• Development of methods for identification of interaction models of robot with adaptive compliance with the human and environment.

    The project goal is to evaluate the external forces impact on the robot using direct and indirect measurements of its configuration and classification of force origin. The currently available external impact evaluation approaches are very limited in their capabilities and can be used only if the external force application point is known in advance.

    The most promising approach (available today) to solve this problem is to use double encoders. In the project other approaches for indirect force estimation based on measuring linear and angular parameters will be considered, and their efficiency will be estimated via comparison analysis.

    The proposed approach for the estimation of external forces will be implemented using stiffness model of the manipulator and the additional information (compared to the input given by the controller) on the state of the robot (its real configuration). The project considers developing mathematical models, identification methods and robot control algorithms for different manipulator interaction models.

    The considered scientific problems are relevant not only for the Russian robotics, but also to the world science in general.

  • “Hardware and software system development for an anthropomorphic robotic with force/torque feedback for assembly operations” in collaboration with LLL «ARCODIM”

    This R & D project is aimed at developing new anthropomorphic robot for assembly operations. A distinctive constructive feature of this system is the use of double encoders in each joint of the robot. Besides, stiffness model that will be used together with the information about the deformation in the joints, allows to implement the force/torque sensing system and compensate the deformations caused by the robot compliance. This will allow the robot to be used for tasks where positioning accuracy and force/torque sensing system are critical. In particular, this robot will be successfully used in the assembly of hard and fragile products and can work side by side or together with a human. This robotic platform will overcome its foreign counterparts in terms of technical characteristics, remaining affordable to end users in the Russian market.

  • “Environmental control of methane and carbon dioxide concentration by multi-rotor unmanned aerial vehicles near the industrial facilities and pipelines” in collaboration with LLL “LED Microsensor NT”, Saint-Petersburg.

    The main purpose of the product being developed is to monitor the concentration of methane and carbon dioxide in the environment near industrial facilities and pipelines. To solve this problem, methane and carbon dioxide sensors will be developed, featuring a minimum size and weight, high speed, super low power consumption. The sensors will be installed on multi-rotor unmanned aerial vehicles. Overflight of the monitored territory will be carried out either in the manual control mode of the UAV or in automatic mode according to the specified trajectory. UAV with sensors will transmit conjugate information on the concentrations of CO2 and CH4 in reference to the coordinates of the terrain continuously or according to a given program.

    Optical spectroscopy has long been considered one of the most reliable and accurate methods for monitoring environmental parameters. The measurement of optical absorption makes it possible to determine the concentration of various chemical substances by analyzing the indicative absorbance spectrum. All the sensors on the market have significant drawbacks, which does not allow them to become a truly mass product. Therefore, the use of medium frequency LEDs and photodiodes opens up entirely new possibilities in terms of speed, compactness and low power consumption.

    At the core of the proposed solution is a unique technology in the world based on the use of semiconductor elements: light-emitting diodes and photodiodes based on narrow-band solid solutions InAs operating in the spectral range of 3000-4000 nm.

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