MBR 2 LABORATORY - SMART SYSTEMS. DATA ACQUISITION AND ROBOTICS

ACTIVITY FIELD

The research team focuses on the research, design and development of:

• smart systems and data acquisition devices
• robotic systems with non-industrial applications: inspection robots, intervention robots, robotic positioning systems with serial / parallel / hybrid kinematics, autonomous mobile robots.

FACILITIES

MBR2 laboratory features the following endowments:

• Graphic station and high-performance computers equipped with programs designed to assist the processes of graphic, mechanical, electronic design: SolidWorks CAD, MatLab, FluidSim, LabView;
• Raspberry platforms for intelligent image processing.
• Fully equipped laboratory, that serves two purposes:
• Facilitating the assembly / testing of designed prototypes;
• Faciliting brainstorming processes.

MAIN PROJECTS

1. Shexapodal robotic system with extended mobility for smart operation in limited or hostile environmentsHEXAGENT

Objective: The HEXAGENT project aims to demonstrate the functionality of a compact robotic system with a hybrid kinematic structure, consisting of two hexapos connected in series and designed to have identical configurations at any time - in terms of robustness, accuracy and maneuverability in limited spaces.

Experimental model design: The optimization of the HEXAGENT could be achieved by using three tools, shown in the figure below.

The following images depict various 3D design stages.

Model design

• "Point to point" (PTP) command software - is the main way to control the double hexapod robotic system, being made in the LabVIEW development environment.



• Programming software in a programmable mode. he HEXAGENT system can be programmed to execute movements according to a predetermined trajectory, using the parametric equations of the respective curve, provided that it does not exceed the operating space. An example is the program for generating an elliptical spiral:

Demonstrative product and product use

Some of the potential uses include:

• Precision nahdling of objects and performung complex movements in confined spaces.
• Master-slave robotic surgery
• Smart illumination systems; driving dynamic elements in a modern architecture.
• RPerforming complex/ tridimensional technological movements.

HEXAGENT demonstrative product

1. Autonomous robotic systems for waste management in the context of a smart city - SIRAMAND

Consortium

General objective

         The SIRAMAND complex project is composed of three component projects that aim to solve different problems in the field of solid household waste.

         The aim of the project component 1 (INCDMTM) is to create an autonomous mobile waste collection robot (RCD) aimed at supplementing the dull work of street and green space caretakers.

 

RCD demonstrative model fabrication

         The project is in the integrated system stage to be tested during 2021, in the System Validation stage. The following figures show various subassemblies of the robot:

Framing

Drive wheel

Waste picking module

Integrated RCD system

Waste detection in the CheckOpti program

XYZ positioning system command

         After detection, the waste is seized through the vacuum system or gripping system and stored in the waste container. The algorithm is made in the CODESYS program.

 

• Heterogeneous collaborative system of inspection and intervention in areas affected by hazards in the SICOLET program

General objective

         The overall objective of the project is to develop a demonstration model for a heterogeneous collaborative system consisting of a CCO command center and a number of inspection / intervention agents.

         The semi-autonomous operation is determined by intelligent decision and command algorithms, being intended for inspection and intervention quickly and efficiently in areas affected by various natural or man-made disasters.

Colaborative system components

         The SICOLET heterogeneous collaborative system is a multi-agent / multi-agent system (MAS) consisting of three different vehicles (VAD, EKP and VTR, optionally also RTS). Through their different characteristics, the three agents can complement each other, significantly extending system capabilities. The SICOLET multi-agent system consists of a control center and the following agents:

Experimental results of the RGB fire detection algorithm

The image used as input data for the first algorithm contains a large smoke area (top left) and a sky area (top right). These areas can be detected as false positive fire areas. These are removed using a binary mask image obtained by applying a threshold to the blue plane of the image.

Experimental results of the HSV / HSL algoritm. The input data for the second algorithm is an image from a city fire rescue scenario. The threshold values for the two masks are detected automatically.

A novel Wireless, wearable Shoe-based system for real time monitoring of Energy Expenditure and Gait parameters for Sport and Medical Applications/Un nou sistem wireless incorporat în încălțăminte pentru monitorizarea în timp real a consumului energetic și a parametrilor mersului pentru aplicații sportive și medicale – WiShoe ( 2014-2015)

Consortium

General objective

The main objective of the WiShoe project was to develop a completely non-intrusive, wearable, integrated footwear system for measuring the kinematic parameters of gait and the energy consumption during various activities. The WiShoe system integrates miniature sensors and IT solutions in the sole of the boot specially designed for this purpose and allows the subject to be monitored without the intervention of an expert.

Specific measured parameters

• Vertical reaction force to the ground;
• Gait cycle;
• Cadence;
• Waliking speed;
• Step length;
• Vertical displacements of mass center;
• Simmetry reports;
• Stationary balance;
• Energy consumption.

Project results

• Two versions of the WiShoe prototype: the professional one and the “Light” version, which is slightly less accurate.
• Each boot integrates 16 force sensors, a 3-axis accelerometer, a 3-axis gyroscope and data acquisition and (Bluetooth) communication electronics.
• A mobile phone application located a few meters away for real-time alerts and feedback for selected parameters.
• A professional "cloud" application for a detailed analysis of data.
• Software libraries for the developed algorithms
• System calibration device, including the related software.

