Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework
Spherical robots are a recent technique and have attracted attention due to their capacity to move at high speeds while maintaining great locomotion efficiency. Many research studies have been undertaken on spherical robots’ driving mechanisms, motion planning, and trajectory tracking systems, but o...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Advances in Materials Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/3908975 |
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| author | Mohamad Reda A. Refaai S. Meenatchi B. Ramesh N. I. Haroon Rashid N. B. Soni Manikandan Ganesan |
| author_facet | Mohamad Reda A. Refaai S. Meenatchi B. Ramesh N. I. Haroon Rashid N. B. Soni Manikandan Ganesan |
| author_sort | Mohamad Reda A. Refaai |
| collection | DOAJ |
| description | Spherical robots are a recent technique and have attracted attention due to their capacity to move at high speeds while maintaining great locomotion efficiency. Many research studies have been undertaken on spherical robots’ driving mechanisms, motion planning, and trajectory tracking systems, but only a few studies have been completed on their obstacle avoidance capacity. Its interfering prevention method was “hit and run” due to the existence of a sealed outer shell. This is convenient because of the spherical robots’ unique shape. It might cause major problems when the robots are light and small in size. A high-speed collision with a hard surface might harm the robot or the camera in portable spherical robots with onboard cameras. In this article, a magnetic field-based interference detection and prevention system for a tiny spherical robot has been established. The proximity sensor uses a passive magnetic field to detect ferromagnetic barriers by causing the magnetic field to be perturbed. It makes use of a passive magnetic field to keep the system small and power-effective. Because the suggested system can sense not only the existence of a ferromagnetic barrier but also its approaching direction, an intelligent avoidance behaviour may be developed by combining the detection information with the trajectory tracking technique. It amplifies the disturbance effectively and hence increases the detection performance. To improve obstacle detection performance, design optimization is carried out and specific avoidance techniques are designed. |
| format | Article |
| id | doaj-art-2e809dbfbe72454ca17eb9f5a9c239d5 |
| institution | Kabale University |
| issn | 1687-8442 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advances in Materials Science and Engineering |
| spelling | doaj-art-2e809dbfbe72454ca17eb9f5a9c239d52025-08-20T03:55:07ZengWileyAdvances in Materials Science and Engineering1687-84422022-01-01202210.1155/2022/3908975Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention FrameworkMohamad Reda A. Refaai0S. Meenatchi1B. Ramesh2N. I. Haroon Rashid3N. B. Soni4Manikandan Ganesan5Department of Mechanical EngineeringDepartment of Computer Science and EngineeringDepartment of Mechanical EngineeringDepartment of Aerospace EngineeringDepartment of Electrical EngineeringDepartment of Electromechanical EngineeringSpherical robots are a recent technique and have attracted attention due to their capacity to move at high speeds while maintaining great locomotion efficiency. Many research studies have been undertaken on spherical robots’ driving mechanisms, motion planning, and trajectory tracking systems, but only a few studies have been completed on their obstacle avoidance capacity. Its interfering prevention method was “hit and run” due to the existence of a sealed outer shell. This is convenient because of the spherical robots’ unique shape. It might cause major problems when the robots are light and small in size. A high-speed collision with a hard surface might harm the robot or the camera in portable spherical robots with onboard cameras. In this article, a magnetic field-based interference detection and prevention system for a tiny spherical robot has been established. The proximity sensor uses a passive magnetic field to detect ferromagnetic barriers by causing the magnetic field to be perturbed. It makes use of a passive magnetic field to keep the system small and power-effective. Because the suggested system can sense not only the existence of a ferromagnetic barrier but also its approaching direction, an intelligent avoidance behaviour may be developed by combining the detection information with the trajectory tracking technique. It amplifies the disturbance effectively and hence increases the detection performance. To improve obstacle detection performance, design optimization is carried out and specific avoidance techniques are designed.http://dx.doi.org/10.1155/2022/3908975 |
| spellingShingle | Mohamad Reda A. Refaai S. Meenatchi B. Ramesh N. I. Haroon Rashid N. B. Soni Manikandan Ganesan Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework Advances in Materials Science and Engineering |
| title | Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework |
| title_full | Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework |
| title_fullStr | Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework |
| title_full_unstemmed | Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework |
| title_short | Tiny Spherical Robot with a Magnetic Field-Based Interference Detection and Prevention Framework |
| title_sort | tiny spherical robot with a magnetic field based interference detection and prevention framework |
| url | http://dx.doi.org/10.1155/2022/3908975 |
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