Search Results (5)

This comprehensive study presents a pioneering approach to limb lengthening, leveraging the advancements in wireless technology to enhance orthopedic healthcare. Historically, limb lengthening has been a response to discrepancies caused by fractures, diseases, or congenital defects, utilizing the body’s innate ability to regenerate bone and surrounding tissues. Traditionally, this involved external or internal fixation devices, such as the Ilizarov and Taylor Spatial frames or the Precice nail and Fitbone. The focal point of this research is the development and testing of a wireless intramedullary nail implant prototype, controlled remotely via a mobile application. This implant comprises a microcontroller, Bluetooth Low Energy module, a brushed DC motor controlled through an H-bridge, and a force sensor, all powered by medical-grade batteries. The integration of wireless technology facilitates patient autonomy in managing limb lengthening, reducing the need for frequent clinical visits. The methodology involves a detailed block diagram for our proposed work, outlining the process from treatment planning to the initiation of limb lengthening via the mobile application. Osteogenesis, the formation of new bone tissue, plays a crucial role in this procedure, which includes pre-surgery assessment, osteotomy, latency, distraction, consolidation, and removal phases. Key challenges addressed include custom battery design for efficient operation, size constraints, and overcoming signal interference due to the Faraday cage effect. Attenuation testing, simulating human tissue interaction, validates the implant’s connectivity. In conclusion, this research marks a significant stride in orthopedic care, demonstrating the feasibility of a wireless implant for limb lengthening. It highlights the potential benefits of reduced clinical visits, cost efficiency, and patient convenience. Despite limitations such as battery requirements and signal interference, this study opens avenues for future enhancements in patient-centered orthopedic treatments, signaling a transformative shift in managing limb length discrepancies. Full article

The development of a proportional–integral–derivative (PID) control system is a simple, practical, highly effective method used to control the angular rotational velocity of electric motors. This paper describes the optimization of the PID control of a brushed DC motor (BDCM) with an embedded low-cost magnetic quadrature encoder. This paper demonstrates empirically that the feedback provided by low-cost magnetic encoders produces some inaccuracies and control artifacts that are not usually considered in simulations, proposing a practical optimization approach in order to improve the step overshoot and undershoot controller response. This optimization approach is responsible for the motion performances of a human-sized omnidirectional mobile robot using three motorized omnidirectional wheels. Full article

Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation of the operation of the proposed robot, based both on its kinematics and dynamics. Using these models, both the Mecanum wheel drive version and the differential drive version were studied by means of simulation. The simulations mainly aimed at identifying the way the currents vary through the wheel drive motors, in order to find methods to reduce them. The values obtained by the simulation were later compared with those obtained experimentally, and the corresponding conclusions with regard to the accuracy of the models were drawn. Full article

This paper proposes a method to improve the angular velocity measured by a low-cost magnetic rotary encoder attached to a brushed direct current (DC) motor. The low-cost magnetic rotary encoder used in brushed DC motors use to have a small magnetic ring attached to the rotational axis and one or more fixed Hall-effect sensors next to the magnet. Then, the Hall-effect sensors provide digital pulses with a duration and frequency proportional to the angular rotational velocity of the shaft of the encoder. The drawback of this mass produced rotary encoder is that any structural misalignment between the rotating magnetic field and the Hall-effect sensors produces asymmetric pulses that reduces the precision of the estimation of the angular velocity. The hypothesis of this paper is that the information provided by this low-cost magnetic rotary encoder can be processed and improved in order to obtain an accurate and precise estimation of the angular rotational velocity. The methodology proposed has been validated in four compact motorizations obtaining a reduction in the ripple of the estimation of the angular rotational velocity of: 4.93%, 59.43%, 76.49%, and 86.75%. This improvement has the advantage that it does not add time delays and does not increases the overall cost of the rotary encoder. These results showed the real dimension of this structural misalignment problem and the great improvement in precision that can be achieved. Full article

The evolution of the wind turbine to generate carbon-free renewable energy is rapidly growing. Thus, performing maintenance and inspection tasks in high altitude environments or difficult to access places, and even bad weather conditions, poses a problem for the periodic inspection process of the wind turbine industry. This paper describes the design and development of a scaled-down prototype climbing robot for wind turbine maintenance to perform critical tower operations. Thus, the unique feature of this maintenance robot is the winding mechanism, which uses a tension force to grip on the tower surface without falling to the ground either in static or dynamic situations, with the locomotion to perform a straight up–down motion in a circular truncated cone and the stability to work at significant heights. The robot computer-aided design (CAD) model of the mechanical mechanism, force and structural analysis, and the testing of the prototype model, are addressed in this paper. The key hardware developments that were utilized to build a low-cost, reliable and compact climbing robot are the embedded microprocessors, brushed DC motors, stepper motors and steel rope. This paper concludes with a successful preliminary experiment of a scaled down prototype proving the functionality of the concept. The potential applications for this robot are industrial maintenance, inspection and exploration, security and surveillance, cleaning, painting, and welding at extreme height conditions. Full article