMA StyleIonel Conduraru, Ioan Doroftei, Alina Conduraru Slatineanu. A Mobile Robot with Modified Mecanum Wheels. Advanced Materials Research. 2014; 1036 ():775-780.
Chicago/Turabian StyleIonel Conduraru; Ioan Doroftei; Alina Conduraru Slatineanu. 2014. "A Mobile Robot with Modified Mecanum Wheels." Advanced Materials Research 1036, no. : 775-780.
Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. When a mobile robot has to move in small and narrow spaces and to avoid obstacles, mobility is one of its main issues. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. Also, the accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. In this work, some odometry aspects of an omni-directional robot are presented and a simple odometer solution is proposed.
Ionel Conduraru; Ioan Doroftei; Dorin Luca; Alina Conduraru Slatineanu. Odometry Aspects of an Omni-Directional Mobile Robot with Modified Mecanum Wheels. Applied Mechanics and Materials 2014, 658, 587 -592.
AMA StyleIonel Conduraru, Ioan Doroftei, Dorin Luca, Alina Conduraru Slatineanu. Odometry Aspects of an Omni-Directional Mobile Robot with Modified Mecanum Wheels. Applied Mechanics and Materials. 2014; 658 ():587-592.
Chicago/Turabian StyleIonel Conduraru; Ioan Doroftei; Dorin Luca; Alina Conduraru Slatineanu. 2014. "Odometry Aspects of an Omni-Directional Mobile Robot with Modified Mecanum Wheels." Applied Mechanics and Materials 658, no. : 587-592.
Legged vehicles are more flexible and mobile on difficult terrain, comparing to wheeled robots. Wheels are convenient on flat surfaces or specially prepared surfaces, wheeled vehicles being faster than legged ones. Also, wheeled robots are simpler in terms of mechanical architecture and control algorithms. But they do not perform well on uneven terrain, which is the case in real life, legged robots becoming more interesting to research and explore. This is why hybrid locomotion systems have been developed, in order to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper some design and kinematic aspects as well as hexapod locomotion of a small hybrid robot are presented.
Alina Conduraru Slatineanu; Ioan Doroftei; Ionel Conduraru; Dorin Luca. Hexapod Locomotion of a Leg-Wheel Hybrid Mobile Robot. Applied Mechanics and Materials 2014, 658, 581 -586.
AMA StyleAlina Conduraru Slatineanu, Ioan Doroftei, Ionel Conduraru, Dorin Luca. Hexapod Locomotion of a Leg-Wheel Hybrid Mobile Robot. Applied Mechanics and Materials. 2014; 658 ():581-586.
Chicago/Turabian StyleAlina Conduraru Slatineanu; Ioan Doroftei; Ionel Conduraru; Dorin Luca. 2014. "Hexapod Locomotion of a Leg-Wheel Hybrid Mobile Robot." Applied Mechanics and Materials 658, no. : 581-586.
This paper reviews lifting mechanisms and provides a description of a new lifting system that could be fixed on a mobile robot frame. The resulting collaborative mobile robots would be able to transport an object of any shape by lifting it above their transporting platform using the proposed system while keeping a stable formation in order to successfully achieve the task.
Bassem Hichri; J.-C. Fauroux; L. Adouane; I. Doroftei; Y. Mezouar. Lifting Mechanism for Payload Transport by Collaborative Mobile Robots. Mechanical Engineering and Materials 2014, 157 -165.
AMA StyleBassem Hichri, J.-C. Fauroux, L. Adouane, I. Doroftei, Y. Mezouar. Lifting Mechanism for Payload Transport by Collaborative Mobile Robots. Mechanical Engineering and Materials. 2014; ():157-165.
Chicago/Turabian StyleBassem Hichri; J.-C. Fauroux; L. Adouane; I. Doroftei; Y. Mezouar. 2014. "Lifting Mechanism for Payload Transport by Collaborative Mobile Robots." Mechanical Engineering and Materials , no. : 157-165.
Ioan Doroftei; B. Stirbu. Application of Ni-Ti shape memory alloy actuators in a walking micro-robot. Mechanics 2014, 20, 1 .
AMA StyleIoan Doroftei, B. Stirbu. Application of Ni-Ti shape memory alloy actuators in a walking micro-robot. Mechanics. 2014; 20 (1):1.
Chicago/Turabian StyleIoan Doroftei; B. Stirbu. 2014. "Application of Ni-Ti shape memory alloy actuators in a walking micro-robot." Mechanics 20, no. 1: 1.