 

INCDMTM Contributions

• Technical specifications;
• Mathematical algorithms that underlie the specific software of the product;
• Dissemination activities.

Main publications of MBR2 team members

• Dumitriu, T.V. Nguyen, I. Stroe, M. Mărgăritescu, C. Lala - Mechanical work reduction during manipulation tasks of a planar 3-DOF manipulator - The Romanian Journal of Technical Sciences, Romanian Academy, Publishing House of the Romanian Academy, ISSN2601-5811
• Mărgăritescu, D. Dumitriu, C. Brișan, A. M. E. Rolea, A. Constantin, “Complex and Robust Motion Performed in Extended Workspace with a Double Hexapod Robotic System”, Mechanika” 2020 26(6);
• 2. D. O. Melinte, A. Travediu, D. Dumitriu - Deep Convolutional Neural Networks object detector for real-time waste identification - Applied Sciences, ISSN 2076-3417, vol. 10(20), 2020, special issue “Bio-inspired Computation and Applications”, ID articol 7301, https://doi.org/10.3390/app10207301, open access: https://www.mdpi.com/2076-3417/10/20/7301, IF 2.474 (2019).
• Dumitriu, T.V. Nguyen, I. Stroe, M. Mărgăritescu, C. Lala - Mechanical work reduction during manipulation tasks of a planar 3-DOF manipulator - The Romanian Journal of Technical Sciences, Romanian Academy, Publishing House of the Romanian Academy, ISSN2601-5811
• V. Canale, A. Stan, V. M. Zafiu, A. C. Dinu - "Automatic solar tracking system„ - International Journal of Mechatronics and Applied Mechanics (IJOMAM), 2019, Issue 6
• N. Ancuța, M. Mărgăritescu, V. M. Zafiu, A. Stan, A. C. Dinu, E. V. Canale - “Fire detection algorithms used by a heterogeneous multi-agent system” - International Journal of Mechatronics and Applied Mechanics (IJOMAM), 2020, Issue 8
• Stan, N. L. Milodin - “Robotic arm structural frame enhancement by gyroid lattice cube integration” - International Journal of Mechatronics and Applied Mechanics, 2020, Issue 8

 

Patent and patent applications of MBR2 team members

• Patent no. 125589/2016: Multi hexapod robotic positioning system; - Mărgăritescu Mihai, Brișan Cornel, Panaitopol Horia

Awards:

- Gold medal awarded at the Geneva International Invention Fair; 2012

- Gold medal with a special mention awarded at PRO INVENT International Invention Fair, 14th edition, Cluj-Napoca, Romania

• Patent no. 128113 / 2013 - "Ultrasonic system for measuring the sediment deposits in reservoirs" - Mihai Mărgăritescu, Alexandru Moldovanu, Vlad Văduva, Cristian Drăghescu, Florin Liviu Isvoranu

Awards:

- Gold medal awarded at the INVENTIKA Invention and Innovation Fair, Bucharest; 15 - 18 October 2014 / Ministry of National Education

- Diploma of Excellence and Gold Medal at the PRO INVENT International Invention Fair, 13th Edition, 2015, Cluj-Napoca, România / Universitatea Tehnică din Cluj-Napoca, sub egida Ministerului Educației și Cercetării Științifice și Academiei de Științe Tehnice din România, filiala Cluj

- Special award at the National Exhibition of Research, Innovation and Inventions PRO INVENT - 2015 / offered by the State Office for Inventions and Trademarks (OSIM)

- Gold Medal awarded at the XIX-th International Exhibiton of Research, Innovation and Technological transfer INVENTICA 2015, Iași

• Panent no. 130278/2015: Underwater ultrasonic receiver module; - Vlad Văduva, Alexandru Moldovanu, Ioan Lung, Mihai Mărgăritescu

Awards:

- Gold medal with a special mention awarded at PRO INVENT International Invention Fair, 14th edition, Cluj-Napoca, Romania

- Gold medal awarded at the Geneva International Invention Fair; 2016

- Gold medal awarded at the Brussels International Innovation Fair; 2016

• Patent no. A/00760/2019: Omnidirectional wheel with extendable segmented elements; Zafiu Victor-Marin.
• Patent application no. A00112/2018: Double hexapod robotic system with extended operating area; Mărgăritescu Mihai

Awards:

• Diploma of Excellence and Gold Medal awarded at the International Exhibition of Scientific Research, Innovation and Inventions PRO INVENT, 16th edition, March 21-23, 2018, Cluj-Napoca, Romania
• Silver medal awarded at the European Exhibition of Creativity and Innovation EURO I
• Gold medal at 'Traian Vuia' International Exhibition of Inventions and Innovations , 15 June 15 2018, Timisoara.
• Medalie de aur la al XXII-lea Salon Internațional al Cercetării, Inovării și Transferului Tehnologic INVENTICA 2018, 27-29 Iunie. Iași.
• This invention was also awarded the following: Diploma of Excellence by the Technical University of Moldova and Diploma of Excellence by INMA Bucharest.
• Patent application no. A/00969/2018: Assembled elements for container housings - Mărgăritescu Mihai, Brișan Cornel Mircea, Dumitriu Dan