In recent years more and more emphasis was placed on the idea of autonomous mobile robots, researches being constantly rising. Mobile robots have a large scale use in industry, military operations, exploration and other applications where human intervention is risky. The accurate estimation of the position is a key component for the successful operation for most of autonomous mobile robots. The localization of an autonomous robot system refers mainly to the precise determination of the coordinates where the system is present at a certain moment of time. In many applications, the orientation and an initial estimation of the robot position are known, being supplied directly or indirectly by the user or the supervisor. During the execution of the tasks, the robot must update this estimation using measurements from its sensors. This is known as local localization. Using only sensors that measure relative movements, the error in the pose estimation increases over time as errors are accumulated. Localization is a fundamental operation for navigating mobile robots
Ionel Conduraru; Ioan Doroftei; Alina Conduraru (Slătineanu). Localization Methods for Mobile Robots - A Review. Advanced Materials Research 2013, 837, 561 -566.
AMA StyleIonel Conduraru, Ioan Doroftei, Alina Conduraru (Slătineanu). Localization Methods for Mobile Robots - A Review. Advanced Materials Research. 2013; 837 ():561-566.
Chicago/Turabian StyleIonel Conduraru; Ioan Doroftei; Alina Conduraru (Slătineanu). 2013. "Localization Methods for Mobile Robots - A Review." Advanced Materials Research 837, no. : 561-566.
This paper presents an introduction aboutC3Botsproject which aims to design collaborative, cross and carry mobile robots. In this project it is considered to design an innovative robotic system based on modular entities with a simple mechanical architecture able to collaborate to ensure object co-manipulation and transport. The resulting multi-robot system is calledC3Bots. In this paper we present the first version of this system using a parallelogram mechanism for co-manipulation and the realized prototypes which are going to be used for first experiments.
Bassem Hichri; Jean Christophe Fauroux; Lounis Adouane; Youcef Mezouar; Ioan Doroftei. Design of Collaborative, Cross & Carry Mobile RoBots "C3Bots". Advanced Materials Research 2013, 837, 588 -593.
AMA StyleBassem Hichri, Jean Christophe Fauroux, Lounis Adouane, Youcef Mezouar, Ioan Doroftei. Design of Collaborative, Cross & Carry Mobile RoBots "C3Bots". Advanced Materials Research. 2013; 837 ():588-593.
Chicago/Turabian StyleBassem Hichri; Jean Christophe Fauroux; Lounis Adouane; Youcef Mezouar; Ioan Doroftei. 2013. "Design of Collaborative, Cross & Carry Mobile RoBots "C3Bots"." Advanced Materials Research 837, no. : 588-593.
This paper focuses on our primary goal to achieve the emotional behaviour of the new version of the social robot Probo. The ability to enhance nonverbal communication with children is possible through facial expressions, eye-tracking and face-to-face contact. The new social robot has 21 degrees of freedom (DOF), grouped in five subsystems, named generically: eyes, ears, trunk, mouth and neck. The robotic head is actuated using only servo motors and all the components are manufactured using cheap, flexible and easy technologies. In order to get the social robot head able to express emotions, a Graphical User Interface (GUI) was developed. In this way facial expressions are created through sliders or push buttons. Additionally, we investigated the possibility of controlling the robot with an Arduino board. In this case, using pre-programmed or learned algorithms, the robot is getting a semiautonomous level, based on the usage of various sensors, being able to express six basic emotions: happiness, sadness, fear, anger, surprise and disgust. So, based on the feedback provided by the sensors, the robot can react accordingly, enhancing human-robot interaction (HRI).
Florentina Adăscălitei; Ioan Doroftei; Dirk Lefeber; Bram VanderBorght. Controlling a Social Robot - Performing Nonverbal Communication through Facial Expressions. Advanced Materials Research 2013, 837, 525 -530.
AMA StyleFlorentina Adăscălitei, Ioan Doroftei, Dirk Lefeber, Bram VanderBorght. Controlling a Social Robot - Performing Nonverbal Communication through Facial Expressions. Advanced Materials Research. 2013; 837 ():525-530.
Chicago/Turabian StyleFlorentina Adăscălitei; Ioan Doroftei; Dirk Lefeber; Bram VanderBorght. 2013. "Controlling a Social Robot - Performing Nonverbal Communication through Facial Expressions." Advanced Materials Research 837, no. : 525-530.